A FRAMEWORK FOR INTELLIGENT SENSOR VALIDATION, SENSOR FUSION, AND SUPERVISORY CONTROL OF AUTOMATED VEHICLES IN IVHS

Abstract

This paper proposes a framework for real-time monitoring and diagnosis of automated vehicles in an intelligent vehicle-highway system (IVHS) environment. The supervisory control methodology proposed here is concerned with fault detection, fault isolation, and control reconfiguration of the many sensors, actuators, and controllers used in the control process. This supervisory control architecture operates at two levels of the automated vehicle-control system (AVCS) -- the regulation level and the coordination level. Supervisory control activities at the regulation level deal with validation and fusion of sensory data and with fault diagnosis of the actuators, sensors, and the vehicle itself. Supervisory control activities are achieved through five modules organized in an hierarchical manner. The paper presents an overview of the different methods being used to build such a supervisory controller.