Optimal Sensor Configuration and Fault-Tolerant Estimation of Vehicle States
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Date
2013-04-08
Authors
Zarringhalam, Reza
Rezaeian, Ayyoub
Fallah, Saber
Khajepour, Amir
Melek, William
Chen, Shih-Ken
Litkouhi, Baktiar
Journal Title
Journal ISSN
Volume Title
Publisher
SAE International
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.
Description
© SAE, Zarringhalam, R., Rezaeian, A., Fallah, S., Khajepour, A. et al., "Optimal Sensor Configuration and Fault-Tolerant Estimation of Vehicle States," SAE Int. J. Passeng. Cars – Electron. Electr. Syst. 6(1):83-92, 2013, doi:10.4271/2013-01-0175.