Stefan Otterbein

System zur Überwachung und Schätzung fahrdynamischer Signale (System for Monitoring and Estimation of Vehicle Dynamics Signals)

Anhand des Beispiels zweier existierender Fahrzeugregelsysteme wird gezeigt, dass sich durch die gemeinsame Verarbeitung der fahrdynamischen Sensorsignale erweiterte Möglichkeiten im Bereich der Sensorüberwachung und der Signalschätzung ergeben. Hierzu werden Verfahren zur Überwachung redundanter Sensorsignale, zur modellbasierten Plausibilisierung der Wankrate sowie zum Schätzen der Querneigung vorgestellt. Based on two existing vehicle control systems it is shown that combined processing of vehicle dynamics signals offers an extended potential for sensor monitoring and signal estimation. Algorithms for monitoring of redundant signals, for model based plausibility checking of the roll rate signal, and for estimation of lateral inclination are presented.

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.