Abstract
In the latest passenger cars, 4WS, 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 the safety. However, the fail-safe device can only detect unequivocal failures such as a short circuit. This paper presents a new method for estimating the ambiguous change in a 4WS control system using a compact failure detection filter in size. This filter is designed to discriminate ambiguous failure modes in the control system by processing output errors between sensors and an observer. The result of the experiments using a 4WS vehicle revealed that the filter can estimate with high accuracy the failures of the sensors and the actuator which conventional fail-safe devices cannot detect. The effects of a lateral wind and other disturbances on the filter were also clarified.
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