Fault detection and isolation is becoming one of the most important aspects in vehicle control system design. In order to achieve this FDI schemes, particular vehicle subsystems integrated with a controller have been proposed.
In this paper a suitable framework is presented that utilizes a hierarchical FDI scheme in association with a propagation digraph, representing the propagation aspects of faults, and allows to reduce the computational effort. An example of application to a brake-by-wire system is described.