Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 31100
Sensor and Actuator Fault Detection in Connected Vehicles under a Packet Dropping Network

Authors: Z. Abdollahi Biron, P. Pisu


Connected vehicles are one of the promising technologies for future Intelligent Transportation Systems (ITS). A connected vehicle system is essentially a set of vehicles communicating through a network to exchange their information with each other and the infrastructure. Although this interconnection of the vehicles can be potentially beneficial in creating an efficient, sustainable, and green transportation system, a set of safety and reliability challenges come out with this technology. The first challenge arises from the information loss due to unreliable communication network which affects the control/management system of the individual vehicles and the overall system. Such scenario may lead to degraded or even unsafe operation which could be potentially catastrophic. Secondly, faulty sensors and actuators can affect the individual vehicle’s safe operation and in turn will create a potentially unsafe node in the vehicular network. Further, sending that faulty sensor information to other vehicles and failure in actuators may significantly affect the safe operation of the overall vehicular network. Therefore, it is of utmost importance to take these issues into consideration while designing the control/management algorithms of the individual vehicles as a part of connected vehicle system. In this paper, we consider a connected vehicle system under Co-operative Adaptive Cruise Control (CACC) and propose a fault diagnosis scheme that deals with these aforementioned challenges. Specifically, the conventional CACC algorithm is modified by adding a Kalman filter-based estimation algorithm to suppress the effect of lost information under unreliable network. Further, a sliding mode observer-based algorithm is used to improve the sensor reliability under faults. The effectiveness of the overall diagnostic scheme is verified via simulation studies.

Keywords: Communication Network, Connected Vehicles, fault diagnostics, packet drop out, platoon

Digital Object Identifier (DOI):

Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 1412


[1] U. E. Larson, and D. K. Nilsson, “Securing Vehicles against Cyber Attacks”, CSIIRW’08 Proceedings of the 4th annual workshop on Cyber security and information intelligence research, pp.1-3, 2008.
[2] T. L. Willke, P. Tientrakool, and N. F. Maxemchuk, “A Survey of Inter-Vehicle Communication Protocols and Their Applications”, IEEE Comminications Surverys and Tutorials, vol. 11, no. 2, Second Quarter 2009, pp:3-20.
[3] Y. Zhou, J.Li, L. Lamont and C.A. Rabbath” Modeling of Packet Dropout for UAV Wireless Communications”, International Conference on Computing, Networking and Communications Invited Position Paper Track, 2012, pp. 667-682.
[4] B. Sinopoli, L. Schenato, M. Franceschetti, K. poolla, M. I. Joudan and S. Sastry,” Kalman Filtering with Intermittent Observations”, IEEE Transactions on Automatic Control, Vol. 49, No. 9, Sep 2004. Pp. 1453-1464.
[5] J. Ploeg, N. Wouw, and H. Nijmeijer, “Lp string stability of cascaded systems: Application to vehicle platooning,” IEEE Trans. Control Syst. Technol., 2013, accepted.
[6] J. Ploeg, B. T. M. Scheepers, E. Nunen, N. Wouw, and H. Nijmeijer, “Design and experimental evaluation of cooperative adaptive cruise control,” in Proc. 14th Int. IEEE Conf. Intell. Transp. Syst., Washington D.C., USA, Oct. 5–7 2011, pp. 260–265.
[7] J. Ploeg, E. Semsar-Kazerooni, G. Lijster, N. Wouw, and H. Nijmeijer, “Graceful Degradation of CACC Performance Subject to Unreliable Wireless Communication”, Proceedings of the 16th International IEEE Annual Conference on Intelligent Transportation Systems (ITSC 2013), The Hague, The Netherlands, October 6-9, 2013.
[8] N. Meskin, K. Khosravani, and C. A. Rabbath, “Fault Diagnosis in a Network of Unmanned Aerial Vehicles with Imperfect Communication Channels”, AIAA Guidance, Navaigation, and Control Conference, August 2009, pp: 1-18.
[9] S.M. Azizi, and K. Khorasani, “Cooperative actuator fault accommodation in formation flight of unmanned vehicles using relative measurements”, International Journal of Control, Vol. 84, No. 5, 2011, pp: 876-894.
[10] D. Cody, F. Bu, S. Dickey, D. Nelson, J. Spring, C. Nowakowski, and S. Shladover,” Effects of Cooperative Adaptive Cruise Control on Traffic Flow: Testing Drivers’ Choices of Following Distances”, California Path Program Institute of Transportation Studies University of California, Berkeley, 2008.
[11] F. Bu, H. Tan, and J. Huang, “Design and field testing of a cooperative addaptive cruise control system”, 2010 American Control Conference, pp: 4416-4421, 2010.
[12] R. Rajamani, and C. Zhu” Semi-autonous adaptive cruise control systems”, IEEE Transaction Vehicle Technology, vol. 51, no. 5, pp: 186-1192. Sep. 2002.
[13] V. Utkin, J. Guldner, and J. Shi, Sliding mode control in electromechanical systems. CRC press, 1999.