Angular velocity sensor unit and angular velocity sensor diagnosing device
First Claim
1. An angular velocity sensor diagnosing device for use in a movable body, the angular velocity sensor diagnosing device comprising:
- an angular velocity sensor unit including two angular velocity sensors, each of the two angular velocity sensors including a respective oscillator having a shaft portion and an oscillatory portion, the two angular velocity sensors being arranged such that the shaft portion of each respective oscillator is not in parallel with an XY-plane defined by an X-axis and a Y-axis of three orthogonal axes;
a first failure judging circuit for judging a failure of one angular velocity sensor of the two angular velocity sensors the judgment of the failure of the one angular velocity sensor depending on whether or not a detection value of an angular velocity about a Z-axis detected by the one angular velocity sensor is outside a tolerance range of a detection value of an angular velocity about the Z-axis detected by another angular velocity sensor of the two angular velocity sensors; and
a second failure judging circuit for judging a failure of the another angular velocity sensor by comparing the detection value of the angular velocity detected by the another angular velocity sensor with an angular velocity calculated by a sensor that is mounted in the movable body and derives the calculated angular velocity from (i) a speed of the movable body, (ii) a steering angle of the movable body, and (iii) acceleration of the movable body.
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Accused Products
Abstract
An angular velocity sensor unit judging whether there is a failure in both of two angular velocity sensors. The angular velocity sensor unit includes a first angular velocity sensor (12) and a second angular velocity sensor (13), each including an oscillator having a shaft portion and an oscillatory portion. Each of the angular velocity sensors (12, 13) is arranged such that its shaft portion is not in parallel with an XY-plane defined by an X-axis and a Y-axis of three orthogonal axes. The failure of the second angular velocity sensor is judged based on whether or not a detection value of an angular velocity about a Z-axis lies outside a tolerance range of a detection value of the angular velocity about the Z-axis by the other angular velocity sensor, and the failure of the first angular velocity sensor is judged by comparison with a pseudo-calculated angular velocity.
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Citations
7 Claims
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1. An angular velocity sensor diagnosing device for use in a movable body, the angular velocity sensor diagnosing device comprising:
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an angular velocity sensor unit including two angular velocity sensors, each of the two angular velocity sensors including a respective oscillator having a shaft portion and an oscillatory portion, the two angular velocity sensors being arranged such that the shaft portion of each respective oscillator is not in parallel with an XY-plane defined by an X-axis and a Y-axis of three orthogonal axes; a first failure judging circuit for judging a failure of one angular velocity sensor of the two angular velocity sensors the judgment of the failure of the one angular velocity sensor depending on whether or not a detection value of an angular velocity about a Z-axis detected by the one angular velocity sensor is outside a tolerance range of a detection value of an angular velocity about the Z-axis detected by another angular velocity sensor of the two angular velocity sensors; and a second failure judging circuit for judging a failure of the another angular velocity sensor by comparing the detection value of the angular velocity detected by the another angular velocity sensor with an angular velocity calculated by a sensor that is mounted in the movable body and derives the calculated angular velocity from (i) a speed of the movable body, (ii) a steering angle of the movable body, and (iii) acceleration of the movable body. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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Specification