Proceedings ArticleDOI
Output-Only Fault Detection and Mitigation of Networks of Autonomous Vehicles
Abdelrahman Khalil,Mohammad Al Janaideh,Khaled F. Aljanaideh,Deepa Kundur +3 more
- pp 2257-2264
TLDR
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.Abstract:Â
An autonomous vehicle platoon is a network of autonomous vehicles that communicate together to move in a desired way. One of the greatest threats to the operation of an autonomous vehicle platoon is the failure of either a physical component of a vehicle or a communication link between two vehicles. This failure affects the safety and stability of the autonomous vehicle platoon. Transmissibility-based health monitoring uses available sensor measurements for fault detection under unknown excitation and unknown dynamics of the network. After a fault is detected, a sliding mode controller is used to mitigate the fault. Different fault scenarios are considered including vehicle internal disturbances, cyber attacks, and communication delays. We apply the proposed approach to a bond graph model of the platoon and an experimental setup consisting of three autonomous robots.read more
Citations
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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 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.
Journal ArticleDOI
Online fault classification in Connected Autonomous Vehicles using output-only measurements
TL;DR: In this paper , the authors proposed using transmissibility operators, which are relationships that relate a set of velocities with another in the platoon, to classify the faults, such as actuator disturbances, false data injection attacks, and communication time delays.
Journal ArticleDOI
Transmissibility-Based Fault Detection for Robotic Applications With Time-Varying Parameters
TL;DR: In this article , an algorithm to identify time-varying transmissibilities using recursive least squares and non-causal finite impulse response models was proposed for fault detection in three different systems.
Proceedings ArticleDOI
On String Stability of Mixed Autonomous and Human-driven Vehicle Platoons with Transmissibility-based Health Monitoring
TL;DR: In this article , the transmissibility-based health monitoring technique is independent of the desired velocity, human-driver behavior, and the underlying dynamics of the platoon, and it is shown that the faulty platoon with mitigated fault is always string stable as well.
References
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Proceedings ArticleDOI
Car-to-Cloud Communication Traffic Analysis Based on the Common Vehicle Information Model
TL;DR: A new car-to-cloud communication traffic model has been derived, which quantifies the data rate of aggregated car- to-cloud data producible by vehicles depending on the current traffic situations (free flow and traffic jam).
Journal ArticleDOI
Cooperative Vehicle Speed Fault Diagnosis and Correction
Mohammad Pirani,Ehsan Hashemi,Amir Khajepour,Baris Fidan,Bakhtiar Brian Litkouhi,Shih-Ken Chen,Shreyas Sundaram +6 more
TL;DR: In this article, a cooperative vehicle speed fault diagnosis and correction algorithm is proposed based on a distributed function calculation algorithm for vehicle networks, which enables each vehicle to gather some information from other vehicles in the network in a distributed manner and is robust to communication failures.
Journal ArticleDOI
Experimental Application of Time-Domain Transmissibility Identification to Fault Detection and Localization in Acoustic Systems
TL;DR: In this article, a technique for fault detection and localization based on timedomain transmissibility identification is proposed, which takes the advantage of unknown external (ambient) excitation to identify a sensor-to-sensor model, which is independent of the excitation signal and the initial conditions of the underlying system.
Proceedings ArticleDOI
Fault Detection, Localization, and Mitigation of a Network of Connected Autonomous Vehicles Using Transmissibility Identification
TL;DR: 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.
Proceedings ArticleDOI
A Sliding Mode Observer Approach for Attack Detection and Estimation in Autonomous Vehicle Platoons using Event Triggered Communication
TL;DR: Stability of the observer and robustness of the detection threshold in the case of event-triggered communication, following a realistic Vehicle-to-Vehicle network protocol are proved.