State-of-health monitoring and fault diagnosis with adaptive thresholds for integrated vehicle stability system
First Claim
1. A method for determining whether a sensor in a vehicle has failed, said method comprising:
- generating a plurality of estimates of an output of the sensor based on a plurality of models;
comparing the estimates to a measured output signal from the sensor to generate a plurality of residuals;
comparing the plurality of residuals to a threshold;
providing a first value if the residual exceeds the threshold and a second value if the residual does not exceed the threshold; and
determining that the sensor has failed if the pattern of the values is a predetermined pattern.
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Abstract
A system and related method for monitoring the state of health of sensors in an integrated vehicle stability control system. In one embodiment, the system determines whether a yaw rate sensor, a lateral acceleration sensor or a hand-wheel angle sensor has failed. The system uses a plurality of models to generate estimates of the outputs of the sensors based on the actual sensor measurements. Residuals are generated as the difference between the measured value and each of the estimates for the particular sensor. The residuals are compared to a threshold to determine whether a fault flag will be set for each residual. The threshold for the hand-wheel angle sensor is an adaptive threshold because it does not have physical redundancy. If the fault flags for the residuals for each sensor have a particular pattern, then a fault is output for that sensor.
29 Citations
21 Claims
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1. A method for determining whether a sensor in a vehicle has failed, said method comprising:
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generating a plurality of estimates of an output of the sensor based on a plurality of models;
comparing the estimates to a measured output signal from the sensor to generate a plurality of residuals;
comparing the plurality of residuals to a threshold;
providing a first value if the residual exceeds the threshold and a second value if the residual does not exceed the threshold; and
determining that the sensor has failed if the pattern of the values is a predetermined pattern. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for determining whether one or more of a plurality of sensors in a vehicle have failed, said method comprising:
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providing a hand-wheel angle sensor for providing a road wheel angle signal;
providing a lateral acceleration sensor for providing a lateral acceleration signal;
providing a yaw rate sensor for providing a yaw rate signal;
providing a vehicle speed sensor for providing a vehicle speed signal;
generating a plurality of road wheel angle estimates of an output of the hand-wheel angle sensor based on a plurality of road wheel angle models, said road wheel angle models using the lateral acceleration signal, the yaw rate signal and the vehicle speed signal;
generating a plurality of lateral acceleration estimates of an output of the lateral acceleration sensor based on a plurality of lateral acceleration models, said lateral acceleration models using the road wheel angle signal, the yaw rate signal and the vehicle speed signal;
generating a plurality of yaw rate estimates of an output of the yaw rate sensor based on a plurality of yaw rate models, said yaw rate models using the lateral acceleration signal, the road wheel angle signal and the vehicle speed signal;
comparing the road wheel angle estimates to the road wheel angle signal to generate a plurality of road wheel angle residuals;
comparing the lateral acceleration estimates to the lateral acceleration signal to generate a plurality of lateral acceleration residuals;
comparing the yaw rate estimates to the yaw rate signal to generate a plurality of yaw rate residuals;
comparing the plurality of road wheel angle residuals to an adaptive threshold that changes for different vehicle operating conditions, said adaptive threshold being based on the lateral acceleration signal and a derivative of the yaw rate signal;
comparing the plurality of lateral acceleration residuals to a lateral acceleration threshold;
comparing the plurality of yaw rate residuals to a yaw rate threshold;
providing a first value if the particular residual exceeds the particular threshold and a second value if the particular residual does not exceed the particular threshold;
determining that the hand-wheel angle sensor has failed if the pattern of the first and second road values is a predetermined pattern;
determining that the lateral acceleration sensor has failed if the pattern of the first and second values is a predetermined pattern; and
determining that the yaw rate sensor has failed if the pattern of the first and second values is a predetermined pattern. - View Dependent Claims (11, 12, 13)
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14. A system for monitoring a particular sensor in a vehicle, said system comprising:
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a plurality of vehicle sensors providing measured output signals of vehicle parameters;
a model processor for generating a plurality of estimate signals of the output of the particular sensor based on a plurality of models, wherein the models use the measured output signals of vehicle parameters;
a first comparator responsive to a measured signal from the particular sensor and the estimate signals, said first comparator generating a plurality of residuals based on the difference between the measured signal and the estimate signals;
a threshold processor generating a threshold signal;
a second comparator responsive to the plurality of residuals and the threshold signal, said second comparator outputting a first value if the residual is greater than the threshold signal and a second value if the residual is less than the threshold signal; and
a decision logic processor responsive to the plurality of first and second values, said decision logic processor determining that the particular sensor has failed if the pattern of values is a predetermined pattern. - View Dependent Claims (15, 16, 17, 18, 19, 20, 21)
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Specification