Observer-based sensor fault detection and identification with application to vehicle lateral control

Te-Sheng Hsiao*, Masayoshi Tomizuka

*此作品的通信作者

研究成果: Conference contribution同行評審

10 引文 斯高帕斯(Scopus)

摘要

Vehicle lateral control, a vital subsystem of Automated Highway Systems (AHS), acquires lateral position through two sets of on-board magnetometers. Accommodating magnetometer failures is a crucial task for the safety of AHS. Static relations between the two sets of sensors, however, are insufficient for determining the faulty set. In this paper we propose an observer-based method to deal with this problem. The proposed approach can detect and identify magnetometer failures right after failures took place. Then the output of the faulty sensor is reconstructed from the output of the healthy sensor. Therefore the same controller can stabilize the vehicle lateral control system in both normal case and sensor failure case. Simulations demonstrate that the vehicle maintains acceptable performance after either set of magnetometers has failed.

原文English
主出版物標題Proceedings of the 2004 American Control Conference (AAC)
頁面810-815
頁數6
DOIs
出版狀態Published - 29 11月 2004
事件Proceedings of the 2004 American Control Conference (AAC) - Boston, MA, United States
持續時間: 30 6月 20042 7月 2004

出版系列

名字Proceedings of the American Control Conference
1
ISSN(列印)0743-1619

Conference

ConferenceProceedings of the 2004 American Control Conference (AAC)
國家/地區United States
城市Boston, MA
期間30/06/042/07/04

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