Fault Tolerant Lateral Control for Transit Buses and Trucks

Shashikanth Suryanarayanan, Tesheng Hsiao and Masayoshi Tomizuka

Institute of Transportation Studies, Research Reports, Working Papers, Proceedings from Institute of Transportation Studies, UC Berkeley

Abstract: This report documents the research results of Task Order 4205 (TO4205), Fault Tolerant Lateral Control for Transient Buses and Trucks performed during 2000-2003. In this task order, we studied the procedures for designing real-time lateral control systems for automated vehicles that are not sensitive to failures of the two key components: a set of magnetometers at the front bumper and another set at the rear bumpers. This problem is important because failures related to either front or rear magnetometers may have immediate effect on the stability of the closed loop control system.

Date: 2004-04-01
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