Abstract
In the latest passenger cars, 4 WS, a suspension system, and other vehicle systems are controlled using various sensors and actuators. Each control system is equipped with a fail-safe device to guarantee safety. However, the fail-safe device can detect only unequivocal failures such as a short circuit. This paper presents a method for estimating the ambiguous change in a 4 WS control system using generalized likelihood ratio (GLR). This method is designed to discriminate ambiguous failures from vehicle characteristic change due to running circumstance change by processing output errors between sensors and an observer. These output errors have a peculiar time series pattern corresponding to each ambiguous change. GLR can determine what the ambiguous change is by checking time series pattern of the output error. The result of the simulation using experimental data revealed that GLR can estimate the failure of the sensors, the actuator, and vehicle characteristic change. Also, failure detection performance between GLR and failure detection filter (BJDF) was compared.
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