Observer based sensor monitoring in an active front steering system using explicit sensor failure modelling
Abstract
Active front steering is an emerging steering technology for passenger cars that realises a mechatronic superposition of an angle to the hand steering wheel angle that is prescribed by the driver. This contribution describes algorithms, used to ensure the overall safety of the system (i.e. preventing hazardous behaviour). In particular, observers are derived for estimating the position of the electric motor, used in the active front steering system as an actuator. These observers are accompanied by explicit models for common failure patterns such as drift or offset in the sensors. Sample measurements from a prototype vehicle are presented.
