CAREER: Fault Diagnostics for Automated Vehicle Applications

Rajesh Rajamani，明尼苏达大学提案# 9983946自动驾驶汽车应用故障诊断摘要该项目的重点是故障诊断系统的开发，可以监控自动驾驶汽车上所有传感器和执行器的健康状况，并识别发生的任何故障的来源。 半自动车辆（如自适应巡航控制和车道保持型应用）以及专用自动公路系统上的全自动车辆都进行了研究。 首先，由于车辆动力学模型可以是高度非线性的，一个系统的故障诊断方法的基础上非线性观测器的设计结果的非线性系统。 其次，获得分析冗余的传感器，测量车辆间和车辆-道路变量的问题得到解决。 这个任务的困难来自于这样的事实，即这些传感器测量中的每一个都涉及第二动态系统，而另一动态系统的传感器不能访问。 该项目的实验工作计划包括在MnRoad研究设施的沃尔沃卡车和Navistar牵引车拖车上实验实施整个故障诊断系统。该项目解决了车辆/公路自动化的一个重要方面。 可靠的故障诊断和故障处理系统的发展是必要的，以使车辆自动化可行。 该项目的教育目标包括编写教科书和课程。

Rajesh Rajamani, University of Minnesota Proposal # 9983946 Fault Diagnostics for Automated Vehicle Applications ABSTRACTThis project focuses on the development of fault diagnostic systems that can monitor the health of all the sensors and actuators on an automated vehicle and identify the source of any fault that occurs. Both semi-automated vehicles (such as in adaptive cruise control and lane-keeping-type applications) as well as fully automated vehicles on dedicated automated highway systems are investigated.Two key research challenges are addressed in the project. First, since vehicle dynamic models can be highly nonlinear, a systematic fault diagnostics methodology is developed for nonlinear systems based on nonlinear observer design results. Second, the issue of obtaining analytical redundancy for sensors that measure inter-vehicle and vehicle-road variables is addressed. The difficulty in this task arises from the fact that each of these sensor measurements involve a second dynamic system, with no access being available to sensors of the other dynamic system. The experimental work plan in the project includes experimental implementation of the entire fault diagnostic system on a Volvo truck and a Navistar tractor-trailer at the MnRoad research facility. The project addresses an important aspect of vehicle/highway automation. The development of reliable fault diagnostic and fault handling systems is necessary in order to make vehicle automation viable. Educational objectives of the project include textbook and curriculum development.