Paper Info
Title
Sequential FDIA for Autonomous Integrity Monitoring of Navigation Maps on Board Vehicles
Abstract
This paper addresses the problem of fault detection, isolation, and adaptation (FDIA) in navigation systems on board passenger vehicles. The aim is to prevent malfunctions in systems such as advanced driving assistance systems and autonomous driving functions that use data provided by the navigation system. The integrity of the estimation of the vehicle position provided by the navigation system is continuously monitored and assessed. The proposed approach uses an additional estimate of vehicle position that is independent of the navigation system and based on data from standard vehicle sensors. First, fault detection consists in comparing the two estimates using a sequential statistical test to detect discrepancies despite the presence of noise. Second, fault isolation and adaptation is introduced to identify faulty estimates and to provide a correction where necessary. The FDIA framework presented here utilizes repeated trips along the same roads as a source of redundancy. Relevant properties of this formalism are given and verified experimentally using an equipped vehicle in rural and urban conditions and with various map faults. Results show that sequential FDIA performed well, even in difficult GNSS conditions.
Year
DOI
Venue
2016
10.1109/TITS.2015.2474145
Intelligent Transportation Systems, IEEE Transactions
Keywords
Field
DocType
Intelligent vehicles,driving assistance systems,fault detection,fault tolerant systems,satellite navigation systems,vehicle safety
Satellite navigation,Fault detection and isolation,Navigation system,Control engineering,Redundancy (engineering),GNSS applications,Global Positioning System,Intelligent transportation system,Engineering,Statistical hypothesis testing
Journal
Volume
Issue
ISSN
17
1
1524-9050
Citations 
PageRank 
References 
2
0.36
20
Authors
3
Name
Order
Citations
PageRank
Clément Zinoune171.56
Philippe Bonnifait245255.82
Javier Ibanez Guzman312817.14