Fault Injection in Model-Based System Failure Analysis of Highly Automated Vehicles

Salih, Saif; Olawoyin, Richard

doi:10.1109/ojits.2021.3123305

Cited by 5 publications

(3 citation statements)

References 13 publications

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“…The authors of [7] propose an architecture for sensor fault detection and isolation in a chemical plant. An architecture for fault injection in highly automated vehicles is presented in [8]. The authors of [9] propose a test- bed that selects hardware components that fit the hardware requirements of the control algorithms in a rapid prototyping manner.…”

Section: B Related Workmentioning

confidence: 99%

An Architecture for Experiments in Connected and Automated Vehicles

Kloock

Scheffe

Gress

et al. 2023

IEEE Open J. Intell. Transp. Syst.

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Rapid prototyping of Connected and Automated Vehicles (CAV) is challenging because of the physical distribution of vehicles. Furthermore, experiments with CAV may be subject to external influences which prevent reproducibility. This article presents an architecture for the experimental testing of CAVs, focusing on decision-making. Our architecture for experiments of CAV is strictly modular and hierarchical, and therefore it supports an easy and rapid exchange of every single controller as well as of optimization libraries. Additionally, the architecture synchronizes the whole network of sensors, computation devices, and actuators. Thus, it achieves deterministic and reproducible results, even for timevariant network topologies. Using this architecture, we can include active and passive vehicles and vehicles with heterogeneous dynamics in the experiments. The architecture also allows for handling communication uncertainties, e.g., data packet drop and time delay. The resulting architecture supports performing different in-the-loop tests and experiments. We demonstrate the architecture in the Cyber-Physical Mobility Lab (CPM Lab) using 20 vehicles on a 1:18 scale. The architecture can be applied to other domains.

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Section: B Related Workmentioning

confidence: 99%

An Architecture for Experiments in Connected and Automated Vehicles

Kloock

Scheffe

Gress

et al. 2023

IEEE Open J. Intell. Transp. Syst.

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“…They modeled transient faults and permanent faults for stuck-at values, stuck-at bits, and faulty input data words. Salih et al [16] proposed a fault injection model for highly automated vehicles. They developed a model of fault injection on the steering system to study the impact of steering system sensor failures.…”

Section: Introduction and Literature Reviewmentioning

confidence: 99%

Realistic Simulation of Sensor/Actuator Faults for a Dependability Evaluation of Demand-Controlled Ventilation and Heating Systems

2022

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In the development of fault-tolerant systems, simulation is a common technique used to obtain insights into performance and dependability because it saves time and avoids the risks of testing the behavior of real-world systems in the presence of faults. Fault injection in a simulation offers a high controllability and observability, and thus is ideal for an early dependability analysis and fault-tolerance evaluation. Heating, ventilation, and air conditioning (HVAC) systems in critical infrastructures, such as airports and hospitals, are safety-relevant systems, which not only determine energy consumption, system efficiency, and occupancy comfort but also play an essential role in emergency scenarios (e.g., fires, biological hazards). Hence, fault injection serves as a practical and essential solution to assess dependability in different fault scenarios of HVAC systems. Hence, in this paper, we present a simulation-based fault injection framework with a combination of two techniques, simulator command and simulation code modification, which are applied to fault injector blocks as saboteurs and an automated fault injector algorithm to automatically activate fault cases with certain fault attributes. The proposed fault injection framework supports a comprehensive range of faults and various fault attributes, including fault persistence, fault type, fault location, fault duration, and fault interarrival time. This framework considers noise in a demand-controlled ventilation (DCV) and heating system as a type of HVAC system since it has been demonstrated that any fault injection scenario is accompanied by some impacts on energy consumption, occupancy comfort, and a fire risk. It also supports the reproducibility for a set of specific fault scenarios or random fault injection scenarios. The system model was implemented and simulated in Matlab/Simulink, and fault injector blocks were developed by Stateflow diagrams. An experimental evaluation serves as the assessment of the presented fault injection framework with a defined example of fault scenarios. The results of the evaluation show the correctness, system behavior, accuracy, and other parameters of the system, such as the heater energy consumption and heater duty cycle of the fault injection framework in the presence of different fault cases. In conclusion, the present paper provides a novel simulation-based fault injection framework, which combines simulator command techniques and simulation code modifications for a realistic and automatic fault injection with comprehensive coverage of various fault types and a consideration of noise and uncertainty, allowing for reproducibility of the results. The outputs achieved from the fault injection framework can be applied to fault-tolerant studies in other application domains.

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“…However, in practical circumstances, component fault and failure are inevitable in a vehicle platooning system, such as actuator stuck, float, loss of effectiveness, and polluted measurements. These issues can destroy the stability and even the safety of the vehicle platooning system [12], [13]. Over the past few decades, numerous scholars have devoted themselves to studying fault detection, and meaningful works have also been applied to a variety of systems including Takagi-Sugeno fuzzy systems [14], power systems [15], etc.…”

mentioning

confidence: 99%

Periodic Event-Triggered Fault Detection for Safe Platooning Control of Intelligent and Connected Vehicles

Wang,

Hu,

Bian

et al. 2024

IEEE Trans. Veh. Technol.

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Fault detection is not only a useful approach to guarantee the safety of a vehicle platooning system but also an indispensable part of functional safety for future connected automated vehicle development. This paper mainly concentrates on the network-based fault detection problem of a vehicle platoon with undirected topologies under a periodic event-triggered strategy (PETS). Firstly, we present a periodic event-triggered fault detection filter to generate a residual signal for this vehicle platoon subject to actuator faults and external disturbances, where PETS is employed to reduce bandwidth utilization and save communication resources. Secondly, by using the network-based fault detection filter, the vehicle platooning system, and a fault weighting system, a residual system is developed to formulate the design of the fault detection filter problem as an H∞ problem. Thirdly, based on Lyapunov-Krasovskii functionals, sufficient conditions are established to ensure that the residual system fulfills asymptotic stability with H∞ performance, together with a threshold is also designed for each vehicle to judge whether the fault happens or not. Finally, numerical examples and field experiments are conducted to verify our findings.

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Fault Injection in Model-Based System Failure Analysis of Highly Automated Vehicles

Cited by 5 publications

References 13 publications

An Architecture for Experiments in Connected and Automated Vehicles

An Architecture for Experiments in Connected and Automated Vehicles

Realistic Simulation of Sensor/Actuator Faults for a Dependability Evaluation of Demand-Controlled Ventilation and Heating Systems

Periodic Event-Triggered Fault Detection for Safe Platooning Control of Intelligent and Connected Vehicles

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