Fault diagnostics for GPS-based lateral vehicle control

Ankur Ganguli, Rajesh Rajamani

Research output: Contribution to journalArticlepeer-review

13 Scopus citations


This paper develops a fault diagnostic system to monitor the health of the lateral motion sensors on an instrumented highway vehicle. The fault diagnostic system utilizes observer design with the observer gains chosen so as to ensure that each sensor failure causes estimation errors to grow in an unique direction. The performance of the fault diagnostic system is verified through extensive experimental results obtained from an instrumented truck called the "Safetruck". The fault diagnostic system is able to monitor the health of a GPS system, a gyroscope and an accelerometer on the Safetruck. It can correctly detect a failure in any one of the three sensors and accurately identify the source of the failure. A GPS-based geographic database containing information on road coordinates, curvature and bank angles plays a key role in ensuring accurate experimental performance of the observers.

Original languageEnglish (US)
Pages (from-to)99-120
Number of pages22
JournalVehicle System Dynamics
Issue number2 SPEC.
StatePublished - Feb 2003

Bibliographical note

Funding Information:
This project was partly funded by the Minnesota Department of Transportation (Contract No. 74708) and by the National Science Foundation (CAREER Award, Grant No. 9983946).


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