自駕車輛自主定位系統之多感測器故障偵測與隔離方法

A Multi-sensor Fault Detection and Isolation Method For an Autonomous Vehicle Localization System

蘇泓珈(Hong-Jia Su)

指導教授 ： 李綱

國立臺灣大學/工學院/機械工程學研究所/碩士(2021年)

https://doi.org/10.6342/NTU202103806

摘要

為了確保自駕車輛定位系統的精準度與安全性，許多研究根據異種感測器間的互補性採取多感測器融合的定位架構，其中故障偵測與隔離方法對如此的架構尤為重要，然而現今大多定位系統故障偵測與隔離方法未考慮車輛在道路上能容許的定位誤差與反應時間，因此本研究的目的在於訂定此時間限制並依據此時間限制建立故障偵測方法，此外本研究也針對逐漸變化之故障訊號建立新的故障隔離架構以盡可能減少感測器故障帶來的影響。本研究故障偵測的部分利用改良的逐次確率比檢定(Sequential Probability Ratio Test, SPRT)對殘值進行故障偵測。故障隔離則利用多重觀測器(Multi-observer)的架構除去故障訊號的影響。最後本研究以ANSYS VRXPERIENCE 模擬環境進行定位系統故障偵測與隔離結果的比較與分析，其中本研究之故障偵測方法確實能依據道路尺寸與車速限制偵測時間，而在單一感測器故障的情況下，本研究的方法可以在偵測到故障後將故障訊號完全隔離，並減少最大定位誤差與故障訊號的影響時間。

關鍵字

定位系統故障偵測與隔離 ； 自駕車輛定位系統 ； 自駕車輛安全性 ； 逐次確率比檢定 ； 多重觀測器

並列摘要

In order to ensure accuracy and safety of the localization system for self-driving vehicles, many studies have adopted a multi-sensor fusion architecture based on the complementarity between dissimilar sensors. Fault detection and isolation methods are particularly important for such architectures, but most of the fault detection and isolation methods for localization system are only applicable to aircrafts or ships, in which the tolerable response time for vehicles on the road are not considered. Therefore, the purpose of this research is to establish a fault detection method based on such time limit. In addition, this research also establishes a new fault isolation architecture for gradually changing error signals to minimize the impact of sensor fault. For fault detection, an improved version of Sequential Probability Ratio Test (SPRT) with adaptive threshold is used for fault detection of the residuals. Fault isolation uses a multi-observer architecture to remove the influence of fault signals. Finally, this study uses ANSYS VRXPERIENCE simulation environment to compare and analyze the fault detection and isolation results for localization system. In the case of a single sensor fault, the method of this study can completely isolate the error signal upon detection thus reducing maximum localization error and error signal affected time.

並列關鍵字

Localization System Fault Detection and Isolation ； Autonomous Vehicle Localization System ； Autonomous Vehicle Safety ； Sequential Probability Ratio Test (SPRT) ； Multi-observer Scheme

參考文獻

T. G. Reid et al., "Localization requirements for autonomous vehicles," arXiv preprint arXiv:1906.01061, 2019.

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https://www.dmv.ca.gov/portal/vehicle-industry-services/autonomous-vehicles/disengagement-reports/

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