A Fault Diagnosis and Fault-Tolerant Anti-Lock Brake System Control for Actuator Stuck Failures in Braking System in Autonomous Vehicles

Abstract

As the research on autonomous vehicle technology deepens, there is a growing demand for redundant system designs to satisfy the requirement for fail-operational functionality. These redundant systems can ensure uninterrupted operation, even in one or more component failures. In particular, integrated dynamic brake (IDB) consists of a dual-winding three-phase permanent magnet synchronous motor (DW-PMSM) and dual electronic control units to achieve redundancy. Generating the brake pressure is commonly impossible if the actuator is stuck due to a mechanical fault. To resolve this technical issue, this article presents a method for diagnosing the actuator's stuck state and fault-tolerant control of anti-lock brake system (ABS). The electronic circuit unit (ECU) monitors the fault detection depending on the operating status of DW-PMSM control. In response to the actuator's stuck state, the ECU converts the alternative control method, which operates repetitive conversion of chamber mode within a limited position to ensure continuous pressure performance at each wheel caliper. These control methods differ depending on whether the stuck is unidirectional and the location of the pump where the stuck occurs. Experimental results validate the effectiveness of the proposed fault diagnosis method and the presented fault-tolerant control method.