Optimal Sensor Configuration and Fault-Tolerant Estimation of Vehicle States

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Optimal Sensor Configuration and Fault-Tolerant Estimation of Vehicle States

Khajepour, Amir / Rezaeian, Ayyoub / Litkouhi, Baktiarr / Zarringhalam, Reza / Fallah, Saber / Chen, Shih-Ken / Melek, William

Abstract

This paper discusses observability of the vehicle states using different sensor configurations as well as fault-tolerant estimation of these states. The optimality of the sensor configurations is assessed through different observability measures and by using a 3-DOF linear vehicle model that incorporates yaw, roll and lateral motions of the vehicle. The most optimal sensor configuration is adopted and an observer is designed to estimate the states of the vehicle handling dynamics. Robustness of the observer against sensor failure is investigated. A fault-tolerant adaptive estimation algorithm is developed to mitigate any possible faults arising from the sensor failures. Effectiveness of the proposed fault-tolerant estimation scheme is demonstrated through numerical analysis and CarSim simulation.

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Document information

Title :

Optimal Sensor Configuration and Fault-Tolerant Estimation of Vehicle States

Additional title:

Sae International Journal of Passenger Cars- Electronic and Electrical Systems
Sae Int. J. Passeng. Cars – Electron. Electr. Syst

Contributors:

Khajepour, Amir (author) / Rezaeian, Ayyoub (author) / Litkouhi, Baktiarr (author) / Zarringhalam, Reza (author) / Fallah, Saber (author) / Chen, Shih-Ken (author) / Melek, William (author)

Conference:

SAE 2013 World Congress & Exhibition ; 2013

Published in:

Sae International Journal of Passenger Cars - Electronic and Electrical Systems ; 6 , 1 ; 83-92

Publication date :

2013-04-08

Size :

10 pages

ISSN :

1946-4614 , 1946-4622

DOI :

https://doi.org/10.4271/2013-01-0175