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Sensors (Basel). 2018 Jul 18;18(7). pii: E2332. doi: 10.3390/s18072332.

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

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LIVIC Laboratory, IFSTTAR, 25 Allée des Marronniers, 78000 Versailles, France.
Centre for Accident Research and Road Safety (CARRS-Q), Queensland University of Technology (QUT), Brisbane City, QLD 4000, Australia.
LIVIC Laboratory, IFSTTAR, 25 Allée des Marronniers, 78000 Versailles, France.
IBISC Laboratory, University of Evry Val d'Essonne, 40 rue du Pelvoux, 91020 Evry, France.


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.


Interacting Multiple Model; drive-by-wire; extended Kalman filter; fault detection and isolation

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