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Fault classification method for the driving safety of electrified vehicles
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.ORCID iD: 0000-0001-7427-2584
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.ORCID iD: 0000-0001-8928-0368
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.ORCID iD: 0000-0002-4048-3452
2014 (English)In: Vehicle System Dynamics, ISSN 0042-3114, E-ISSN 1744-5159, Vol. 52, no 5, p. 704-732Article in journal (Refereed) Published
Abstract [en]

A fault classification method is proposed which has been applied to an electric vehicle. Potential faults in the different subsystems that can affect the vehicle directional stability were collected in a failure mode and effect analysis. Similar driveline faults were grouped together if they resembled each other with respect to their influence on the vehicle dynamic behaviour. The faults were physically modelled in a simulation environment before they were induced in a detailed vehicle model under normal driving conditions. A special focus was placed on faults in the driveline of electric vehicles employing in-wheel motors of the permanent magnet type. Several failures caused by mechanical and other faults were analysed as well. The fault classification method consists of a controllability ranking developed according to the functional safety standard ISO 26262. The controllability of a fault was determined with three parameters covering the influence of the longitudinal, lateral and yaw motion of the vehicle. The simulation results were analysed and the faults were classified according to their controllability using the proposed method. It was shown that the controllability decreased specifically with increasing lateral acceleration and increasing speed. The results for the electric driveline faults show that this trend cannot be generalised for all the faults, as the controllability deteriorated for some faults during manoeuvres with low lateral acceleration and low speed. The proposed method is generic and can be applied to various other types of road vehicles and faults.

Place, publisher, year, edition, pages
Taylor & Francis, 2014. Vol. 52, no 5, p. 704-732
Keywords [en]
Vehicle safety, vehicle dynamics, fault analysis, fault classification, electric vehicles, ISO 26262
National Category
Vehicle Engineering
Research subject
Vehicle and Maritime Engineering
Identifiers
URN: urn:nbn:se:kth:diva-131222DOI: 10.1080/00423114.2014.889317ISI: 000337583100006Scopus ID: 2-s2.0-84901643352OAI: oai:DiVA.org:kth-131222DiVA, id: diva2:655080
Note

QC 20140509. Updated from manuscript to article in journal

Funder: Swedish Hybrid vehicle Center

Available from: 2013-10-10 Created: 2013-10-10 Last updated: 2022-06-23Bibliographically approved
In thesis
1. Faults and their influence on the dynamic behaviour of electric vehicles
Open this publication in new window or tab >>Faults and their influence on the dynamic behaviour of electric vehicles
2013 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

The increase of electronics in road vehicles comes along with a broad variety of possibilitiesin terms of safety, handling and comfort for the users. A rising complexityof the vehicle subsystems and components accompanies this development and has tobe managed by increased electronic control. More potential elements, such as sensors,actuators or software codes, can cause a failure independently or by mutually influencingeach other. There is a need of a structured approach to sort the faults from avehicle dynamics stability perspective.This thesis tries to solve this issue by suggesting a fault classification method and faulttolerantcontrol strategies. Focus is on typical faults of the electric driveline and thecontrol system, however mechanical and hydraulic faults are also considered. Duringthe work, a broad failure mode and effect analysis has been performed and the faultshave been modeled and grouped based on the effect on the vehicle dynamic behaviour.A method is proposed and evaluated, where faults are categorized into different levelsof controllability, i. e. levels on how easy or difficult it is to control a fault for the driver,but also for a control system.Further, fault-tolerant control strategies are suggested that can handle a fault with acritical controllability level. Two strategies are proposed and evaluated based on thecontrol allocation method and an electric vehicle with typical faults. It is shown thatthe control allocation approaches give less critical trajectory deviation compared to noactive control and a regular Electronic Stability Control algorithm.To conclude, this thesis work contributes with a methodology to analyse and developfault-tolerant solutions for electric vehicles with improved traffic safety.

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2013. p. x, 54
Series
Trita-AVE, ISSN 1651-7660 ; 2013:48
Keywords
fault classification, vehicle dynamics, electric vehicle, failure, fault-tolerant control, reconfiguration, fault handling
National Category
Vehicle Engineering
Research subject
Järnvägsgruppen - Fordonsteknik
Identifiers
urn:nbn:se:kth:diva-131213 (URN)
Presentation
2013-10-18, Hugin, Teknikringen 8, KTH, Stockholm, 10:00 (English)
Opponent
Supervisors
Note

QC 20131010

Available from: 2013-10-10 Created: 2013-10-09 Last updated: 2022-06-23Bibliographically approved
2. Controlling over-actuated road vehicles during failure conditions
Open this publication in new window or tab >>Controlling over-actuated road vehicles during failure conditions
2015 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

The aim of electrification of chassis and driveline systems in road vehicles is to reduce the global emissions and their impact on the environment. The electrification of such systems in vehicles is enabling a whole new set of functionalities improving safety, handling and comfort for the user. This trend is leading to an increased number of elements in road vehicles such as additional sensors, actuators and software codes. As a result, the complexity of vehicle components and subsystems is rising and has to be handled during operation. Hence, the probability of potential faults that can lead to component or subsystem failures deteriorating the dynamic behaviour of road vehicles is becoming higher. Mechanical, electric, electronic or software faults can cause these failures independently or by mutually influencing each other, thereby leading to potentially critical traffic situations or even accidents. There is a need to analyse faults regarding their influence on the dynamic behaviour of road vehicles and to investigate their effect on the driver-vehicle interaction and to find new control strategies for fault handling.

A structured method for the classification of faults regarding their influence on the longitudinal, lateral and yaw motion of a road vehicle is proposed. To evaluate this method, a broad failure mode and effect analysis was performed to identify and model relevant faults that have an effect on the vehicle dynamic behaviour. This fault classification method identifies the level of controllability, i.e. how easy or difficult it is for the driver and the vehicle control system to correct the disturbance on the vehicle behaviour caused by the fault.

Fault-tolerant control strategies are suggested which can handle faults with a critical controllability level in order to maintain the directional stability of the vehicle. Based on the principle of control allocation, three fault-tolerant control strategies are proposed and have been evaluated in an electric vehicle with typical faults. It is shown that the control allocation strategies give a less critical trajectory deviation compared to an uncontrolled vehicle and a regular electronic stability control algorithm. An experimental validation confirmed the potential of this type of fault handling using one of the proposed control allocation strategies.

Driver-vehicle interaction has been experimentally analysed during various failure conditions with typical faults of an electric driveline both at urban and motorway speeds. The driver reactions to the failure conditions were analysed and the extent to which the drivers could handle a fault were investigated. The drivers as such proved to be capable controllers by compensating for the occurring failures in time when they were prepared for the eventuality of a failure. Based on the experimental data, a failure-sensitive driver model has been developed and evaluated for different failure conditions. The suggested fault classification method was further verified with the conducted experimental studies.

The interaction between drivers and a fault-tolerant control system with the occurrence of a fault that affects the vehicle dynamic stability was investigated further. The control allocation strategy has a positive influence on maintaining the intended path and the vehicle stability, and supports the driver by reducing the necessary corrective steering effort. This fault-tolerant control strategy has shown promising results and its potential for improving traffic safety.

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2015. p. xii, 84
Series
TRITA-AVE, ISSN 1651-7660 ; 2015:23
Keywords
vehicle dynamics, vehicle safety, driver-vehicle interaction, failure analysis, wheel hub motor failure, over-actuation, fault-tolerant control
National Category
Vehicle Engineering
Research subject
Vehicle and Maritime Engineering
Identifiers
urn:nbn:se:kth:diva-166819 (URN)978-91-7595-597-1 (ISBN)
Public defence
2015-06-05, Kollegiesalen, Brinellvägen 8, KTH, Stockholm, 09:30 (English)
Opponent
Supervisors
Note

QC 20150520

Available from: 2015-05-20 Created: 2015-05-19 Last updated: 2022-06-23Bibliographically approved

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Wanner2014(764 kB)599 downloads
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Wanner, DanielDrugge, LarsStensson Trigell, Annika

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