Testing and Evaluation of Robust Fault Detection and Identification for a Fault Tolerant Automated Highway System: Final Report

This report concerns vehicle fault detection and identification. The design of a vehicle health monitoring system based on analytical redundancy approach is described. A residual generator and a residual processor are designed to detect and identify actuator and sensor faults of the PATH Buick LeSabre. The residual generator, which includes fault detection filters and parity equations, uses the control commands and sensor measurements to generate the residuals which have a unique static pattern in response to each fault. Then, the residual processor interrogates the residuals by matching the residuals to one of several known patterns and computes the probability of each pattern defined hypothesis.