Steering Angle Sensor Fault Tolerance Algorithm applied LKAS of Electro-Hydraulic Power Steering System for Medium and Large Commercial Vehicles
This paper presents a method of steering angle sensor fault tolerance technology of Electro-Hydraulic Power
Steering(EHPS) system to ensure robustness, reliability from steering angle sensor faults. The most important task when
operating Lane Keeping Assistance system(LKAS) is ensuring sensors attached to LKAS. The LKAS is dependentto various
sensors, and commercial vehicle is driven based on LKAS. Steering system of the commercial vehicle can secure safety
through steering angle sensor fault tolerance algorithm. Steering angle sensor fault is classified to temporary fault and
permanent fault. Temporary fault occurs due to irregular noise, and permanent fault occurs due to aging of sensor, defective
sensor and external force. The proposed algorithm uses a Kalman filter for temporary fault and uses the Sliding Mode
Observer(SMO) for permanent fault. The proposed algorithm is verified through simulation using Matlab/Simulink. Finally a
proposed algorithm for steering system is suitable for fault detects and recovers the fault of the steering system.
Index Terms - Fault tolerance, Electro-Hydraulic Power Steering(EHPS), Kalman filter, Sliding Mode Observer(SMO).