FDI Architecture for Proprioceptive Sensors Using Analytical Redundancy and Road Signature

A fault detection and identification architecture, based on analytical redundancy is presented here, in order to detect faulty comportment from embedded proprioceptive sensors of intelligent vehicles. A road signature is then developed using the three dimensional behavior of the vehicle in order to discriminate sensors faults from environmental perturbation. Finally, some strategies are studied to verify the faulty behavior origin, and so ensure the decision process.