Nonlinear parity space applied to an electric autonomous vehicle

The main interest of this paper is the generation of residuals using nonlinear analytical redundancy relations (NARR) for sensor and actuator faults detection and isolation of an autonomous electric vehicle called RobuCar. The relations are used to detect and to isolate sensor or actuator faults based on the elimination of the unknown variables of the system. The nonlinear system of a four wheel steering vehicle RobuCar modelled in state space is used in our work. The method is well explained in detail and applied on the nonlinear vehicle model.