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A fault detection method for wheel angle sensor of intelligent vehicle

A technology for sensor failure and wheel angle, applied in the direction of control devices, can solve problems such as model error and system interference, and achieve the effect of improving sensitivity and reliability, and reliable and accurate detection results

Active Publication Date: 2022-05-03
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

However, in actual situations, even if the sensor works normally, the residual error will not be 0 due to the existence of model error, system interference and measurement noise.

Method used

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  • A fault detection method for wheel angle sensor of intelligent vehicle
  • A fault detection method for wheel angle sensor of intelligent vehicle
  • A fault detection method for wheel angle sensor of intelligent vehicle

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Embodiment Construction

[0046] Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:

[0047] This invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. In the drawings, components are exaggerated for clarity.

[0048] The invention discloses a fault detection method for a wheel angle sensor of an intelligent vehicle, which comprises the following steps:

[0049] Step 1), a lateral acceleration sensor, a longitudinal acceleration sensor, a longitudinal vehicle speed sensor, a steering wheel angle sensor, a yaw rate sensor, and a wheel angle sensor are set on the smart car to collect the lateral acceleration signal, the longitudinal acceleration signal, and the wheel angle sensor of the vehicle...

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Abstract

The invention discloses a fault detection method for a wheel angle sensor of an intelligent vehicle. Firstly, the sensor signal of the vehicle is collected; secondly, noise reduction and filtering are performed on the collected signal; and then the wheel angle is calculated by using a long-short-term memory network according to the state signal of the vehicle. Estimated value; Finally, according to the residual sequence between the estimated value of the wheel angle and the measured value of the wheel angle, the fault state of the wheel angle sensor is judged by using the sequential probability ratio test algorithm. The invention can rely on a large amount of measurement information for cumulative judgment, improves sensitivity and reliability, can detect small changes in residuals, and can even predict the running trend of signals, so that the detection results are reliable and accurate.

Description

technical field [0001] The invention relates to the field of automobile auxiliary driving, in particular to a fault detection method for a wheel angle sensor of an intelligent vehicle. Background technique [0002] At present, methods such as Kalman filter, unscented Kalman filter, and particle filter are mainly used in the estimation of vehicle state. However, these estimation algorithms are all based on the vehicle dynamics model for state estimation. However, most systems in practice show high complexity, nonlinearity and coupling, which makes it difficult to establish an accurate system model. The inaccuracy of the model and the randomness of the observation noise may lead to serious problems such as reduced accuracy of the results, divergent filtering, or even inability to estimate. [0003] In addition, commonly used fault detection algorithms generally include two main steps. First, extract the main components of fault features, and then analyze the fault feature in...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B60W50/02
CPCB60W50/0205B60W2050/0215
Inventor 邹松春赵万忠王春燕胡犇张寒梁为何
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS