Detection and identification of sensor failures in vehicle lateral control systems

Te-Sheng Hsiao*


研究成果: Conference contribution同行評審


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.

原文American English
主出版物標題Proceedings of the 2007 American Control Conference, ACC
ISBN(列印)1424409888, 9781424409884
出版狀態Published - 9 7月 2007
事件2007 American Control Conference, ACC - New York, NY, United States
持續時間: 9 7月 200713 7月 2007


名字Proceedings of the American Control Conference


Conference2007 American Control Conference, ACC
國家/地區United States
城市New York, NY


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