Secure Vehicle Localization and Cruise Control for Connected Vehicles

Abstract

A distributed fault diagnosis, isolation and estimation scheme for the positioning system of a group of connected vehicles is presented in this paper. The decentralized mode of operation enables each vehicle to perform its own fault diagnostics harnessing the information exchange in the connected vehicle framework. The approach used in this paper takes advantage of the vehicle-to-vehicle (V2V) connectivity in vehicle state estimation and utilizes a Dedicated Observer Design scheme for the fault detection and isolation process. A fault estimation approach is also adopted in this paper which is fed back to the measurement/control system for safe and reliable operation of the vehicle in presence of fault. The fault diagnostics approach focuses on the vehicle localization and proximity measurement sensors which are utilized by many autonomous functionalities of modern vehicles such as Adaptive Cruise Control (ACC). The simulation results presented in this paper indicates the ability of the diagnostics scheme in the detection and isolation of multiple faults in the system. The performance of the fault estimation methodology is also presented in this paper.