Online validity monitor for vehicle dynamics models

Abstract

This paper presents a method to measure the degree of validity of vehicle dynamics models during run time in a computational efficient way. The method is called online validity monitor and is constructed as follows. First, the characteristic validation error distribution of a vehicle dynamics model is stored. Second, during run time, an error distribution is recorded via a circular buffer. Third, the distance between stored and run time error distribution is taken as a measure to detect if the model operates in its validated domain.