Description

This thesis focuses on solving the safety problem in case of faults for autonomous driving vehicles. For that purpose, diagnosis and fault tolerant techniques should be considered. Since model-based approaches will be considered vehicle modelling is also necessary. Some researches have been carried out about diagnosis and fault-tolerant techniques in this field, but only a few for coordinated autonomous vehicles. This thesis will explore diagnosis and fault-tolerant techniques to ensure safety for single autonomous vehicle and expand them to coordinated autonomous vehicles.