Lateral distance sensor diagnosis apparatus

• US 10,429,506 B2
• Filed: 10/21/2015
• Issued: 10/01/2019
• Est. Priority Date: 10/22/2014
• Status: Active Grant

• Current Assignee: DENSO Corporation, Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: DENSO Corporation
• Inventors: Tanaka, Hidenori, Kida, Akihiro
• Primary Examiner(s): Alsomiri, Isam A
• Assistant Examiner(s): Armstrong, Jonathan D
• Application Number:
  US15/519,807
• Publication Number:
  US 20170242121A1
• Time in Patent Office: 1,441 Days
• Field of Search: None
• CPC Class Codes: B60W 2050/0215 Sensor drifts or sensor failures
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/18145 Cornering
• CPC Class Codes: G01S 13/08 Systems for measuring distance only indirect measurement G01S13/46
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/08 Systems for measuring distance only indirect measurement G01S15/46
• CPC Class Codes: G01S 15/931 of land vehicles
• CPC Class Codes: G01S 17/08 for measuring distance only indirect measurement G01S17/46; active triangulation systems G01S17/48
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 2013/9315 Monitoring blind spots
• CPC Class Codes: G01S 2013/9323 Alternative operation using light waves
• CPC Class Codes: G01S 2013/9324 Alternative operation using ultrasonic waves
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles
• CPC Class Codes: G01S 2015/937 sensor installation details
• CPC Class Codes: G01S 7/40 Means for monitoring or calibrating
• CPC Class Codes: G01S 7/497 Means for monitoring or calibrating
• CPC Class Codes: G01S 7/52004 Means for monitoring or calibrating short-range imaging G01S7/5205

Abstract

A lateral distance sensor diagnosis apparatus cooperating with a lateral distance sensor in a vehicle includes a travel enabled distance acquisition section and a diagnosis test section. The travel enabled distance acquisition section determines whether the vehicle is estimated to have contact with an object detected by the lateral distance sensor, based on a distance detected by the lateral distance sensor and a present steering angle. When determining that the vehicle is estimated to have contact with the detected object, the travel enabled distance acquisition section acquires a travel enabled distance based on a distance detected by the lateral distance sensor. The diagnosis test section determines that the lateral distance sensor fails to operate normally when a movement distance becomes greater than the travel enabled distance under state where the steering angle is an angle causing the vehicle to have contact with an object detected by the lateral distance sensor.

Claims

1. A lateral distance sensor diagnosis apparatus cooperating with a lateral distance sensor that detects a distance with an object existing in a lateral region relative to a vehicle by transmitting search waves towards the lateral region and receiving reflected waves reflected by the object in a propagation range of the search waves,

the lateral distance sensor diagnosis apparatus comprising:

a detection result acquisition section that acquires a detection distance that is a distance detected by the lateral distance sensor;

a vehicle information acquisition section that acquires vehicle information that is information indicating a travel state of the vehicle, the vehicle information including a steering angle;

a travel enabled distance acquisition section that determines whether the vehicle is estimated to have contact with the object detected by the lateral distance sensor because of a turning radius difference between tracks followed by front and rear inner wheels when turning based on the detection distance acquired by the detection result acquisition section and the steering angle included in the vehicle information, the travel enabled distance acquisition section acquiring, based on the detection distance, a travel enabled distance when determining that the vehicle is estimated to have contact with the object, the travel enabled distance being a distance the vehicle is permitted to travel before the vehicle has contact with the object;

a movement distance calculation section that calculates a movement distance of the vehicle from when the detection result acquisition section acquires the detection distance that the travel enabled distance acquisition section uses to acquire the travel enabled distance; and

a diagnosis test section that determines whether the lateral distance sensor operates normally by comparing, when the travel enabled distance acquisition section determines that the vehicle is estimated to have contact with the object, the movement distance calculated by the movement distance calculation section with the travel enabled distance acquired by the travel enabled distance acquisition section,

wherein the diagnosis test section determines that the lateral distance sensor fails to operate normally when the movement distance becomes greater than the travel enabled distance under a state being maintained, the state where the steering angle accords with an angle at which the vehicle will have contact with the object.

2. The lateral distance sensor diagnosis apparatus according to claim 1, wherein

the travel enabled distance acquisition section performs determining whether the vehicle is estimated to have contact with the object when the detection distance is less than a predetermined upper limit that is used in diagnosis, and acquires the travel enabled distance when determining that the vehicle is estimated to have contact with the object.

3. The lateral distance sensor diagnosis apparatus according to claim 2, wherein:

the travel enabled distance acquisition section performs determining whether the vehicle is estimated to have contact with the object when the detection distance is less than the upper limit used in diagnosis, and, simultaneously, the steering angle is equal to or greater than a predetermined lower limit steering angle;

the travel enabled distance acquisition section acquires the travel enabled distance when determining that the vehicle is estimated to have contact with the object; and

the diagnosis test section determines that the lateral distance sensor fails to operate normally when the movement distance becomes greater than the travel enabled distance under a state being maintained, the state where the detection distance is less than the upper limit used in diagnosis, and, simultaneously, the steering angle is equal to or greater than the lower limit steering angle.

4. The lateral distance sensor diagnosis apparatus according to claim 2, wherein

the upper limit used in diagnosis corresponds to a distance detected when an attached material is attached to the lateral distance sensor.

5. The lateral distance sensor diagnosis apparatus according to claim 4, wherein

when determining that the lateral distance sensor fails to operate normally, the diagnosis test section notifies a driver that an attached material attached to the lateral distance sensor is estimated to cause a false operation.

6. The lateral distance sensor diagnosis apparatus according to claim 1, wherein

the upper limit used in diagnosis is set to be less than an estimated value of a gap between the vehicle and a different vehicle traveling parallel with the vehicle, the gap being in a vehicle width direction.

7. The lateral distance sensor diagnosis apparatus according to claim 1, wherein:

the travel enabled distance acquired by the travel enabled distance acquisition section is determined according to the detection distance and the steering angle; and

the diagnosis test section determines that the lateral distance sensor fails to operate normally when the movement distance becomes greater than the travel enabled distance under a state being maintained, the state where the steering angle is within a predetermined range from an angle when the travel enabled distance is acquired.

8. The lateral distance sensor diagnosis apparatus according to claim 1, wherein

when determining that the lateral distance sensor fails to operate normally, the diagnosis test section notifies a driver that the lateral distance sensor fails to operate normally.