Design of fault tolerant controllers in parallel parking systems

This paper proposes a methodology for the design of fault tolerant controllers in parallel parking system that is modeled by a Petri net. The faults that we consider are transient sensor failures that may occur due to external interference and/or hardware malfunction. We first develop a Petri net controller that is able to keep normal operation of the system even in the presence of (possible) sensor failures. Then, for the consideration that the controller itself is also prone to sensor failures, we construct a larger (redundant) controller that is able to retain functionality of the original controller and allow the systematic detection and identification of (possible) faults in the original controller.