California Partners for Advanced Transportation Technology

In this report, a preliminary design of a health monitoring system for automated vehicles is developed and results of tests in a high-fidelity nonlinear simulation are reported. Two car models are described: low- dimensional linear models for fault detection filter design and high fidelity nonlinear model is used for evaluation and to obtain the linear models used for design. The faults and the fault detection filters and system are then described. An evaluation of the performance of the fault detection filters in a nonlinear simulation are presented. A fault detection filter residual processing system, using a neural network, is then described.