Tolerant control for an autonomous vehicle subject to faulty steering system

This paper deals with the design of an intelligent controller acting on each rear wheel velocity with the objective to ensure vehicle stability. It is shown that the vehicle trajectory may be controlled using each wheel independently, which increases the safety of the whole system. The control law is designed using a nonlinear car model. The car's trajectory reference is chosen based on a double lane change maneuver (which respects the ISO:3888-1:1999(F) norm). Simulations are performed using the 3 D graphical design software Vrealm Builder 2.0 associated with Matlab/Simulink software.