Sensor abnormality detection device

Patent metadata

Field	Value
Publication number	US-2016288799-A1
Application number	US-201414913713-A
Country	US
Kind code	A1
Filing date	Dec 12, 2014
Priority date	Dec 26, 2013
Publication date	Oct 6, 2016
Grant date	—

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.

First claim

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.

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.

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.

Assignees

• Toyota Motor Co Ltd

Inventors

• Nguyen Van Quy Hung

Classifications

• G01S2013/93274

  on the side of the vehicles · CPC title

• G01S2013/93272

  in the back of the vehicles · CPC title

• G01S7/40

  Means for monitoring or calibrating · CPC title

• B60W2050/0215

  Sensor drifts or sensor failures · CPC title

• B60W2030/082

  Vehicle operation after collision · CPC title