Motion Control and Sensor Fault Diagnostic Systems for Autonomous Electric Vehicle

Abstract

Motion control of an autonomous or self-driving car depends intensely on data associated with its lateral and longitudinal motion sensors. These sensor data is used to formulate necessary and appropriate control signal for smooth and stable maneuver, through steering and acceleration subsystems. The work here focus on implementation of such motion control systems on a physical vehicle that is modified to achieve desired autonomous functionality on a predefined path. In addition, a sensor diagnostic system for monitoring the sensor health condition is tested to identify the faulty values in the system.