Fault-Mode Aware Integrity Monitoring for Collaborative CAV Localization

Safety evaluation for connected and automated vehicles (CAVs) requires detection of sensor faults and bounding of navigation errors due to nominal measurement errors and undetected sensor faults. In this paper, we use simulation and experimental data to analyze the collaborative navigation integrity performance of individual versus shared fault detectors against CAV-specific versus common fault modes. We determine that collaboration between CAVs provides limited improvement in vehicle-specific fault monitoring compared to individual CAV monitors. In contrast, CAV collaboration can effectively leverage information from multiple vehicles to monitor common faults, thereby increasing integrity performance. We use these findings to design new detectors tailored to the fault hypotheses encountered in collaborative navigation.