언택트 스토어 차량 구동시스템에 대한 통합 고장진단/대응 알고리즘

초록

This paper proposes an integrated fault diagnosis and tolerance algorithm of electric autonomous vehicle. Autonomous vehicle equipped with a variety of sensors to perform vehicle safety systems and advance driver assist system (ADAS). Therefore fault diagnosis and tolerance for sensor must be developed for driver and passenger safety. The important actuator and sensors in drive system consist of PMSM, resolver, wheel speed sensor and acceleration sensor. The First step is to find analytic redundancy for the driving system with incidence matrix, Dulmage-Mendelsohn decomposition matrix and Causality Matrix. Result of the analytic redundancy derives sensor residual for sensor estimation. On next step, we build sensor fusion algorithm using kalman filter. Combine the wheel speed sensor and acceleration sensor, PMSM current sensor, motor position sensor and Wheel speed sensor. Compare estimation value and covariance to build the fault detection algorithm. On final step, change the value of the covariance of sensor fusion algorithm which isolates the fault sensor. Reconstruct the sensor signal for fault tolerance control.

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