Table of Contents
International Journal of Navigation and Observation
Volume 2011, Article ID 137671, 11 pages
Research Article

A Multihypothesis Sequential Probability Test for Fault Detection and Identification of Vehicles' Ultrasonic Parking Sensors

Department of Mechanical Engineering, American University of Sharjah, P.O. Box 26666, Sharjah, UAE

Received 28 April 2011; Revised 30 July 2011; Accepted 3 October 2011

Academic Editor: Shaojun Feng

Copyright © 2011 Mamoun F. Abdel-Hafez. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents a sequential fault detection and identification algorithm for detecting a fault in a vehicle's ultrasonic parking sensors. The algorithm identifies a bias fault in any of the ultrasonic sensors by computing the probability of having that bias fault given a carefully constructed measurement residual that is only a function of the measurement noise and the possible measurement fault. A set of bias hypotheses is assumed and initially given equal alarm probability. It is assumed that only one sensor will acquire a bias at any given time. Once the probability of a hypothesis approaches 1, that hypothesis is declared as the correct hypothesis and the bias associated with the hypothesis is removed from the sensors' reading. The accuracy and convergence characteristics of the proposed algorithm are verified using experimental results. This study is essential to ensure accurate operation of vehicle's ultrasonic parking sensors.