中文摘要：

提出了用空间几何方法对智能车进行故障诊断。对智能车系统进行建模,并设计残差生成器,实现残差对系统输入和系统中未知干扰的解耦。智能车产生的故障情况由残差值直接反映,且满足残差值与故障一一对应的关系。仿真结果表明该方法可以有效地检测并隔离智能车故障。

英文摘要：

A space geometry method for the fault diagnosis of autonomous vehicle was proposed. The model of autonomous vehicle systemwas built. Then,a residual generator was designed to realize the decoupling of residuals fromsysteminputs and unknown disturbances. The residuals reflect the vehicle fault detection status,and satisfy the one-to-one correspondence between faults and residuals. The simulation results verified the effectiveness of the proposed method for the fault detection and isolation of autonomous vehicle.