Özet:
In this study, we aim to determine fault severity in an electric car that may be caused by yawing due to such disturbances as non-uniform road pavements, in-wheel bearing clearance, suspension system, driver under Influence of alcohol (DUI), and tire deformation. The major research contribution herein is to alert drivers about an unforeseen situation on steering wheel whether it refers to a severe fault or contemporary states. In a sense, the undertaken study serves as a state of the art driving assistant system operating under unsteady conditions. We determine the fault severity of the system via classifying it into specified confidence regions by estimating the deviation from a monotonous straight route for any unstable situation. In this way, the proposed system informs driver to gain an insight about the severity level of arising problematic scenario. In order to realize the classification of confidence regions, we initially obtain the overall dynamic model of the system. Then, disturbance functions with different amplitudes and frequencies are characterized and included in the dynamic system specification. Here, the confidence regions have been constructed as to respective fault severity level of the car through the system response. Trajectory of vehicle in dynamic driving conditions considering these perturbations and noises are interrelated through the Kalman filtering to predict deviations from the desired trajectory and the prediction error. In simulation scenarios, Dynamic Time Warping (DTW) is employed to obtain deviation from ground truth under different noise functions, and results are sketched graphically assigning rate of fault severity into specified confidence regions. Initially, we have modeled the proposed system considering an electric car although the idea can readily be generalized for all cars with four tires. Presently, fault severity with classified confidence regions has been investigated under a simple car model.
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