In this paper, a fault tolerant system for the estimation of vehicle lateral dynamics has been presented. The core of this system is an adaptive observer that delivers a satisfactory estimation when both of the sensor signals are available. Further observers or estimator are integrated in the fault tolerant estimation system such that an observer reconfiguration can be realised when a sensor fails. All observers/estimator have been simulated for different and well-specified driving manoeuvres. To this end, software Carsim has been used, which provides users with a powerful tool that well simulates real driving situations. Due to the space limitation, the simulation results that successfully demonstrate the theoretical results presented above cannot be included in this contribution. Readers who are interesting in the simulation results can directly contact the first author. It is well-known that uncertainties of the bicycle model depend strongly on driving manoeuvres and road conditions. An analytical computation of model uncertainties generally lead to very conservative estimates. Experimental analysis including simulation and driving tests is the way followed in the industry. It should be remarked that the fault tolerant scheme presented in this contribution is only a part of an overall fault tolerant monitoring system for vehicle control systems, in which different sub-systems for vehicle dynamics estimation and detection of sensor faults are integrated. Also, both for the purposes of vehicle dynamics estimation and sensor fault detection, the multi-model scheme is adopted. The valid estimation and fault detection are achieved by an evaluated fusion of estimations and residual signals delivered by different sub-estimation systems based on different models. The lateral dynamics estimation and the residual signals delivered by the observers proposed in this contribution build only a part of these fusion data.
A sensor fault detection scheme for vehicle lateral dynamic control systems
Ein Erkennungssystem für Sensorfehler des Steuerungssystems der Fahrzeuglateraldynamik
2003
6 Seiten, 1 Bild, 7 Quellen
Conference paper
English
Robust fault estimation for vehicle lateral dynamic systems
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