Robust Failure Detection in Lateral Control For IVHS

Fault detection and isolation is vitally important for automated highway system. This paper deals with instrument fault detection in automatically navigated cars. The main hurdle for instrument fault detection is the parameter uncertainty in the mathematical model of the vehicle. An observer scheme with eigenstructure assignment was used, as the basic fault detection and identification method. Simulations were performed on sixteen state nonlinear model, and experiments were done using a model car.