A fault detection and identification system evaluated experimentally on a passenger vehicle 1 , 2

Abstract A fault detection and identification system based on analytical redundancy is developed for automated passenger vehicles. To detect and identify actuator and sensor faults, a residual generator (fault detection filter) and a residual processor (sequential probability test) are constructed for the Buick LeSabre. The fault detection filter uses control commands and measurements to generate a residual that has a unique static pattern in response to each fault. The sequential probability test examines the residual and generates the probability of the presence of a fault. The performance of the fault detection and identification system is evaluated in real-time on a Buick LeSabre.