Reconfiguration of Directional Handling of an Autonomous Vehicle

This article concerns reconfiguration of an autonomous vehicle, called RobuCar, with four independently driven wheels and two independently adjustable steering angles. A bond graph model of the system is constructed for generating the Analytical Redundancy Relations (ARRs) which are evaluated with actual measurements to generate residuals and to perform structural fault isolation. Once the fault list is updated in the equipment availability database, an automaton selects the next best option to reconfigure the system such that the given control objectives are achieved. The developed methodology is validated by considering two different fault scenarios.