칼만필터를 이용한 drive-by-wire시스템을 가진 자동차에 대한 고장 진단

Abstract

Drive-by-wire systems will become popular in the near future, because of their compactness, lightweight and improved controllability. Since there would be no mechanical redundancy in the drive by wire subsystem, the reliability of the system needs to be improved by using fault diagnosis of sensors and actuators. In the paper, a Kalman filter based fault diagnosis method for the vehicle with the drive by wire system which includes steer by wire, brake by wire and throttle by wire systems, is proposed. It is shown that the proposed method is successful in fault detection and isolation for single sensor/actuator fault of the vehicle system