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This paper presents a vehicle sensor and actuator fault detection algorithm for automated vehicles. The diagnostic system is designed to monitor steering wheel angle, yaw-rate, and wheel speed sensors and steering, throttle, and brake actuators used by the lateral and longitudinal controllers of the vehicle. Different combinations of the observer estimates,(More)
This paper describes the design of a fully automated driving algorithm for automated driving in complex urban scenarios and motorways with a satisfactory safety level. The proposed algorithm consists of the following three steps: surround recognition, motion planning, and vehicle control. The surround recognition system consists of three main modules:(More)
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