This paper presents fault diagnosis logic and signal restoration algorithms for vehicle motion sensors. Because various sensors are equipped to realize automatic operation of the vehicle, defects in these sensors lead to severe safety issues. Therefore, an effective and reliable fault detection and recovery system should be developed. The primary idea of the proposed fault detection system is the conversion of measured wheel speeds into vehicle central axis information and the selection of a reference central axis speed based on this information. Thus, the obtained results are employed to estimate the speed for all wheel sides, which are compared with measured values to identify fault and recover the fault signal. For fault diagnosis logic, a conditional expression is derived with only two variables to distinguish between normal and fault; further, an analytical redundancy structure and a simple diagnostic logic structure are presented. Finally, an off-line test is conducted using test vehicle information to validate the proposed method; it demonstrates that the proposed fault detection and signal restoration algorithm can satisfy the control performance required for each sensor failure.
Keywords: autonomous vehicle; fault detection; intelligent vehicle; kinematic model; sensor fault; signal restoration.