A vehicle fault detection system , comprising: a plurality of sensors couplable to a vehicle system and configured to detect respective time series of data , each time series of data corresponding to a component parameter of a plurality of component parameters of components of the vehicle system ; ; a vehicle control module coupled to the plurality of sensors , the vehicle control module being configured to determine an existence of one or more relationships between the plurality of component parameters based on determining an effect on one of the plurality of component parameters caused by another of the plurality of component parameters , wherein determining the effect is based on identifying mode change (410-412) events within one or more of the respective time series of data based on a vehicle system control signal , wherein a mode change (410-412) event is one of an increase in value or a decrease in value of a respective one of a first time series of data and a second time series of data , and based on comparing a predetermined characteristic of one or more of the respective time series of data before and after the mode change (410-412) events; identify anomalies in the respective time series of data based on the one or more relationships between the plurality of component parameters , and a user interface coupled to the vehicle control module , the user interface being configured to present an indication of the anomalies in the respective time series of data . a plurality of sensors couplable to a vehicle system and configured to detect respective time series of data , each time series of data corresponding to a component parameter of a plurality of component parameters of components of the vehicle system ; ; a vehicle control module coupled to the plurality of sensors , the vehicle control module being configured to determine an existence of one or more relationships between the plurality of component parameters based on determining an effect on one of the plurality of component parameters caused by another of the plurality of component parameters , wherein determining the effect is based on identifying mode change (410-412) events within one or more of the respective time series of data based on a vehicle system control signal , wherein a mode change (410-412) event is one of an increase in value or a decrease in value of a respective one of a first time series of data and a second time series of data , and based on comparing a predetermined characteristic of one or more of the respective time series of data before and after the mode change (410-412) events; determine an existence of one or more relationships between the plurality of component parameters based on determining an effect on one of the plurality of component parameters caused by another of the plurality of component parameters , wherein determining the effect is based on identifying mode change (410-412) events within one or more of the respective time series of data based on a vehicle system control signal , wherein a mode change (410-412) event is one of an increase in value or a decrease in value of a respective one of a first time series of data and a second time series of data , and based on comparing a predetermined characteristic of one or more of the respective time series of data before and after the mode change (410-412) events; identify anomalies in the respective time series of data based on the one or more relationships between the plurality of component parameters , and a user interface coupled to the vehicle control module , the user interface being configured to present an indication of the anomalies in the respective time series of data . <EOS>