Modelling and Simulation of Component Faults in an X-by-Wire Electric Vehicle

Abstract

The electric prototype vehicle ROboMObil consists of multiple X-by-Wire systems which in combination enable autonomous driving. This thesis deals about fault modelling and simulation of components faults in the X-by-Wire systems and is divided into three parts. The first part analyses the X-by-Wire systems with respect to safety-relevant component faults, which are then modelled using the Modelica language and combined to form a fault model library. In the second part different faults are simulated to estimate their influence on the vehicle during different driving manoeuvres. The focus is on the model verification, the analysis of the impact of a brake system failure on the yaw moment and the detection of a fault in the Steer-by-Wire system. The third part validates selected fault models using a Brake-by-Wire test-bench.