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Redundant Dissimilar Sensor Fusion with Dynamic Driver Input Classification and Graceful Degradation for Drive-by-Wire Applications

Lii, Neal Y. and Sturm, Stefan and Coombs, Timothy A. (2010) Redundant Dissimilar Sensor Fusion with Dynamic Driver Input Classification and Graceful Degradation for Drive-by-Wire Applications. 71st IEEE Vehicular Technology Conference (VTC 2010-Spring), 16-19 May 2010, Taipei, Taiwan.

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Abstract

Dissimilar sensor redundancy with force and displacement measurements can provide extended fault coverage for drive-by-wire applications. However, large variances occur when correlating these inputs in dynamic measurements. To address this issue, this paper introduces a novel fault tolerant sensor fusion concept to fuse redundant kinetic and kinematic sensors dynamically and accurately. It consists of a driver input condition classifier, and a graceful degradation scheme voter. The classifier determines the states of several driver input conditions in real-time, which are then utilized as a pointers to allocate the best fitting driver input kinetic-kinematic response profile during dynamic operation for sensor data conversion. The graceful degradation voter module facilitates voting and fusing of the converted redundant sensor data. Functional safety is further maintained through a graceful degradation scheme to tolerate the presence of different fault scenarios in the system. The proposed sensor fusion concept is implemented on a brake-by-wire pedal test bench. Test results show significant performance gains in driver command accuracy for fault-tolerant dissimilar redundant sensor fusion.

Item URL in elib:https://elib.dlr.de/80497/
Document Type:Conference or Workshop Item (Paper)
Title:Redundant Dissimilar Sensor Fusion with Dynamic Driver Input Classification and Graceful Degradation for Drive-by-Wire Applications
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Lii, Neal Y.neal.lii (at) dlr.deUNSPECIFIED
Sturm, Stefanstefan.sa.sturm (at) bmw.deUNSPECIFIED
Coombs, Timothy A.tac1000 (at) cam.ac.ukUNSPECIFIED
Date:May 2010
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 1-5
Status:Accepted
Keywords:fault tolerance; drive-by-wire; driver input; fuzzy system; dissimilar sensor fusion; redundancy; voter algorithms
Event Title:71st IEEE Vehicular Technology Conference (VTC 2010-Spring)
Event Location:Taipei, Taiwan
Event Type:international Conference
Event Dates:16-19 May 2010
Organizer:IEEE Vehicular Technology Society
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Transport
HGF - Program Themes:Terrestrial Vehicles (old)
DLR - Research area:Transport
DLR - Program:V BF - Bodengebundene Fahrzeuge
DLR - Research theme (Project):V - Projekt Fahrerassistenz (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Lii, Neal Yi-Sheng
Deposited On:11 Jan 2013 14:33
Last Modified:31 Jul 2019 19:39

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