Vehicle sensor and actuator fault detection algorithm for automated vehicles

Yonghwan Jeong; Kyuwon Kim; Beomjun Kim; Jihyun Yoon; Hyokjin Chong; Bongchul Ko; Kyongsu Yi

doi:10.1109/IVS.2015.7225803

Vehicle sensor and actuator fault detection algorithm for automated vehicles

Yonghwan Jeong
, Kyuwon Kim
, Beomjun Kim
, Jihyun Yoon
, Hyokjin Chong
, Bongchul Ko
, Kyongsu Yi

Dept. of Mechanical & Automotive Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

20 Scopus citations

Abstract

This paper presents a vehicle sensor and actuator fault detection algorithm for automated vehicles. The diagnostic system is designed to monitor steering wheel angle, yaw-rate, and wheel speed sensors and steering, throttle, and brake actuators used by the lateral and longitudinal controllers of the vehicle. Different combinations of the observer estimates, the sensor measurements, and the control commands are used to construct a bank of residuals. A fault in any of the vehicle sensors and actuators leads to increase of the unique subset of residuals. The adaptive threshold is used to enable exact identification of the abnormal increase of residual. The fault detection performance and its reliability of the proposed algorithm have been investigated via computer simulation studies and real-time vehicle tests. The enhancement of the fault detection allows for realization of autonomous driving vehicle which uses actuation by embedded computer.

Original language	English
Title of host publication	IV 2015 - 2015 IEEE Intelligent Vehicles Symposium
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	927-932
Number of pages	6
ISBN (Electronic)	9781467372664
DOIs	https://doi.org/10.1109/IVS.2015.7225803
State	Published - 26 Aug 2015
Event	IEEE Intelligent Vehicles Symposium, IV 2015 - Seoul, Korea, Republic of Duration: 28 Jun 2015 → 1 Jul 2015

Publication series

Name	IEEE Intelligent Vehicles Symposium, Proceedings
Volume	2015-August

Conference

Conference	IEEE Intelligent Vehicles Symposium, IV 2015
Country/Territory	Korea, Republic of
City	Seoul
Period	28/06/15 → 1/07/15

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10.1109/IVS.2015.7225803

Cite this

Jeong, Y., Kim, K., Kim, B., Yoon, J., Chong, H., Ko, B., & Yi, K. (2015). Vehicle sensor and actuator fault detection algorithm for automated vehicles. In IV 2015 - 2015 IEEE Intelligent Vehicles Symposium (pp. 927-932). Article 7225803 (IEEE Intelligent Vehicles Symposium, Proceedings; Vol. 2015-August). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IVS.2015.7225803

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title = "Vehicle sensor and actuator fault detection algorithm for automated vehicles",

abstract = "This paper presents a vehicle sensor and actuator fault detection algorithm for automated vehicles. The diagnostic system is designed to monitor steering wheel angle, yaw-rate, and wheel speed sensors and steering, throttle, and brake actuators used by the lateral and longitudinal controllers of the vehicle. Different combinations of the observer estimates, the sensor measurements, and the control commands are used to construct a bank of residuals. A fault in any of the vehicle sensors and actuators leads to increase of the unique subset of residuals. The adaptive threshold is used to enable exact identification of the abnormal increase of residual. The fault detection performance and its reliability of the proposed algorithm have been investigated via computer simulation studies and real-time vehicle tests. The enhancement of the fault detection allows for realization of autonomous driving vehicle which uses actuation by embedded computer.",

author = "Yonghwan Jeong and Kyuwon Kim and Beomjun Kim and Jihyun Yoon and Hyokjin Chong and Bongchul Ko and Kyongsu Yi",

note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; IEEE Intelligent Vehicles Symposium, IV 2015 ; Conference date: 28-06-2015 Through 01-07-2015",

year = "2015",

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doi = "10.1109/IVS.2015.7225803",

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Jeong, Y, Kim, K, Kim, B, Yoon, J, Chong, H, Ko, B & Yi, K 2015, Vehicle sensor and actuator fault detection algorithm for automated vehicles. in IV 2015 - 2015 IEEE Intelligent Vehicles Symposium., 7225803, IEEE Intelligent Vehicles Symposium, Proceedings, vol. 2015-August, Institute of Electrical and Electronics Engineers Inc., pp. 927-932, IEEE Intelligent Vehicles Symposium, IV 2015, Seoul, Korea, Republic of, 28/06/15. https://doi.org/10.1109/IVS.2015.7225803

Vehicle sensor and actuator fault detection algorithm for automated vehicles. / Jeong, Yonghwan; Kim, Kyuwon; Kim, Beomjun et al.
IV 2015 - 2015 IEEE Intelligent Vehicles Symposium. Institute of Electrical and Electronics Engineers Inc., 2015. p. 927-932 7225803 (IEEE Intelligent Vehicles Symposium, Proceedings; Vol. 2015-August).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Jeong, Yonghwan

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AU - Ko, Bongchul

AU - Yi, Kyongsu

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N2 - This paper presents a vehicle sensor and actuator fault detection algorithm for automated vehicles. The diagnostic system is designed to monitor steering wheel angle, yaw-rate, and wheel speed sensors and steering, throttle, and brake actuators used by the lateral and longitudinal controllers of the vehicle. Different combinations of the observer estimates, the sensor measurements, and the control commands are used to construct a bank of residuals. A fault in any of the vehicle sensors and actuators leads to increase of the unique subset of residuals. The adaptive threshold is used to enable exact identification of the abnormal increase of residual. The fault detection performance and its reliability of the proposed algorithm have been investigated via computer simulation studies and real-time vehicle tests. The enhancement of the fault detection allows for realization of autonomous driving vehicle which uses actuation by embedded computer.

AB - This paper presents a vehicle sensor and actuator fault detection algorithm for automated vehicles. The diagnostic system is designed to monitor steering wheel angle, yaw-rate, and wheel speed sensors and steering, throttle, and brake actuators used by the lateral and longitudinal controllers of the vehicle. Different combinations of the observer estimates, the sensor measurements, and the control commands are used to construct a bank of residuals. A fault in any of the vehicle sensors and actuators leads to increase of the unique subset of residuals. The adaptive threshold is used to enable exact identification of the abnormal increase of residual. The fault detection performance and its reliability of the proposed algorithm have been investigated via computer simulation studies and real-time vehicle tests. The enhancement of the fault detection allows for realization of autonomous driving vehicle which uses actuation by embedded computer.

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Vehicle sensor and actuator fault detection algorithm for automated vehicles

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