Table of Contents
International Journal of Navigation and Observation
Volume 2015, Article ID 279086, 19 pages
Research Article

Design of a Fault Detection and Isolation System for Intelligent Vehicle Navigation System

1Harman Automotive, Vernon Hills, IL 60061, USA
2Navistar Inc., Lisle, IL 60532, USA

Received 3 August 2014; Revised 22 December 2014; Accepted 5 January 2015

Academic Editor: Nicolas Sifakis

Copyright © 2015 Wei Huang and Xiaoxin Su. 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 deals with the design of a fault detection and isolation (FDI) system for an intelligent vehicle, a vehicle equipped with advanced driver assistance system (ADAS). The ADASs are outfitted with sensors for acquiring various information about the vehicle and its surroundings. Since these sensors are sensitive to faults, an efficient FDI system should be developed. The designed FDI system is comprised of three parts: a detection part, a decision part, and a fault management part. The detection part applies a generalized observer scheme (GOS). In the GOS, there is bank of extended Kalman filters (EKFs), each excited by all except one sensor measurement. The residual generated from the measurement update of each EKF is therefore sensitive to all sensor faults but one. This way, the fault sensitivity pattern of the residual makes it possible to detect a fault and locate the faulty sensor. The designed FDI system has been implemented and tested off-line with actual experiment data. Good results have been obtained with diagnosing individual sensor faults and outputting fault-free vehicle states.