A framework of fault detection algorithm for intelligent vehicle by using real experimental data

Naohisa Hashimoto*, Umit Ozguner, Neil Sawant, Masashi Yokozuka, Shin Kato, Osamu Matsumoto, Sadayuki Tsugawa

*この研究の対応する著者

研究成果: Conference contribution

4 被引用数 (Scopus)

抄録

Automated vehicles have a possibility to contribute more capacity, safety, low emission and high efficiency to transportation. However, unstable conditions of the automated system can cause serious problem, thus the automated vehicle requires high reliability. The objective of this research is to develop algorithms of fault (unstable condition) detection for automated vehicles, and to improve the overall reliability of the system. In this study, we initially solved and updated identification of some pattern of data constellations under normal and unstable conditions through the experiments in a real world. The multiple experiments were done in the public area (course distance is about 1.1[km]) with some times, where some pedestrian, bicycles and other robots coexisted. The method of detecting faults utilizes mahalanobis distance, correlation coefficient and linearization in order to improve the reliability of detecting the faults correctly, because real experimental conditions include some random noises, and the method must be robust for the changing conditions. The feature of this study is to utilize the experiment results in real world, construct the algorithms and evaluate it. The simulations were done with the real experimental data, in order to evaluate it. The simulation result shows that the proposed system detects faults correctly, and it proves the validity of the proposed method proved.

本文言語English
ホスト出版物のタイトル2011 14th International IEEE Conference on Intelligent Transportation Systems, ITSC 2011
ページ913-918
ページ数6
DOI
出版ステータスPublished - 2011
外部発表はい
イベント14th IEEE International Intelligent Transportation Systems Conference, ITSC 2011 - Washington, DC, United States
継続期間: 2011 10月 52011 10月 7

出版物シリーズ

名前IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

Conference

Conference14th IEEE International Intelligent Transportation Systems Conference, ITSC 2011
国/地域United States
CityWashington, DC
Period11/10/511/10/7

ASJC Scopus subject areas

  • 自動車工学
  • 機械工学
  • コンピュータ サイエンスの応用

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