== Abstract ==

​

6 pages; International audience; The paper proposes a control system with the brake and the steering for developing a driver assistance system. The purpose is to design a cruise control method to track the road geometry with a predefined velocity and guarantee the road stability of the vehicle simultaneously. An actuator selection method is developed in the control design, in which the actuator limits, energy requirements and vehicle operations are taken into consideration. The method is extended with a fault-tolerant feature based on a robust LPV method, into which the actuator selection procedure and the detected fault information are incorporated. The operation of the reconfigurable control system is illustrated through various vehicle manoeuvres.

​

​

== Original document ==

​

The different versions of the original document can be found in:

​

* [https://hal.archives-ouvertes.fr/hal-00939737/file/SAFE12_0102_FI-Nemeth.pdf https://hal.archives-ouvertes.fr/hal-00939737/file/SAFE12_0102_FI-Nemeth.pdf]

​

* [https://api.elsevier.com/content/article/PII:S1474667016347528?httpAccept=text/xml https://api.elsevier.com/content/article/PII:S1474667016347528?httpAccept=text/xml],

: [https://api.elsevier.com/content/article/PII:S1474667016347528?httpAccept=text/plain https://api.elsevier.com/content/article/PII:S1474667016347528?httpAccept=text/plain],

: [http://dx.doi.org/10.3182/20120829-3-mx-2028.00102 http://dx.doi.org/10.3182/20120829-3-mx-2028.00102] under the license https://www.elsevier.com/tdm/userlicense/1.0/

​

* [https://hal.archives-ouvertes.fr/hal-00939737 https://hal.archives-ouvertes.fr/hal-00939737],

: [https://hal.archives-ouvertes.fr/hal-00939737/document https://hal.archives-ouvertes.fr/hal-00939737/document],

: [https://hal.archives-ouvertes.fr/hal-00939737/file/SAFE12_0102_FI-Nemeth.pdf https://hal.archives-ouvertes.fr/hal-00939737/file/SAFE12_0102_FI-Nemeth.pdf]

​

* [https://hal.archives-ouvertes.fr/hal-00939737/document https://hal.archives-ouvertes.fr/hal-00939737/document],

: [https://www.sciencedirect.com/science/article/pii/S1474667016347528 https://www.sciencedirect.com/science/article/pii/S1474667016347528],

: [https://hal.archives-ouvertes.fr/hal-00939737 https://hal.archives-ouvertes.fr/hal-00939737],

: [https://hungary.pure.elsevier.com/en/publications/fault-tolerant-control-design-for-trajectory-tracking-in-driver-a https://hungary.pure.elsevier.com/en/publications/fault-tolerant-control-design-for-trajectory-tracking-in-driver-a],

: [http://eprints.sztaki.hu/7432 http://eprints.sztaki.hu/7432],

: [https://academic.microsoft.com/#/detail/2355076818 https://academic.microsoft.com/#/detail/2355076818]

​