Failsafe Logic for a vehicle Stability Control System

차량 주행안정성 제어시스템의 자동안전 로직

  • 민경찬 (한양대학교 기계공학부) ;
  • 이건복 (한양대학교 자동차공학과) ;
  • 이경수 (숭실대학교 기계공학부)
  • Published : 2004.11.01


This paper describes the fault detection and failsafe logic to be used in an Electronic Stability Program(ESP). The aim of this paper is to prevent of erroneous controls in the ESP. Developed this paper introduces the fault detection logic and evaluation of residual signals. The failsafe logic consists of four redundant sub-models, which can be used for detecting the faults in various sensors (yaw rate, lateral acceleration, steering wheel angle). We present two mathematical residual generation methods : one is a method using the average value and the other is a method using the minimum value of the each residual. We verified a failsafe logic developed using vehicle test results also we compare vehicle model based simulation results with test vehicle results.


Fault Detection;ESP;Residual;Threshold


  1. Giraud, I., Laurence, P. and Gissinger, G. L., 1996, 'Real Time Fault Detection and Diagnosis: Application to Critical Behavior of Road Vehicle,' AVEC'96 International Symposium on Advanced Vehicle Control, June 24-28
  2. Bakker, E., Pacejka, H. B. and Linder, L., 1998, 'A New Tire Model with an Application in Vehicle Dynamics Studies,' SAE Transactions, Journal of Passenger Cars, Vol. 98, SAE Paper No. 890087
  3. Yi, K., Hong, J. and Kwon, Y., 2001, 'A Vehicle Control Algorithm for Stop-and-Go Cruise Control,' Journal of Automobile Engineering, Proceedings of the Institution of Mechanical Engineers, Vol. 215 Part D, October, pp.1099-1115
  4. Rajamani, R., Howell, A. S., Chen, C., Hedrick, J.K. and Tomizuka, M., 2001, 'A Complete Fault Diagnostic System for Automated Vehicles Operating in a Platoon,' IEEE Transactions on Control Systems Technology, July, Vol. 9, No.4, pp. 553-564
  5. Ding, S. X., Frank, P. M., 2002, 'An Approach to the Detection of Multiplicative Faults in Uncertain Dynamic Systems,' Proceedings of the 41stIEEE, Conference on Decision and Control, Las Vegas, Navada USA, December, pp. 4371-4376
  6. Ding, S. X., Jeinsch, T., Frank, P. M. and Ding, E.L., 2000, 'A Unified Approach to Optimization of Fault Detection Systems,' International Journal of Adaptive Control and Signal Processing, Control Signal Process, pp.725-745<725::AID-ACS618>3.0.CO;2-Q
  7. Fennel, H., Ding, E. L., 2000, 'A Model-Based Failsafe System for the Continental TEVES Electronic-Stability-Program(ESP),' SAE Technical Paper, 2000-01-1635, SAE Automotive Dynamics & Stability Conference, Troy, Michigan, May 15-17
  8. Frank, P. M., Duisburg, 1995, 'Residual Evaluation for Fault Diagnosis based on Adaptive Fuzzy Thresholds,' IEEE, paper No. 00477982