Abstract
The place of driving assistance systems is currently increasing drastically for road vehicles. Paving the road to the fully autonomous vehicle, the drive-by-wire technology could improve the potential of the vehicle control. The implementation of these new embedded systems is still limited, mainly for reliability reasons, thus requiring the development of diagnostic mechanisms. In this paper, we investigate the detection and the identification of sensor and actuator faults for a drive-by-wire road vehicle. An Interacting Multiple Model approach is proposed, based on a non-linear vehicle dynamics observer. The adequacy of different probabilistic observers is discussed. The results, based on experimental vehicle signals, show a fast and robust identification of sensor faults while the actuator faults are more challenging.
Highlights
To enable advanced driver-assistance systems (ADAS) to operate more efficiently without disrupting the driver, decoupled control systems, known as drive-by-wire technologies, have been developed for the control of the steering or braking systems.The drive-by-wire technology (DBW) consists in introducing electronic control systems between the driver interfaces and the vehicle actuators in substitution for the conventional mechanical or hydraulic physical connections
We investigate a fast and reliable fault detection and isolation (FDI) scheme applied to a drive-by-wire vehicle
In the fault-free state, the likelihood of the nominal mode should largely exceed those of the other modes, the probability μ1 should rapidly rise to 100%
Summary
To enable advanced driver-assistance systems (ADAS) to operate more efficiently without disrupting the driver, decoupled control systems, known as drive-by-wire technologies, have been developed for the control of the steering or braking systems. In the field of automotive control, the observation of the vehicle dynamics has been intensively investigated, and several evolution models are available This explains why the literature on FDI schemes dedicated to SBW or BBW systems mainly rely on model-based methods [4,5,6,7,8,10,22,24]. The observers were running independently, without any mutual interaction This method is adequate when the model structure is not or slightly modified (for instance, parameter estimation problems), but if the models differ radically (which is generally the case in a FDI scheme), the transition from one state to another may be difficult to evaluate, jeopardizing the fault detection or increasing the detection time.
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