Latest revision as of 21:51, 1 February 2021

Abstract

International audience; The autonomous navigation of an electric vehicle requires the implementation of a number of sensors and actuators intended to inform it about his environment or his position and velocity and deliver necessary inputs. That's why it is important to detect and locate sensor and actuator faults as soon as possible to enable the operator to run the vehicle in degraded mode or use the fault tolerant control system if it exists. The main purpose of this paper deals with sensors or actuators faults diagnosis of autonomous vehicle. A diagnosis method using a nonlinear model of the vehicle is developed. Nonlinear state space model of the autonomous electric vehicle is used with the method of nonlinear analytical redundancy to detect and to isolate faults occurred on sensors or actuators. Computer simulations are carried out to verify the effectiveness of the method.

Original document

The different versions of the original document can be found in:

• https://hal.archives-ouvertes.fr/hal-00804020

• https://hal.archives-ouvertes.fr/hal-00804030

• http://xplorestaging.ieee.org/ielx5/5226790/5244759/05246227.pdf?arnumber=5246227,

http://dx.doi.org/10.1109/icma.2009.5246227

• http://yadda.icm.edu.pl/yadda/element/bwmeta1.element.ieee-000005246227,

https://ieeexplore.ieee.org/document/5246227,

https://hal.archives-ouvertes.fr/hal-00804020,

https://academic.microsoft.com/#/detail/2139209777

DOIS: 10.1109/icma.2009.5246227 10.1016/epe09093002