International Journal of Automotive Technology, Vol. 18, No. 3, pp. 405-416 (2017) DOI 10.1007/s12239-017-0041-5 Copyright © 2017 KSAE/ 096-05 pISSN 1229-9138/ eISSN 1976-3832 405 MODEL-BASED FAULT DETECTION AND ISOLATION IN AUTOMOTIVE YAW MOMENT CONTROL SYSTEM Seung-Han You 1) , Young Man Cho 2) and Jin-Oh Hahn 3)* School of Mechanical Engineering, Korea University of Technology and Education, Chungnam 31253, Korea SOLiD, Inc., 617 N. Mary Avenue, Sunnyvale, CA 94085, USA Department of Mechanical Engineering, University of Maryland, College Park, MD 20742, USA (Received 11 January 2016; Revised 5 August 2016; Accepted 28 October 2016) ABSTRACT-This paper presents a model-based fault detection and isolation technique for automotive yaw moment control system. For this purpose, a novel fault detection and isolation algorithm for a class of actuator-plant systems is proposed. Compared with the existing fault detection and isolation techniques that can only isolate a target fault or require multiple observers to isolate multiple faults, a unique strength of the proposed algorithm is its ability to isolate faults at the component level solely based on the residuals generated by a single observer. The validity of the proposed algorithm, applied to automotive yaw moment control system, is investigated via a simulation study based on a realistic vehicle dynamics model. The results suggest that the proposed algorithm can isolate the component subject to fault while effectively handling two perennial nuisances: sensitivity to disturbances and false alarms due to uncertainties. KEY WORDS : Fault detection and isolation, Actuator-plant system, Automotive yaw moment control, Robust observer, Adaptive observer 1. INTRODUCTION Active vehicle safety has recently been widely accepted as an effective aid to assist drivers and prevent fatal accidents. To reflect on such a trend, a large volume of research effort has been made on a wide range of driver-subsidiary vehicle control systems that can actively assist a driver in avoiding dangerous situations. The following yaw moment control (YMC) technologies summarize recent developments along such efforts: vehicle stability control (Pilutti et al., 1998; Van Zanten et al., 1998; Tseng et al., 1999), integrated chassis control (Di Cairano et al., 2013; Cho et al., 2008; Ding and Taheri, 2010; Bianchi et al., 2010; Xiao et al., 2011), lane-keeping assistance (Lee et al., 2014), emergency driver support (Choi et al., 2014) and brake torque vectoring (Kakalis et al., 2008; Ghike et al., 2009). These technologies prevent lane departure, assist collision avoidance, augment agility in cornering and so forth by maintaining rotational vehicle stability. Vast majority of these technologies adopt differential braking as actuation mechanism, which applies independently controlled braking forces to individual wheels, thereby generating compensatory artificial yaw moment on the vehicle. The trustworthiness of active YMC and driver assistance systems has drawn added focus as these systems penetrate into the market. On-board fault detection and isolation (FDI) stands out as viable means to manage vehicle safety by securing resilience against faults occurring in system components such as actuator, sensor and plant. Its main function is to faithfully detect and isolate faults in the actuation and sensing components associated with YMC. A few model-based FDI techniques have recently been reported for YMC and the related driver assistance systems. To list a few, Fennel and Ding (2000) and Yi and Min (2004) developed a FDI scheme for yaw rate, lateral acceleration and steering wheel angle sensors based on kinematic and dynamic vehicle models. Oudghiri et al. (2008) developed an observer-based FDI scheme for yaw rate and lateral acceleration sensors. Gaspar et al. (2005) developed a fault-tolerant control technique for integrated anti-rollover and braking based on observer-based fault detection in the anti-roll bar actuators. Xu and Tseng (2007) developed an observer-based FDI scheme for roll rate sensor based on a low-order roll dynamics model. Wang and Wang (2011) proposed a fault-tolerant control logic for four-wheel independently driven electric vehicles based on a FDI scheme using a vehicle dynamics model and motion sensors. Kim and Lee (2011) proposed a parity- equation-based FDI scheme for a vertical acceleration sensor in continuous damping control systems. Lee (2011) also proposed a parity-equation-based sensor FDI method for motor-driven power steering systems. Two potential areas of improvement may be noted from the above state-of-the-art. First, the existing FDI techniques *Corresponding author. e-mail: jhahn12@umd.edu