Systems and methods for fault detection in lateral velocity estimation

A method for detecting faults in lateral velocity estimation of a vehicle, the method comprising:

• at a control module:
• initializing parameters;
• receiving sensor data from a sensor system in the vehicle, the sensor data comprising
• acceleration data and longitudinal speed data;
• processing the sensor data and the parameters to generate a plurality of thresholds comprising (i) a lateral acceleration residual threshold, (ii) a pneumatic trail threshold, and (iii) a slip angle threshold;
• processing the sensor data with a drift type fault detection engine, thereby
• generating a drift-type fault flag (DTFF) based on the lateral acceleration residual threshold;
• processing the sensor data with a bias type fault detection engine, thereby
• generating a bias-type fault flag (BTFF) based on the pneumatic trail threshold and slip angle threshold;
• processing the DTFF and the BTFF with a persistence checking engine, thereby
• (i) monitoring the BTFF for a first time frame to confirm a stable BTFF;
• and
• (ii) monitoring the DTFF for a second time frame to confirm a stable DTFF;
• and
• generating a combined fault flag on the concurrence of (a) the stable BTFF and (b) the stable DTFF.

A vehicle, comprising:

• a sensor system;
• a control module coupled to the sensor system, and comprising a memory device and a processor, the control module configured to:
• initialize parameters in the memory device;
• receive sensor data from the sensor system, the sensor data comprising acceleration data and longitudinal speed data;
• process the sensor data and the parameters to generate a plurality of thresholds comprising (i) a lateral acceleration residual threshold, (ii) a pneumatic trail threshold, and (iii) a slip angle threshold;
• process the sensor data with a drift type fault detection engine, to thereby
• generate a drift-type fault flag (DTFF)based on the lateral acceleration residual threshold;
• process the sensor data with a bias type fault detection engine, to thereby
• generate a bias-type fault flag (BTFF) based on the pneumatic trail threshold and slip angle threshold;
• process the DTFF and the BTFF with a persistence checking engine, to thereby
• (i) confirm that the BTFF is stable;
• and
• (ii) confirm that the DTFF is stable;
• and
• generate a combined fault flag on the concurrence of (a) the stable BTFF and (b) the stable DTFF.