A Framework for Intelligent Sensor Validation, Sensor Fusion, and Supervisory Control of Automated Vehicles in Ivhs

In this paper, we propose a framework for real time monitoring and diagnosis of automated vehicles in an IVHS. The supervisory control methodology proposed here is concerned with fault detection, fault isolation, and control reconfiguration of the many sensors, actuators and controllers that are used in the control process. This supervisory control architecture operates at two levels of the AVCS: at the regulation and at the coordination level. Supervisory control activities at the regulation layer deal with validation and fusion of the sensory data, and fault diagnosis of the actuators, sensors, and the vehicle itself. Supervisory control activities at the coordination layer deal with detecting potential hazards, recommending the feasibility of potential maneuvers and making recommendations to avert accidents in emergency situations. The supervisory control activities are achieved through five modules, organized in an hierarchical manner. Finally, an overview of the different methods that are being used in building such a supervisory controller are stated.