Fault Detection and Mitigation in Vehicle Platooning

This paper addresses the challenges posed by faults in the complex systems of autonomous vehicles within vehicle platoons. It presents a state-space model tailored for vehicle platoons, incorporating an Unknown Input Observer (UIO) to estimate internal states for each vehicle. By monitoring discrepancies between measured and estimated states, the framework effectively detects faults affecting a vehicle's position, velocity, and acceleration, often stemming from malfunctions in its control and navigation components. The paper also introduces fault detection and identification UIOs to pinpoint faulty parameters and estimate associated fault inputs. To validate its effectiveness, the proposed method undergoes MATLAB simulations across diverse scenarios, confirming its capability to mitigate faults within the vehicle platoon.