Highly safe driving control system for model vehicles using different kinds of sensors and one-way wheels

This paper presents a highly safe driving control technique using different kinds of sensors and one-way wheels to avoid the rear-end collision and sudden stop of the model vehicle. The basic concept is ldquosensor diversityrdquo which enables fault tolerant operations. An appropriate combination of different kinds of sensors is introduced to reduce the occurrence of multiple faults. The systematic design of the model vehicle is presented, and the rear-end collision avoidance can be achieved even if a fault occurs at any sensor. Moreover, if the wheel races even if a fault occurs at any motor and then the rotation of the axle stops, a safe driving can be maintained. The important design concept is that a fault makes linearly additive effect with a small value to the final result. In order to meet the requirement, we introduce one-way wheels instead of usual wheels. It is shown in the experiment of driving control of the model vehicle that rear-end collision can be avoided and then safety operations can be achieved.