Control of Heavy Duty Vehicle

Fault Diagnosis and Management
Vehicle Safety

1. DEVELOPMENT AND IMPLEMENTATION OF A VEHICLE-CENTERED FAULT DIAGNOSTIC AND MANAGEMENT SYSTEM FOR THE EXTENDED PATH-AHS ARCHITECTURE

Task Order 4207

Masayoshi Tomizuka, University of California, Berkeley
tomizuka@euler.berkeley.edu, http://www.me.berkeley.edu/faculty/tomizuka.html

Roberto Horowitz, University of California, Berkeley
horowitz@me.berkeley.edu, http://www.me.berkeley.edu/~horowitz

Karl Hedrick, University of California, Berkeley
khedrick@me.berkeley.edu, http://www.me.berkeley.edu/faculty/hedrick/

This project is a continuation of MOU373. It concludes ongoing research to extend and integrate existing results on fault diagnostic and fault management research, and develop a comprehensive fault management system. Features will include a multi-layer fault diagnostic and management system, diagnosis of faults in the sensors and actuators of the lateral and longitudinal control systems, detection of faults in the most vital sensors and actuators, and development of asystematic methodology for processing diagnostic residues. Experimental implementation and testing of the completed system will begin during the second year of work. This work is important because fault diagnostics and management appear to be the most important technical issues remaining to be resolved before vehicle automation can be implemented.

2. DEVELOPMENT OF INTEGRATED MESO/MICROSCALE TRAFFIC SIMULATION SOFTWARE FOR TESTING FAULT DETECTION AND HANDLING IN AHS

Task Order 4208

Roberto Horowitz, University of California, Berkeley
horowitz@me.berkeley.edu, http://www.me.berkeley.edu/~horowitz

This project is a continuation of MOU383. It concludes the research on the analysis and simulation of AHS feasibility by making available a platform for performing exhaustive simulations of a large-scale AHS that will provide information for the different degrees of precision (at the micro and macro levels) that are required. The objective of the project is to integrate the PATH micro-simulation SmartAHS and meso-simulation SmartCAP software packages into a coherent programming platform for efficient simulations of a large scale AHS at the physical, regulation, coordination and link layers. The resulting integrated simulation package will have the capability of simulating vehicle faults at the micro level, and the impact of a fault on the overall AHS response and how a fault can be handled at the macro level.

3. TESTING AND EVALUATION OF ROBUST FAULT DETECTION AND IDENTIFICATION FOR A FAULT TOLERANT AUTOMATED HIGHWAY SYSTEM

Task Order 4209

Jason Speyer University of California, Los Angeles
speyer@seas.ucla.edu, http://www.mae.ucla.edu/academics/faculty/speyer.htm

The purpose of the project is to perform experimental implementation and verification of the fault detection and identification (FDI) algorithms, and data fusion approaches (fault detection filter and residual processing) developed under previous PATH projects. A robust fault monitoring system will be implemented to monitor failures in any actuator or sensor for a single vehicle in both longitudinal and lateral modes. The residual processes will be evaluated to determine the probabilities of false and missed alarms for the fault monitoring system. The fault monitoring system will be simulated, tested and fine-tuned in the presence of sensor noise and process noise such as road slopes and wind gusts. The monitoring system will also be evaluated using the empirical vehicle data that will be recorded at the Crows Landing facility. In-vehicle evaluation of the system will be performed.

4. DEVELOPMENT AND IMPLEMENTATION OF A VEHICLE-CENTERED FAULT DIAGNOSITC AND MANAGEMENT SYSTEM FOR THE EXTENDED PATH-AHS ARCHITECTURE

MOU 373

Masayoshi Tomizuka, University of California, Berkeley
tomizuka@euler.berkeley.edu, http://www.me.berkeley.edu/faculty/tomizuka.html

Roberto Horowitz, University of California, Berkeley
horowitz@me.berkeley.edu, http://www.me.berkeley.edu/~horowitz

Karl Hedrick, University of California, Berkeley
khedrick@me.berkeley.edu, http://www.me.berkeley.edu/faculty/hedrick/

This project will extend and integrate existing results on fault diagnostic and fault management research, and develop a comprehensive fault management system. Features will include a multi-layer fault diagnostic and management system, diagnosis of faults in the sensors and actuators of the lateral and longitudinal control systems, detection of faults in the most vital sensors and actuators, and development of systematic methodology for processing diagnostic residues. Experimental implementation and testing of the completed system will begin during the second year of work. This work is important because fault diagnostics and management appear to be the most important technical issues remaining to be resolved before vehicle automation can be implemented.