IMM-based sensor fault detection and localization for a drive-by-wire vehicle

IMM-based sensor fault detection and localization for a drive-by-wire vehicle
Vincent Judalet 1 Sébastien Glaser 1 Dominique Gruyer 1 Said Mammar 2  Détails
1 IFSTTAR/COSYS/LIVIC - Laboratoire sur les Interactions Véhicules-Infrastructure-Conducteurs
2 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
Abstract : With the development of the embedded application and driving assistance systems, it becomes relevant to develop parallel mechanisms in order to check and to diagnose these new systems. This is particularly true in the case of partially and fully autonomous vehicles. In this paper, we focus our researches on a subpart of this issue dedicated to the detection and the identification of sensor faults for a drive-by-wire road vehicle. An Interacting Multiple Model approach has been implemented, based on a non-linear vehicle dynamics observer, including tire-road force and actuator modeling. Experimental validation tests, relying on real vehicle signals, show a fast and robust fault identification.