Abstract
The anti-lock braking system (ABS) is an essential part in ensuring safe driving in vehicles. The Security of onboard safety systems is very important. In order to monitor the functions of ABS and avoid any malfunction, a model-based methodology with respect to structural analysis is employed in this paper to achieve an efficient fault detection and identification (FDI) system design. The analysis involves five essential steps of SA applied to ABS, which includes critical faults analysis, fault modelling, fault detectability analysis and fault isolability analysis, Minimal Structural Over-determined (MSO) sets selection, and MSO-based residual design. In terms of the four faults in the ABS, they are evaluated to be detectable through performing a structural representation and making the Dulmage-Mendelsohn decomposition with respect to the fault modelling, and then they are proved to be isolable based on the fault isolability matrix via SA. After that, four corresponding residuals are generated directly by a series of suggested equation combinations resulting from four MSO sets. The results generated by numerical simulations show that the proposed FDI system can detect and isolate all the injected faults, which is consistent with the theoretical analysis by SA, and also eventually validated by experimental testing on the vehicle (EcoCAR2) ABS.
Highlights
With the development of modern vehicle technologies, more and more advanced controlling systems related to driving comfort and safety are applied in the vehicles, such as the anti-lock braking system (ABS), electric brakeforce distribution (EBD), electronic stability program (ESP) or vehicle stability assist (VSA), and adaptive cruise control (ACC)
Real time fault detection, isolation, identification and tolerance for these systems are very vital to guarantee their normal operation and vehicle safety. This motivates the demand for fault detection and identification (FDI) of system and sensor faults for vehicles, which will be beneficial for the automotive companies to produce ISO 26262 compliant vehicles [1]
Another key contribution of SA is helpful for efficiently realizing the FDI system design
Summary
With the development of modern vehicle technologies, more and more advanced controlling systems related to driving comfort and safety are applied in the vehicles, such as the anti-lock braking system (ABS), electric brakeforce distribution (EBD), electronic stability program (ESP) or vehicle stability assist (VSA), and adaptive cruise control (ACC). The model-based technology to fault diagnosis for automotive vehicle suspension and hydraulic brake systems was explained by Börner et al [41], and a detailed process of fault detection of solenoid ABS valves using the parity equation method was shown to generate residuals for fault detecting. Fault diagnosis analysis of ABS using petri nets was researched by Cabasino et al [45], and the effectiveness of this method was validated for the ABS by performing a certain cases diagnosis Their methodology is based on a logic reasoning, but did not depend on a mathematical model of the ABS, and they have not mentioned the fault detection and isolation issues.
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