Detection and identification of sensor failures in vehicle lateral control systems

Te-Sheng Hsiao*

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review


The vehicle lateral control system performs lane-keeping and lane-changing tasks on automated highways. The controller acquires the vehicle's lateral positions through two sets of magnetometers. Failures on either set of magnetometers may cause instability of the system and jeopardize safety of the passengers. Hence it is of crucial importance to design and implement a fault detection and identification (FDI) mechanism which is responsible for handling the magnetometers' malfunctions. In this paper, we propose an FDI scheme consisting of two switching observers and a probabilistic inference algorithm. The existence of failures is detected by evaluating the posterior probabilities of fault occurrences, while the sizes and types of the faults are estimated by the observers. Simulation results show that sensor failures can be detected and identified in a timely manner. Moreover the lateral control system maintains stability, and an acceptable level of performance is achieved in the presence of sensor failures.

Original languageAmerican English
Title of host publicationProceedings of the 2007 American Control Conference, ACC
Number of pages6
ISBN (Print)1424409888, 9781424409884
StatePublished - 9 Jul 2007
Event2007 American Control Conference, ACC - New York, NY, United States
Duration: 9 Jul 200713 Jul 2007

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2007 American Control Conference, ACC
Country/TerritoryUnited States
CityNew York, NY


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