Fault detection and fault-tolerant control of autonomous steering system for intelligent vehicles combining Bi-LSTM and SPRT

Measurement(2023)

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摘要
To solve the issues of low performance and low reliability of autonomous steering systems in intelligent vehicles, this paper proposes a novel fault detection and fault tolerance control (FDFTC) strategy. Firstly, an autonomous steering controller with rack displacement as the state feedback input is utilized to improve the system performance. Secondly, considering the importance of the rack displacement signal to the controller and the harsh operating environment of the displacement sensor, the software redundancy of the sensor is necessary. Therefore, a FDFTC strategy composed of Bidirectional Long Short-Term Memory (Bi-LSTM) based rack displacement estimator and Sequential Probability Ratio Test (SPRT) is designed to effectively handle displacement sensor faults. Finally, comprehensive simulation and Hardware-in-Loop (HiL) test results show that the proposed FDFTC strategy can promptly detect sensor failures and efficiently restore vehicles to a stable state, thus effectively maintaining the trajectory tracking of intelligent vehicles when faults occur.
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关键词
Autonomous steering system, Fault detection and fault-tolerant control, (FDFTC), Bidirectional Long Short-Term Memory, (Bi-LSTM), Sequential Probability Ratio Test (SPRT)
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