A PREDICTIVE FIR FILTER SCHEME

FOR MISSING DATA COMPENSATION

IN DRIVE-BY-WIRE SYSTEM

By Biswajit Debnath
M140201EE

KEY TERMS
Drive by wire(DbW) technology in the automotive industry is
the use of electrical or electro-mechanical systems for
performing vehicle functions traditionally achieved by
mechanical linkages.
Main DriveByWire systems are brake-by-wire, throttle-bywire and steer-by-wire.
Missing data- loss of safety critical data generated from
pedal, accelerator or steering sensors.

CREDITS
Reza Hoseinnezhad and Alireza Bab-Hadiashar of Swinburne University
of Technology, Hawthorn, Australia.
Research work funded by Research Centre for Advanced By-Wire
Technology(RABiT).

Published in IEEE Transactions on Vehicular Technology, 2013.

OVERVIEW
The Presentation discusses the modelling of a new multistep ahead
predictive FIR filter scheme that accounts for data loss in safety
critical components in a drive-by-wire car. The constraints on
computational time and memory render the scheme an advantage
as it requires only one set of finite impulse response(FIR) filter
weights to be tuned while it can be used for different numbers of
steps ahead predictions.

MANAGEMENT SYSTEM OF
DBW SYSTEM
Processors, including an electronic control unit (ECU) and other
local processors.
Memory (mainly integrated into the ECU).
Sensors .
Actuators.
Communication Network.

EFFECTS OF CRITICAL DATA

LOSS
Steering sensor data loss improper turns.
Braking pedal sensor data loss improper braking or brake failure.
Throttle sensor data loss over speeding.
Wheel speed sensor data loss improper Anti-Lock Braking Action
leading into skidding.

CAUSES OF DATA LOSS AND

MITIGATION
Permanent failure of sensor or communication link redundancy
and fail safe mechanism.

Temporary failure due to sensor , link or due to noise predictive

filters.

PREDICTIVE FILTERING
METHODS
Heinonen et al. applied FIR predictive filters combined with median filters to
measure systolic blood pressure.
Harju et al. introduced a method to design predictive IIR filters via feedback
extension of FIR predictive filters.
Handel proposed a multistep ahead predictive filter for narrow-band waveforms
with multiple distinct spectral peaks.
Crassidis et al. used the least mean square method to tune the parameters of a
nonlinear predictive filter for attitude estimation.
Ferrah et al. applied an adaptive nonlinear predictive filter as a dynamic speed
estimator for induction motor drives
ANN and Fuzzy logic based predictive FIR filters have also been designed for
some Model Predictive Control(MPC) applications.

FILTER DESIGN
CONSTRAINTS FOR
AUTOMOBILE APPLICATIONS
Should require SMALL computation time for REAL time
implementation.
Should use small dynamic memory(DRAMs) so as to achieve
competitive cost.
Algorithm should be STABLE.
Proposed filter has the following characteristic
It uses only ONE set of weights for DIFFERENT steps ahead in
prediction. Hence, comparatively LESS memory is required to save
filter coefficients and data samples. Also multiple nos. of predictive
filters are NOT required for different numbers of missing data
samples thus requiring LESSER time for processing.

LINEAR PREDICTION FILTER

EQUATIONS

Predicted value of each missing sample is given by

..(1)
( previous data sample)
(previously predicted sample)
The one step ahead prediction equation is given by
.(2)


The transfer function of one step ahead filter is given by
H(z)= .(3)
For two step ahead prediction
(4)

Transfer function of two step ahead predictive filter

..(5)

Similarly, For jth missing data the output equation is given by

..(6)
Where and
The general formula obtained through iterative substitution is
.(7)
;

.. (8)

BLOCK DIAGRAM

FILTER WEIGHT TUNING

ALGORITHM

The filter weights are tuned so as to generate optimum values of

by minimizing the following error function.
(9)
N= total no of samples for tuning.
non negative constants selected based on priority of
performance of one to L-step ahead predictions.
Steepest Descent method is used for minimizing the above error
function.
Method of steepest descent is the simplest of all the algorithms
and hence suitable for implementation in a constrained
computational environment.

METHOD OF STEEPEST
DESCENT
Approaches minimum in a zig-zag manner where the steepest descent direction is negative
of the gradient of cost function(here E).
i.e.
where

The objective is to find the weights such that error function is minimized which is
obtained by
The partial derivative of error function is given by
Direct calculation of is difficult for .

..(10)

METHOD OF STEEPEST
DESCENTCONTD.

Thus indirect approach (method of induction) used.

(2) =>
..(11)
Similarly,
..(12)

Therefore
...(13)

 From (10) we have

implies

..(14)
Where l is the iteration number of the search process over an ensemble of N training data
samples.

- is the steepest gradient term

is the momentum term.

OPERATING METHODOLOGY
Weight vectors initialized to a zero order hold filter .
The error is calculated by (9) which is small since sensor data is
not expected to show sharp peaks frequently.
The filter weights are thus calculated by iterating with (14) while
setting and in such a way that the search process avoids local
minima.
The weight vector is thus tuned online for missing data.
If dynamic characteristics of sensor signal change then filter
weights can be adaptively tuned in REAL time.

EXPERIMENTAL SETUP FOR

COMPARATIVE ANALYSIS

Brake Pedal and sensors at test rig

 Initial Considerationso Brake by wire system considered.

o Test rig comprised a pedal with a displacement and two force sensors.
o Filter weights tuned for all pedal movements such as standstill pedal,
frequent soft pushes, frequent hard pushes, and sudden continuous hard
brake.
Proposed filter is compared in terms of Mean Square Error(MSE) and
Average Execution Time with the following filters
o First-order hold filter.
o Newton Polynomial Predictive filter.
o Linear Smoothed Newton Predictive(LSN) filter.
o Neural Predictive filter.


The Mean Square Error (MSE) used for the comparative study is
defined as
y(k) is the kth data sample
yi (k) is the ith step ahead predicted value.
Same number of memory units were used.
Number of missing samples was considered to be L=4.
Order of filter was chosen so as to require the same number of
memory units.

REPORTED EXPERIMENTAL
RESULTS

CONCLUSION
The results confirm that the proposed FIR multistep ahead
predictive filter estimates missing data samples as accurately as
the sophisticated neural predictive filter, and more accurately than
other methods, with a computational overhead that is lower than
other filters. In contrast to commonly used FIR filters, the proposed
filter only requires one set of weights to be tuned, memorized, and
applied to different numbers of steps ahead prediction. Hence, the
proposed predictive filtering technique is an ideal tool for missing
data compensation in drive by-wire systems as well as any other
time- and memory-critical application.

REFERENCES
1. Hoseinnezhad, R.; Bab-Hadiashar, A., "Missing Data
Compensation for Safety-Critical Components in a Drive-by-Wire
System,"Vehicular Technology, IEEE Transactions on, vol.54, no.4,
pp.1304,1311, July 2013.
2. P. Handel, "Predictive digital filtering of sinusoidal signals",IEEE
Trans. Signal Process., vol. 46, no. 2, pp.364 -374, Sept 2006.
3. M. Lubaszewski and B. Courtois, A reliable fail-safe system,
IEEE Trans. Comput., vol. 47, no. 2, pp. 236241, 1998.