Vehicle sensor and actuator fault detection algorithm for automated vehicles

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, the sensor measurements, and the control commands are used to construct a bank of residuals. A fault in any of the vehicle sensors and actuators leads to increase of the unique subset of residuals. The adaptive threshold is used to enable exact identification of the abnormal increase of residual. The fault detection performance and its reliability of the proposed algorithm have been investigated via computer simulation studies and real-time vehicle tests. The enhancement of the fault detection allows for realization of autonomous driving vehicle which uses actuation by embedded computer.

[1]  E. A. Woods,et al.  Fault detection, supervision and safety for technical processes , 1993 .

[2]  Ron J. Patton,et al.  FAULT-TOLERANT CONTROL SYSTEMS: THE 1997 SITUATION , 1997 .

[3]  Masayoshi Tomizuka,et al.  A complete fault diagnostic system for automated vehicles operating in a platoon , 2001, IEEE Trans. Control. Syst. Technol..

[4]  Qi Zhang,et al.  Study of calculation method of wheel angular acceleration in ABS system , 2004, International Conference on Information Acquisition, 2004. Proceedings..

[5]  Rolf Isermann,et al.  Fault-tolerant drive-by-wire systems , 2002 .

[6]  Robert Grover Brown,et al.  Introduction to random signals and applied Kalman filtering : with MATLAB exercises and solutions , 1996 .

[7]  Levent Guvenc,et al.  Vehicle Yaw Rate Estimation Using a Virtual Sensor , 2013 .

[8]  John E. White,et al.  Detection Filter Design: Spectral Theory and Algorithms , 1986, 1986 American Control Conference.

[9]  Rajesh Rajamani,et al.  Fault diagnostics for GPS-based lateral vehicle control , 2001, Proceedings of the 2001 American Control Conference. (Cat. No.01CH37148).

[10]  Karl-Heinz Siedersberger,et al.  Strategy and architecture of a safety concept for fully automatic and autonomous driving assistance systems , 2010, 2010 IEEE Intelligent Vehicles Symposium.

[11]  나재원.  Fail-safe control algorithm for an autonomous vehicle , 2010 .

[12]  Damien Koenig,et al.  Robust fault detection for vehicle lateral dynamics , 2012, 2012 IEEE 51st IEEE Conference on Decision and Control (CDC).

[13]  Rolf Isermann,et al.  Fault detection for lateral and vertical vehicle dynamics , 2004 .

[14]  Reza N. Jazar,et al.  Vehicle Dynamics: Theory and Application , 2009 .

[15]  Youmin Zhang,et al.  Detection and diagnosis of sensor and actuator failures using IMM estimator , 1998 .