{"id":"https://openalex.org/W4214932544","doi":"https://doi.org/10.1109/access.2022.3155738","title":"Adaptive Fault Detection and Emergency Control of Autonomous Vehicles for Fail-Safe Systems Using a Sliding Mode Approach","display_name":"Adaptive Fault Detection and Emergency Control of Autonomous Vehicles for Fail-Safe Systems Using a Sliding Mode Approach","publication_year":2022,"publication_date":"2022-01-01","ids":{"openalex":"https://openalex.org/W4214932544","doi":"https://doi.org/10.1109/access.2022.3155738"},"language":"en","primary_location":{"id":"doi:10.1109/access.2022.3155738","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3155738","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09724204.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09724204.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100341493","display_name":"Jong\u2010Min Lee","orcid":"https://orcid.org/0000-0002-7777-1140"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Jongmin Lee","raw_affiliation_strings":["Seoul National University, Seoul, South Korea","Smart Mobility Laboratory, SML Company Ltd., Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-7777-1140","affiliations":[{"raw_affiliation_string":"Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]},{"raw_affiliation_string":"Smart Mobility Laboratory, SML Company Ltd., Seoul, South Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016092617","display_name":"Kwangseok Oh","orcid":"https://orcid.org/0000-0003-2785-5298"},"institutions":[{"id":"https://openalex.org/I119060216","display_name":"Hankyong National University","ror":"https://ror.org/0031nsg68","country_code":"KR","type":"education","lineage":["https://openalex.org/I119060216"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kwangseok Oh","raw_affiliation_strings":["School of ICT, Robotics and Mechanical Engineering, Hankyong National University, Anseong-si, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-2785-5298","affiliations":[{"raw_affiliation_string":"School of ICT, Robotics and Mechanical Engineering, Hankyong National University, Anseong-si, South Korea","institution_ids":["https://openalex.org/I119060216"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5018936246","display_name":"Youngmin Yoon","orcid":"https://orcid.org/0000-0001-5792-1271"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Youngmin Yoon","raw_affiliation_strings":["Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-5792-1271","affiliations":[{"raw_affiliation_string":"Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031102097","display_name":"Taejun Song","orcid":"https://orcid.org/0009-0005-8887-7791"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Taejun Song","raw_affiliation_strings":["Smart Mobility Laboratory, SML Company Ltd., Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Smart Mobility Laboratory, SML Company Ltd., Seoul, South Korea","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101578273","display_name":"Taehoon Lee","orcid":"https://orcid.org/0000-0003-2816-4579"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Taehoon Lee","raw_affiliation_strings":["Seoul National University, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5023689051","display_name":"Kyongsu Yi","orcid":"https://orcid.org/0000-0002-0484-9752"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Kyongsu Yi","raw_affiliation_strings":["Seoul National University, Seoul, South Korea"],"raw_orcid":"https://orcid.org/0000-0002-0484-9752","affiliations":[{"raw_affiliation_string":"Seoul National University, Seoul, South Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5100341493"],"corresponding_institution_ids":["https://openalex.org/I139264467"],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":2.0628,"has_fulltext":true,"cited_by_count":18,"citation_normalized_percentile":{"value":0.8611207,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":"10","issue":null,"first_page":"27863","last_page":"27880"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10805","display_name":"Vehicle Dynamics and Control Systems","score":0.9927999973297119,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11372","display_name":"Hydraulic and Pneumatic Systems","score":0.9804999828338623,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/fault-detection-and-isolation","display_name":"Fault detection and isolation","score":0.7202024459838867},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6417951583862305},{"id":"https://openalex.org/keywords/sliding-mode-control","display_name":"Sliding mode control","score":0.6295050382614136},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6063097715377808},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.604226291179657},{"id":"https://openalex.org/keywords/fault","display_name":"Fault (geology)","score":0.5256199240684509},{"id":"https://openalex.org/keywords/chassis","display_name":"Chassis","score":0.5095372796058655},{"id":"https://openalex.org/keywords/observer","display_name":"Observer (physics)","score":0.5049758553504944},{"id":"https://openalex.org/keywords/sensitivity","display_name":"Sensitivity (control systems)","score":0.4554270803928375},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.44095492362976074},{"id":"https://openalex.org/keywords/real-time-computing","display_name":"Real-time computing","score":0.4278486371040344},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.42441457509994507},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.4103177785873413},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3274586796760559},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.20131152868270874},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.17603716254234314},{"id":"https://openalex.org/keywords/actuator","display_name":"Actuator","score":0.152253657579422},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.1150185763835907}],"concepts":[{"id":"https://openalex.org/C152745839","wikidata":"https://www.wikidata.org/wiki/Q5438153","display_name":"Fault detection and isolation","level":3,"score":0.7202024459838867},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6417951583862305},{"id":"https://openalex.org/C36662352","wikidata":"https://www.wikidata.org/wiki/Q6008560","display_name":"Sliding mode control","level":3,"score":0.6295050382614136},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6063097715377808},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.604226291179657},{"id":"https://openalex.org/C175551986","wikidata":"https://www.wikidata.org/wiki/Q47089","display_name":"Fault (geology)","level":2,"score":0.5256199240684509},{"id":"https://openalex.org/C512993513","wikidata":"https://www.wikidata.org/wiki/Q1068107","display_name":"Chassis","level":2,"score":0.5095372796058655},{"id":"https://openalex.org/C2780704645","wikidata":"https://www.wikidata.org/wiki/Q9251458","display_name":"Observer (physics)","level":2,"score":0.5049758553504944},{"id":"https://openalex.org/C21200559","wikidata":"https://www.wikidata.org/wiki/Q7451068","display_name":"Sensitivity (control systems)","level":2,"score":0.4554270803928375},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.44095492362976074},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.4278486371040344},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.42441457509994507},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4103177785873413},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3274586796760559},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.20131152868270874},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.17603716254234314},{"id":"https://openalex.org/C172707124","wikidata":"https://www.wikidata.org/wiki/Q423488","display_name":"Actuator","level":2,"score":0.152253657579422},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.1150185763835907},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C24326235","wikidata":"https://www.wikidata.org/wiki/Q126095","display_name":"Electronic engineering","level":1,"score":0.0},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C165205528","wikidata":"https://www.wikidata.org/wiki/Q83371","display_name":"Seismology","level":1,"score":0.0},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/access.2022.3155738","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3155738","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09724204.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:bd6315805c624d89abf2a29abeed2a6c","is_oa":true,"landing_page_url":"https://doaj.org/article/bd6315805c624d89abf2a29abeed2a6c","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 10, Pp 27863-27880 (2022)","raw_type":"article"},{"id":"pmh:oai:s-space.snu.ac.kr:10371/209257","is_oa":false,"landing_page_url":"https://hdl.handle.net/10371/209257","pdf_url":null,"source":{"id":"https://openalex.org/S4306401345","display_name":"Seoul National University Open Repository (Seoul National University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I139264467","host_organization_name":"Seoul National University","host_organization_lineage":["https://openalex.org/I139264467"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":{"id":"doi:10.1109/access.2022.3155738","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2022.3155738","pdf_url":"https://ieeexplore.ieee.org/ielx7/6287639/9668973/09724204.pdf","source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320321292","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"},{"id":"https://openalex.org/F4320336769","display_name":"Institute of Engineering Research, Seoul National University","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4214932544.pdf","grobid_xml":"https://content.openalex.org/works/W4214932544.grobid-xml"},"referenced_works_count":55,"referenced_works":["https://openalex.org/W179597443","https://openalex.org/W196019683","https://openalex.org/W1535822174","https://openalex.org/W1544016679","https://openalex.org/W1597576211","https://openalex.org/W1790534215","https://openalex.org/W1823776204","https://openalex.org/W1965875070","https://openalex.org/W2030024491","https://openalex.org/W2085464048","https://openalex.org/W2134966418","https://openalex.org/W2142704389","https://openalex.org/W2158682986","https://openalex.org/W2401396087","https://openalex.org/W2420367108","https://openalex.org/W2546980373","https://openalex.org/W2560882727","https://openalex.org/W2592236939","https://openalex.org/W2734613973","https://openalex.org/W2754813553","https://openalex.org/W2768989874","https://openalex.org/W2791694051","https://openalex.org/W2792853279","https://openalex.org/W2804171361","https://openalex.org/W2808366338","https://openalex.org/W2808485586","https://openalex.org/W2884491327","https://openalex.org/W2904455166","https://openalex.org/W2908641271","https://openalex.org/W2913784200","https://openalex.org/W2914759392","https://openalex.org/W2919731060","https://openalex.org/W2945342263","https://openalex.org/W2946250619","https://openalex.org/W2956013684","https://openalex.org/W2973165820","https://openalex.org/W2973353927","https://openalex.org/W2982435901","https://openalex.org/W3011955462","https://openalex.org/W3022245855","https://openalex.org/W3026881828","https://openalex.org/W3045289042","https://openalex.org/W3045593229","https://openalex.org/W3086854072","https://openalex.org/W3093006143","https://openalex.org/W3114470638","https://openalex.org/W3119045973","https://openalex.org/W3132795731","https://openalex.org/W3143504837","https://openalex.org/W3198686963","https://openalex.org/W4206357683","https://openalex.org/W6607369334","https://openalex.org/W6628296456","https://openalex.org/W6676296306","https://openalex.org/W6796583793"],"related_works":["https://openalex.org/W2378268140","https://openalex.org/W2059239878","https://openalex.org/W2935843774","https://openalex.org/W2051851664","https://openalex.org/W2658066576","https://openalex.org/W1069034051","https://openalex.org/W201498455","https://openalex.org/W2364297307","https://openalex.org/W3121254296","https://openalex.org/W2060193301"],"abstract_inverted_index":{"This":[0,156],"paper":[1],"presents":[2],"a":[3,27,32,91,141,150],"sliding":[4,39,69,92],"mode-based":[5],"adaptive":[6,68,117],"fault":[7,28,42,59,103,177],"detection":[8,29,43,138,178],"and":[9,31,49,55,130,179,187],"emergency":[10,96],"control":[11,34,94,97,145,157,180],"algorithm":[12,23,139],"for":[13,47,153],"implementation":[14],"in":[15],"fail-safe":[16,33],"systems":[17],"of":[18,26,83,113,174,191],"autonomous":[19,114],"vehicles.":[20,115],"The":[21,72,172],"overall":[22],"is":[24,74,147,159],"comprised":[25],"part":[30],"part.":[35],"For":[36,88],"the":[37,62,67,77,81,89,110,134,137,143,154,163,175],"former,":[38],"mode":[40,70,93],"observer-based":[41],"algorithms":[44,181],"were":[45],"developed":[46],"environment":[48],"chassis":[50],"sensors,":[51],"including":[52],"LiDAR,":[53],"Radar,":[54],"acceleration":[56],"sensors.":[57],"Unidentified":[58],"signals":[60],"from":[61,133,168],"sensors":[63],"are":[64],"reconstructed":[65],"through":[66,80,185],"observer.":[71],"reconstruction":[73],"based":[75,161],"on":[76,162],"MIT":[78],"rule":[79],"use":[82],"an":[84,169],"estimated":[85],"sensitivity":[86],"parameter.":[87],"latter,":[90],"(SMC)-based":[95],"method":[98],"designed":[99],"to":[100,102,108,127],"respond":[101],"occurrences":[104],"has":[105,182],"been":[106,183],"proposed":[107,176],"ensure":[109],"functional":[111],"safety":[112],"An":[116],"gain":[118],"parameter":[119],"was":[120],"designed,":[121],"taking":[122],"convergence":[123],"time":[124],"into":[125],"consideration,":[126],"secure":[128],"consistent":[129],"rapid":[131],"responses":[132],"controller.":[135,171],"When":[136],"detects":[140],"fault,":[142],"appropriate":[144],"input":[146,158],"computed":[148],"by":[149],"lower":[151],"controller":[152],"vehicle.":[155],"calculated":[160],"last":[164],"scene":[165],"information":[166],"obtained":[167],"upper":[170],"performance":[173],"evaluated":[184],"simulations":[186],"actual":[188],"vehicle":[189],"tests":[190],"various":[192],"scenarios.":[193]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":1}],"updated_date":"2026-05-06T08:25:59.206177","created_date":"2025-10-10T00:00:00"}