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Fault Types01:18

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Design and Application of a Fault Detection Method Based on Adaptive Filters and Rotational Speed Estimation for an Electro-Hydrostatic Actuator
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Fault Detection and Isolation via the Interacting Multiple Model Approach Applied to Drive-By-Wire Vehicles.

Vincent Judalet1, Sébastien Glaser2, Dominique Gruyer3

  • 1LIVIC Laboratory, IFSTTAR, 25 Allée des Marronniers, 78000 Versailles, France. vincent.judalet@estaca.fr.

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Summary

This study presents a new diagnostic method for drive-by-wire systems, crucial for autonomous vehicles. The approach effectively detects sensor faults but faces challenges with actuator fault identification.

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Interacting Multiple Modeldrive-by-wireextended Kalman filterfault detection and isolation

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Area of Science:

  • Automotive Engineering
  • Control Systems
  • Embedded Systems

Background:

  • Driving assistance systems are rapidly advancing, with drive-by-wire technology key to enabling fully autonomous vehicles.
  • Reliability concerns currently limit the widespread implementation of these advanced embedded systems.
  • Effective diagnostic mechanisms are essential for ensuring the safety and reliability of drive-by-wire systems.

Purpose of the Study:

  • To investigate the detection and identification of sensor and actuator faults in drive-by-wire road vehicles.
  • To propose and evaluate a diagnostic approach for enhancing the reliability of vehicle control systems.

Main Methods:

  • An Interacting Multiple Model (IMM) approach was employed.
  • A non-linear vehicle dynamics observer was utilized as the core of the diagnostic system.
  • The performance of various probabilistic observers was assessed using experimental vehicle data.

Main Results:

  • The proposed method demonstrated fast and robust identification of sensor faults.
  • Actuator fault identification proved to be more challenging compared to sensor faults.
  • Experimental validation confirmed the efficacy of the diagnostic approach for specific fault types.

Conclusions:

  • The developed diagnostic mechanism shows promise for improving the reliability of drive-by-wire systems.
  • Further research is needed to address the challenges in actuator fault detection and identification.
  • This work contributes to the advancement of safety-critical systems for autonomous driving.