SENSOR ABNORMALITY DETECTION DEVICE

• US 20160288799A1
• Filed: 12/12/2014
• Published: 10/06/2016
• Est. Priority Date: 12/26/2013
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: NGUYEN VAN, Quy Hung
• Granted Patent: US 9,731,728 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2030/082 Vehicle operation after collision
• CPC Class Codes: B60W 2050/0215 Sensor drifts or sensor failures
• CPC Class Codes: B60W 2050/0295 Inhibiting action of specific actuators or systems
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 50/0205 Diagnosing or detecting failures; Failure detection models
• CPC Class Codes: B60W 50/029 Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
• CPC Class Codes: G01S 13/87 Combinations of radar systems, e.g. primary radar and secondary radar
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/93271 in the front of the vehicles
• CPC Class Codes: G01S 2013/93272 in the back of the vehicles
• CPC Class Codes: G01S 2013/93274 on the side of the vehicles
• CPC Class Codes: G01S 2013/93275 in the bumper area
• CPC Class Codes: G01S 7/40 Means for monitoring or calibrating

Abstract

A sensor abnormality detection device includes a first sensor that detects a situation of a first region at a periphery of an own vehicle; a second sensor that detects a situation of a second region, which is a region different from the first region and includes an overlapping region that overlaps a part of the first region; a sensor abnormality determination means that determines abnormality of the first sensor and the second sensor; and a collision detection means that detects collision of the own vehicle to an object; wherein the sensor abnormality determination means determines that at least one of the first sensor and the second sensor has abnormality when the first region and the second region do not overlap in the overlapping region after the collision is detected.

Claims

1. A sensor abnormality detection device comprising:

a first sensor configured to detect a situation of a first region at a periphery of an own vehicle;

a second sensor configured to detect a situation of a second region at the periphery of the own vehicle, the second region being a region different from the first region and including an overlapping region that overlaps a part of the first region;

a sensor abnormality determination means configured to determine presence or absence of abnormality of the first sensor and the second sensor; and

a collision detection means configured to detect collision of the own vehicle to an object exterior to the vehicle;

wherein

the sensor abnormality determination means determines that at least one of the first sensor and the second sensor has abnormality, at the time the first region and the second region do not overlap in the overlapping region, after the collision detection means detects the collision.

2. The sensor abnormality detection device according to claim 1, wherein the sensor abnormality determination means determines at least one of the first sensor and the second sensor has abnormality, at the time the first sensor and the second sensor do not detect the same situation in the overlapping region, after the collision detection means detects the collision.

3. The sensor abnormality detection device according to claim 1, further comprising:

a position estimating means configured to estimate a position of an obstacle at the periphery of the own vehicle based on detection results of the first sensor and the second sensor; and

an avoidance control means configured to avoid movement of the own vehicle to a position of the obstacle;

wherein

at the time determined by the sensor abnormality determination means that the sensor has abnormality after the collision detection means detects the collision, the avoidance control means limits the movement of the own vehicle to a direction where the sensor determined to be abnormal is arranged in the own vehicle compared to at the time determined that the sensor is normal.

5. The sensor abnormality detection device according to claim 2, further comprising:

a position estimating means configured to estimate a position of an obstacle at the periphery of the own vehicle based on detection results of the first sensor and the second sensor; and

an avoidance control means configured to avoid movement of the own vehicle to a position of the obstacle wherein

at the time determined by the sensor abnormality determination means that the sensor has abnormality after the collision detection means detects the collision, the avoidance control means limits the movement of the own vehicle to a direction where the sensor determined to be abnormal is arranged in the own vehicle compared to at the time determined that the sensor is normal.

4. A sensor abnormality detection device comprising:

a first sensor configured to detect a situation of a first region at a periphery of an own vehicle;

a second sensor configured to detect a situation of a second region at the periphery of the own vehicle, the second region being a region different from the first region and including a first overlapping region that overlaps a part of the first region;

a third sensor configured to detect a situation of a third region at the periphery of the own vehicle, the third region being a region different from the first region and the second region and including a second overlapping region that overlaps a part of the first region;

a sensor abnormality determination means configured to determine presence or absence of abnormality of the first sensor, the second sensor, and the third sensor; and

a collision detection means configured to detect collision of the own vehicle to an object exterior to the vehicle;

wherein

at the time determining that at least one of the first sensor and the second sensor has abnormality at the time the first sensor and the second sensor do not detect the same situation in the first overlapping region after the collision detection means detects the collision, the sensor abnormality determination means further determines whether or not the first sensor and the third sensor detect the same situation in the second overlapping region, and

at the time the first sensor and the third sensor detect the same situation in the second overlapping region, the sensor abnormality determination means determines that the first sensor does not have abnormality and the second sensor has abnormality.