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Vehicle-borne millimeter wave radar sensor may malfunction during signal acquisition and transmission process, which will affect the decision of adaptive cruise control (ACC) system and the safe driving of vehicles. However, adding other redundant environment-aware devices will increases costs. Therefore, in this paper, an active fault tolerant control of ACC system considering vehicle-borne millimeter wave radar sensor failure is proposed. Sensor faults are taken as discrete events, and the mixed logical dynamical (MLD) model of ACC upper control system is built which includes both the fault-free dynamics and the fault dynamics of the system. Then, the active fault tolerant control model of ACC system is established based on model predictive control (MPC) framework. Compared with the existing researches, this work emphasizes on the active fault tolerant control without adding other redundant environment-aware devices, which has not been fully revealed by the existing researches and is important to the industrial application. Moreover, the active fault tolerant control method can be easily ported to other driver assistance system besides ACC. The simulation results show that the vehicle equipped with the active fault tolerant ACC system can still drive safely and smoothly without being affected by radar sensor failures, which demonstrates its great significance to improve vehicle's own intelligence and ensure the safe driving instead of relying entirely on sensors.

Active Fault Tolerant Control of Adaptive Cruise Control System Considering Vehicle-Borne Millimeter Wave Radar Sensor Failure