Institute of Vehicle System Technology, Karlsruhe Institute of Technology (KIT), Kaiserstraße 12, 76131 Karlsruhe, Germany.
Sensors (Basel). 2023 Jan 12;23(2):887. doi: 10.3390/s23020887.
Constant monitoring of driving conditions and observation of the surrounding area are essential for achieving reliable, high-quality autonomous driving. This requires more reliable sensors and actuators, as there is always the potential that sensors and actuators will fail under real-world conditions. The sensitive condition-monitoring methods of sensors and actuators should be used to improve the reliability of the sensors and actuators. They should be able to detect and isolate the abnormal situations of faulty sensors and actuators. In this paper, a developed model-based method for condition monitoring of the sensors and actuators in an electric vehicle is presented that can determine whether a sensor has a fault and further reconfigure the sensor signal, as well as detect the abnormal behavior of the actuators with the reconfigured sensor signals. Through the simulation data obtained by the vehicle model in complex road conditions, it is proved that the method is effective for the state detection of sensors and actuators.
持续监测驾驶条件和观察周围环境对于实现可靠、高质量的自动驾驶至关重要。这需要更可靠的传感器和执行器，因为在实际条件下，传感器和执行器总是有可能出现故障。应该使用传感器和执行器的灵敏状态监测方法来提高传感器和执行器的可靠性。它们应该能够检测和隔离有故障的传感器和执行器的异常情况。本文提出了一种用于电动汽车中传感器和执行器状态监测的开发的基于模型的方法，该方法可以确定传感器是否出现故障，并进一步重新配置传感器信号，以及使用重新配置的传感器信号检测执行器的异常行为。通过在复杂道路条件下的车辆模型获得的仿真数据，证明了该方法对传感器和执行器的状态检测是有效的。
