基于传感器的车队故障检测与隔离  

Model-based Sensor Fault Detection and Isolation for Vehicles Platoon

作　　者：王高超[1] 侯彦东[1] 李伟 周毅 WANG Gaochao HOU Yandong LI Wei ZHOU Yi(Institute of Image Processing and Pattern Recognition, Henan University, Kaifeng , Henan 475004, China International Joint Research Laboratory for Cooperative Vehicular Networks of Henan, Kaifeng, Henan 475004, China)

机构地区：[1]河南大学图像处理与模式识别研究所,河南开封475004 [2]河南省车联网协同技术国际联合实验室,河南开封475004

出　　处：《山东科技大学学报（自然科学版）》2017年第4期51-59,共9页Journal of Shandong University of Science and Technology(Natural Science)

基　　金：国家自然科学基金项目(61374134;61304132);河南省自然科学基金项目(162300410030)

摘　　要：针对车队的故障检测与隔离,建立了基于车队的系统诊断模型,并提出了两级故障诊断架构,以车间距为基础对整个车队建立数学模型。同时,构建了车队的状态空间模型,并利用空间几何法设计了车间距的残差发生器。为了设计车队系统的残差生成模型,加强了对车队和单辆车的结构分析,并引入了虚拟力分析。通过采用自适应的阈值法加强了故障检测与隔离系统对残差的敏感性和对干扰的鲁棒性。为了促进车辆对自身和整个车队的信息感知能力,智能车(自主移动机器人)装备有红外测距仪、里程计、增量式光学编码器等传感器。实验证明提出的针对车队的故障检测架构和方法是可靠的。In view of the fault detection and isolation （FDI） of vehicles platoon, a FDI system model based on vehicles platoon was established and a two-level fault diagnosis architecture was proposed. A mathematical model of the platoon based on the distance between vehicles was first set up. Meanwhile, the state space model of the platoon was constructed and the residual generator was designed with the space geometry method. In order to design the residual generation model of the platoon, the structure analysis of the platoon and the single vehicle was made and the virtual force analysis was introduced. Both the sensitivity of the FDI system to the residual and the robustness of disturbance were enhanced by using the adaptive threshold method.. In order to promote the information perception ability of the vehicle itself and the platoon, the intelligent vehicles （Autonomous Mobile Robots） were equipped with sensors such as infrared distance meters, odometers, and incremental optical encoders. The experimental resuhs show that the fault diagnosis architecture and method proposed in this paper are reliable.

关 键 词：故障检测与隔离 车队 结构分析 虚拟力分析 残差生成 

分 类 号：TN929.5[电子电信—通信与信息系统]