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A unified approach towards fault detection of vehicle lateral dynamics sensors

Abstract Vehicle dynamics control systems require a close monitoring of the associated sensors since an erroneous intervention of the controller due to faulty measurements may have fatal consequences. Hardware failures with an immediate impact on sensor signals are detected by build-in sensor tests in connection with a plausibility check of the electrical signals. Slowly growing sensor offsets on the other hand require model based monitoring. Actually simple stationary models are used to detect these slow changes. Simplicity of the models, however, must be compensated for by an excessive exception handling in order to avoid false alarms due to non-valid models. In this paper, an invariant relation for the signals capturing vehicle lateral dynamics is derived. Based on this relation a novel scheme for vehicle lateral dynamics sensor monitoring is proposed which drastically reduces the necessary exception handling and which keeps up simultaneously with the advantage of simple models.