Fault detection and isolation of steering system actuators for an automated vehicle

F.N. Hoogeboom; T.P.J. van der Sande; H. Nijmeijer

Fault detection and isolation of steering system actuators for an automated vehicle

Dynamics and Control

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic

Abstract

This paper presents a model-based fault diagnosis method applied on the steering system of an automated vehicle. The steering system
is modeled in concatenation with a single track vehicle model. A steering actuator fault as well as user intervention are chosen to be
the faults of interest. To synthesize minimal order residual generators, the Matlab toolbox FDITOOLS is applied which uses rational
nullspace computations to design the fault detection filter. To evaluate the performance of the filter, a simulation model is constructed
which consists of steering system model with driver concatenated with a single track vehicle model. This model is simulated with
parameters obtained from an experimental setup. During the simulations, longitudinal velocity is varied to evaluate robustness of the
filter. The results show that it is possible to detect and isolate the steering actuator fault as well as the user intervention.

Original language	English
Title of host publication	Advanced Vehicle Control AVEC’18 - Proceedings of the 14th International Symposium on Advanced Vehicle Control AVEC’18
Publication status	Published - 16 Jul 2018
Event	14th International Symposium on Advanced Vehicle Control, AVEC 2018 - Beijing, China Duration: 16 Jul 2018 → 20 Jul 2018 Conference number: 14 http://avec2018.org/

Conference

Conference	14th International Symposium on Advanced Vehicle Control, AVEC 2018
Abbreviated title	AVEC'18
Country/Territory	China
City	Beijing
Period	16/07/18 → 20/07/18
Internet address	http://avec2018.org/

Cite this

@inproceedings{de5afec492c34dc583d153a5bb31c0f8,

title = "Fault detection and isolation of steering system actuators for an automated vehicle",

abstract = "This paper presents a model-based fault diagnosis method applied on the steering system of an automated vehicle. The steering system is modeled in concatenation with a single track vehicle model. A steering actuator fault as well as user intervention are chosen to be the faults of interest. To synthesize minimal order residual generators, the Matlab toolbox FDITOOLS is applied which uses rational nullspace computations to design the fault detection filter. To evaluate the performance of the filter, a simulation model is constructed which consists of steering system model with driver concatenated with a single track vehicle model. This model is simulated with parameters obtained from an experimental setup. During the simulations, longitudinal velocity is varied to evaluate robustness of the filter. The results show that it is possible to detect and isolate the steering actuator fault as well as the user intervention.",

author = "F.N. Hoogeboom and \{van der Sande\}, T.P.J. and H. Nijmeijer",

year = "2018",

month = jul,

day = "16",

language = "English",

booktitle = "Advanced Vehicle Control AVEC{\textquoteright}18 - Proceedings of the 14th International Symposium on Advanced Vehicle Control AVEC{\textquoteright}18",

note = "14th International Symposium on Advanced Vehicle Control, AVEC 2018, AVEC'18 ; Conference date: 16-07-2018 Through 20-07-2018",

url = "http://avec2018.org/",

}

Hoogeboom, FN, van der Sande, TPJ & Nijmeijer, H 2018, Fault detection and isolation of steering system actuators for an automated vehicle. in Advanced Vehicle Control AVEC’18 - Proceedings of the 14th International Symposium on Advanced Vehicle Control AVEC’18., WeE3-1, 14th International Symposium on Advanced Vehicle Control, AVEC 2018, Beijing, China, 16/07/18.

Fault detection and isolation of steering system actuators for an automated vehicle. / Hoogeboom, F.N.; van der Sande, T.P.J.; Nijmeijer, H.
Advanced Vehicle Control AVEC’18 - Proceedings of the 14th International Symposium on Advanced Vehicle Control AVEC’18. 2018. WeE3-1.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic

TY - GEN

T1 - Fault detection and isolation of steering system actuators for an automated vehicle

AU - Hoogeboom, F.N.

AU - van der Sande, T.P.J.

AU - Nijmeijer, H.

N1 - Conference code: 14

PY - 2018/7/16

Y1 - 2018/7/16

N2 - This paper presents a model-based fault diagnosis method applied on the steering system of an automated vehicle. The steering system is modeled in concatenation with a single track vehicle model. A steering actuator fault as well as user intervention are chosen to be the faults of interest. To synthesize minimal order residual generators, the Matlab toolbox FDITOOLS is applied which uses rational nullspace computations to design the fault detection filter. To evaluate the performance of the filter, a simulation model is constructed which consists of steering system model with driver concatenated with a single track vehicle model. This model is simulated with parameters obtained from an experimental setup. During the simulations, longitudinal velocity is varied to evaluate robustness of the filter. The results show that it is possible to detect and isolate the steering actuator fault as well as the user intervention.

AB - This paper presents a model-based fault diagnosis method applied on the steering system of an automated vehicle. The steering system is modeled in concatenation with a single track vehicle model. A steering actuator fault as well as user intervention are chosen to be the faults of interest. To synthesize minimal order residual generators, the Matlab toolbox FDITOOLS is applied which uses rational nullspace computations to design the fault detection filter. To evaluate the performance of the filter, a simulation model is constructed which consists of steering system model with driver concatenated with a single track vehicle model. This model is simulated with parameters obtained from an experimental setup. During the simulations, longitudinal velocity is varied to evaluate robustness of the filter. The results show that it is possible to detect and isolate the steering actuator fault as well as the user intervention.

M3 - Conference contribution

BT - Advanced Vehicle Control AVEC’18 - Proceedings of the 14th International Symposium on Advanced Vehicle Control AVEC’18

T2 - 14th International Symposium on Advanced Vehicle Control, AVEC 2018

Y2 - 16 July 2018 through 20 July 2018

ER -

Fault detection and isolation of steering system actuators for an automated vehicle

Abstract

Conference

Fingerprint

Cite this