|Kinematics-based Fault-tolerant Techniques: Lane Prediction for an Autonomous Lane Keeping System
Chang Mook Kang, Seung-Hi Lee, Seok-Cheol Kee, and Chung Choo Chung*
International Journal of Control, Automation, and Systems, vol. 16, no. 3, pp.1293-1302, 2018
Abstract : "In this paper, we propose the use of fault-tolerant techniques for an autonomous lane keeping system
(LKS) under sensor failure of the camera vision sensor. When the output of the vision sensor is not available to the
LKS due to malfunction and/or environmental conditions, it is necessary for the lateral control system to maintain
its stability before the driver takes over control authority. We propose a method for fault-tolerant control using the
lateral kinematic vehicle motion model. The kinematic motion model-based lane estimation scheme covers possible
camera vision sensor failure that occurs in the presence of unreliable or unavailable data from the vision sensor due
to complex shadowing, incomplete lane marks, and lighting changes. The proposed lane estimation method enables
the LKS to maintain its performance in the presence of sensor failures. The developed algorithm was validated via
computational simulation results with CarSim and MATLAB/Simulink. We also included experimental results with
a test vehicle equipped with an AutoBox from dSPACE."
Fault-tolerant system, kinematic model, lane keeping system, lane prediction, multi-rate filter.