A Fault Detection and Isolation Scheme for Autonomous Car Vehicle Subjected to Uncertainties and External Disturbance

This work aims to enhance the reliability and safety of intelligent transportation vehicles through an integrated system of control and diagnostics. Specifically, a Fault Detection and Isolation (FDI) system is proposed, which proves to be efficient and robust, capable of distinguishing between sensor and actuator faults even in the presence of external disturbances affecting the system. This system employs a set-based approach to establish a real-time fault detection threshold logic. The effectiveness of the proposed approach has been tested through numerical simulations involving a car vehicle simulator implemented in the MATLAB/Simulink environment.