Proceedings ArticleDOI
Fault Detection, Localization, and Mitigation of a Network of Connected Autonomous Vehicles Using Transmissibility Identification
Abdelrahman Khalil,Mohammad Al Janaideh,Khaled F. Aljanaideh,Deepa Kundur +3 more
- pp 386-391
TLDR
Measurements from available sensors in the platoon are used to identify sensor-to-sensor models that can be used for health monitoring, fault localization, and fault mitigation in a platoon.Abstract:
This paper investigates fault detection, localization, and mitigation of autonomous vehicles platoons. The platoon is a network of autonomous vehicles that communicate together to move in a desired way. A fault in an autonomous vehicles platoon is a failure in either a physical component of a vehicle or a communication link between two vehicles in the platoon. This failure may lead to damage in one or more of the autonomous vehicles. Model-based health monitoring of a network of vehicles requires knowledge of a model of the system and the excitation signal, and thus may not be applicable. In this paper, we use measurements from available sensors in the platoon to identify sensor-to-sensor models that can be used for health monitoring, fault localization, and fault mitigation in the platoon. The dynamics of the network and the vehicles and the excitation signal that acts on the platoon are assumed to be unknown. We apply the proposed approach to a model of a platoon of autonomous vehicles and an experimental setup consisting of a platoon of three autonomous robots.read more
Citations
More filters
Proceedings ArticleDOI
Output-Only Fault Detection and Mitigation of Networks of Autonomous Vehicles
TL;DR: In this article, the authors proposed a transmissibility-based health monitoring approach for fault detection in an autonomous vehicle platoon, where a sliding mode controller is used to mitigate the failure of either a physical component of a vehicle or a communication link between two vehicles.
Journal ArticleDOI
Output-Only Measurements for Fault Detection of Multi-Actuator Systems in Motion Control Applications
TL;DR: In this article , the authors use transmissibility operators, which are mathematical models that characterize the relationship between sensors in an underlying system, for fault detection of actuators in linear systems.
Proceedings ArticleDOI
Health Monitoring of Mixed Autonomous and Human-driven Vehicle Platoon using Transmissibility Identification
TL;DR: In this article, the authors investigated fault detection and mitigation of connected autonomous vehicle platoons with a human-driven vehicle using transmissibility operators, which does not require knowledge of the excitation signal or the dynamics of the platoon.
Proceedings ArticleDOI
Health Monitoring of Actuators of Motion Systems Using Output-Only Measurements
TL;DR: In this paper, the authors use transmissibility operators, which are mathematical models that characterize the relationship between sensors in an underlying system, for fault detection of actuators, and apply the proposed approach to an analytical model with twelve actuators.
On Detecting Drunk Drivers in Mixed Autonomous Platoons Using Vehicles Velocity Measurements
TL;DR: In this paper , the authors used output-only measurements available from motion sensors in the longitudinal drive of mixed autonomous and human-driven platoons to detect drunk drivers' behavior in human driven vehicles within the same platoon.
References
More filters
Journal ArticleDOI
Disturbance propagation in vehicle strings
TL;DR: It is shown that small disturbances acting on one vehicle can propagate and have a large effect on another vehicle and this limitation is due to a complementary sensitivity integral constraint.
Journal ArticleDOI
Connected and automated vehicle systems: Introduction and overview
TL;DR: An introduction to the history and concepts of connected and automated vehicle systems is provided, showing how the AV systems can improve transportation system operations when they are combined with CV systems.
Journal ArticleDOI
Platoon based Cooperative Driving Model with Consideration of Realistic Inter-vehicle Communication
Dongyao Jia,Dong Ngoduy +1 more
TL;DR: The authors design a consensus-based controller for the cooperative driving system (CDS) considering (intelligent) traffic flow that consists of many platoons moving together, and investigate how the vehicular communications affect the features of intelligent traffic flow.
Journal ArticleDOI
Modeling and control of Cyber-Physical Systems subject to cyber attacks: A survey of recent advances and challenges
TL;DR: This paper surveys the literature on security aspects of CPSs, and presents some of existing methods for detecting cyber attacks, which are: Denial of service (DoS), deception, and replay attacks.