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Open AccessArticle

Fault Detection and Isolation via the Interacting Multiple Model Approach Applied to Drive-By-Wire Vehicles

by Vincent Judalet 1,*,†,‡, Sébastien Glaser 2,‡, Dominique Gruyer 1,‡ and Saïd Mammar 3,‡
1
LIVIC Laboratory, IFSTTAR, 25 Allée des Marronniers, 78000 Versailles, France
2
Centre for Accident Research and Road Safety (CARRS-Q), Queensland University of Technology (QUT), Brisbane City, QLD 4000, Australia
3
IBISC Laboratory, University of Evry Val d’Essonne, 40 rue du Pelvoux, 91020 Evry, France
*
Author to whom correspondence should be addressed.
Current address: École Supérieure des Techniques Aéronautiques et de Construction Automobile (ESTACA), 12 Avenue Paul Delouvrier, 78180 Montigny-le-Bretonneux, France.
All authors contributed equally to this work.
Sensors 2018, 18(7), 2332; https://doi.org/10.3390/s18072332
Received: 15 May 2018 / Revised: 8 July 2018 / Accepted: 16 July 2018 / Published: 18 July 2018
(This article belongs to the Special Issue Sensors for Fault Detection)
The place of driving assistance systems is currently increasing drastically for road vehicles. Paving the road to the fully autonomous vehicle, the drive-by-wire technology could improve the potential of the vehicle control. The implementation of these new embedded systems is still limited, mainly for reliability reasons, thus requiring the development of diagnostic mechanisms. In this paper, we investigate the detection and the identification of sensor and actuator faults for a drive-by-wire road vehicle. An Interacting Multiple Model approach is proposed, based on a non-linear vehicle dynamics observer. The adequacy of different probabilistic observers is discussed. The results, based on experimental vehicle signals, show a fast and robust identification of sensor faults while the actuator faults are more challenging. View Full-Text
Keywords: Interacting Multiple Model; fault detection and isolation; drive-by-wire; extended Kalman filter Interacting Multiple Model; fault detection and isolation; drive-by-wire; extended Kalman filter
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Judalet, V.; Glaser, S.; Gruyer, D.; Mammar, S. Fault Detection and Isolation via the Interacting Multiple Model Approach Applied to Drive-By-Wire Vehicles. Sensors 2018, 18, 2332.

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