ABNORMALITY DETECTION DEVICE

• US 20180335774A1
• Filed: 05/15/2018
• Published: 11/22/2018
• Est. Priority Date: 05/18/2017
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Inventors: SATO, Kunihito, KAMATA, Nobuhide, OKUMURA, Bunyo
• Granted Patent: US 11,150,649 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 2050/0072 Controller asks driver to take over
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2552/35 Road bumpiness, e.g. potholes
• CPC Class Codes: B60W 2556/00 Input parameters relating to data
• CPC Class Codes: B60W 50/0097 Predicting future conditions
• CPC Class Codes: B60W 50/0098 Details of control systems ensuring comfort, safety or stability not otherwise provided for
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

An abnormality detection device includes a sensor configured to detect an external environment of a vehicle and an electronic control unit configured to: detect a traveling state of the vehicle; acquire a control command value for the vehicle in automatic driving control, the vehicle being caused to travel automatically in the automatic driving control; determine, based on a difference between the traveling state and the control command value, whether the traveling state is abnormal; determine, based on a detection result from the sensor, whether the external environment is suitable for execution of the automatic driving control; and determine that an abnormality has occurred in an automatic driving system when it is determined that the traveling state is abnormal and it is determined that the external environment is suitable for the execution of the automatic driving control, the automatic driving system performing the automatic driving control.

Claims

1. An abnormality detection device comprising

a sensor configured to detect an external environment of a vehicle and

an electronic control unit configured to:

detect a traveling state of the vehicle;

acquire a control command value for the vehicle in automatic driving control, the vehicle being caused to travel automatically in the automatic driving control;

determine, based on a difference between the traveling state and the control command value, whether the traveling state is abnormal;

determine, based on a detection result from the sensor, whether the external environment is suitable for execution of the automatic driving control; and

determine that an abnormality has occurred in an automatic driving system when it is determined that the traveling state is abnormal and it is determined that the external environment is suitable for the execution of the automatic driving control, the automatic driving system performing the automatic driving control.

2. The abnormality detection device according to claim 1, further comprising a database storing a road surface shape of a traveling road of the vehicle as a stored road surface shape, wherein

the sensor includes a LIDAR, the LIDAR being configured to irradiate surroundings of the vehicle with light and configured to detect reflected light of the irradiated light,

the sensor is configured to detect a road surface shape of the traveling road as a detected road surface shape based on a detection result from the LIDAR, and

the electronic control unit is configured to determine, when a difference between the stored road surface shape of the surroundings of the vehicle and the detected road surface shape is less than a predetermined determination threshold value, that the external environment is suitable for the execution of the automatic driving control.

3. The abnormality detection device according to claim 1, wherein the sensor includes a LIDAR or a camera, the LIDAR being configured to irradiate surroundings of the vehicle with light and configured to detect reflected light of the irradiated light, the camera being configured to capture an image of a traveling road of the vehicle,

wherein the electronic control unit is configured to:

detect a measured yaw rate or a measured lateral acceleration of the vehicle as the traveling state;

calculate a predicted yaw rate or a predicted lateral acceleration, the predicted yaw rate being a predicted yaw rate when the vehicle travels based on the control command value, the predicted lateral acceleration being a predicted lateral acceleration when the vehicle travels based on the control command value;

determine that the traveling state is abnormal when one of conditions are satisfied, the conditions being (i) a condition that a difference between the predicted yaw rate and the measured yaw rate is greater than a predetermined yaw rate threshold value and (ii) a condition that a difference between the predicted lateral acceleration and the measured lateral acceleration is greater than a predetermined lateral acceleration threshold value;

detect a road shape of the traveling road based on a detection result from the LIDAR or the image captured by the camera;

determine that the external environment is suitable for the execution of the automatic driving control when the road shape detected by the sensor is a straight line; and

determine that the abnormality has occurred in the automatic driving system when it is determined that the traveling state is abnormal and it is determined that the external environment is suitable for the execution of the automatic driving control based on the road shape of the traveling road.

4. The abnormality detection device according to claim 1, wherein the sensor includes at least one of a LIDAR and a camera, the LIDAR being configured to irradiate surroundings of the vehicle with light and configured to detect reflected light of the irradiated light, the camera being configured to capture an image of a traveling road of the vehicle,

wherein the electronic control unit is configured to:

detect at least one of a measured yaw rate and a measured lateral acceleration of the vehicle as the traveling state;

calculate at least one of a predicted yaw rate and a predicted lateral acceleration, the predicted yaw rate being a predicted yaw rate when the vehicle travels based on the control command value, the predicted lateral acceleration being a predicted lateral acceleration when the vehicle travels based on the control command value;

determine that the traveling state is abnormal when at least one of conditions are satisfied, the conditions being (i) a condition that a difference between the predicted yaw rate and the measured yaw rate is greater than a predetermined yaw rate threshold value and (ii) a condition that a difference between the predicted lateral acceleration and the measured lateral acceleration is greater than a predetermined lateral acceleration threshold value;

detect a road shape of the traveling road based on at least one of a detection result from the LIDAR and the image captured by the camera;

determine that the external environment is suitable for the execution of the automatic driving control when the road shape detected by the sensor is a straight line; and

determine that the abnormality has occurred in the automatic driving system when it is determined that the traveling state is abnormal and it is determined that the external environment is suitable for the execution of the automatic driving control based on the road shape of the traveling road.

5. The abnormality detection device according to claim 1, wherein the electronic control unit is configured to notify a driver of the vehicle that the automatic driving control is switched to a manual driving control in which the driver performs a driving operation of the vehicle, when it is determined that the abnormality has occurred in the automatic driving system.

6. The abnormality detection device according to claim 2, wherein the road surface shape includes a projection and a depression of the traveling road.

7. The abnormality detection device according to claim 1, wherein the electronic control unit is configured to:

detect a measured longitudinal acceleration of the vehicle as the traveling state;

calculate a predicted longitudinal acceleration, the predicted longitudinal acceleration being a predicted longitudinal acceleration when the vehicle travels based on the control command value; and

determine that the traveling state is abnormal when a condition that a difference between the predicted longitudinal acceleration and the measured longitudinal acceleration is greater than a predetermined longitudinal acceleration threshold value is satisfied.