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2011
Conference Paper
Titel
Fault-tolerant track estimation algorithm for truck-trailer vehicles
Abstract
In this paper a real-time track estimation algorithmwith fault detection and isolation (FDI) for truck-trailer vehicles is examined to be used in advanced steering control systems. Therefore a FDI algorithm is considered using a model-based approach, with observerbased residual generation. The residuals are used to form appropriate decision functions to get the most reliable track of the vehicle. Simulation results show that the accuracy of the track algorithm using FDI can be significantly improved. Furthermore the presented track estimation algorithm is fault-tolerant due to utilizing analytic redundancy by different estimators and sensor sets.
Author(s)