To improve, in a sensor-equipped vehicle equipped with a plurality of external sensors, estimation accuracy and mitigate calculation load through selecting timing of abnormality estimation processing of the external sensors.SOLUTION: A sensor abnormality estimation device determines whether position and speed of a vehicle equipped with sensors at an intersection satisfy prescribed execution conditions. When the execution conditions are satisfied, the sensor abnormality estimation device acquires recognition results of any two external sensors among the plurality of external sensors with respect to an object at a specified position associated with the position of the vehicle equipped with sensors. The sensor abnormality estimation device acquires coincidence degree between the recognition results, and when the coincidence degree is lower than a prescribed determination value, estimates that at least one of two external sensors has abnormality.SELECTED DRAWING: Figure 10

    【課題】複数の外部センサが搭載されたセンサ搭載車両において、外部センサの異常推定処理のタイミングを選定することによって推定精度の向上と演算負荷の軽減を図る。【解決手段】センサ異常推定装置は、交差点におけるセンサ搭載車両の位置及び速度が所定の実行条件を満たすかどうかを判定する。実行条件を満たす場合、センサ搭載車両の位置に対応付けられた指定位置の対象物標に対して、複数の外部センサのうちの何れか2つの外部センサによる認識結果をそれぞれ取得する。そして、それぞれの認識結果の一致度を取得し、一致度が所定の判定値よりも低い場合、何れか2つの外部センサの少なくとも一方に異常があると推定する。【選択図】図10


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    Title :

    SENSOR ABNORMALITY ESTIMATION DEVICE


    Additional title:

    センサ異常推定装置


    Contributors:

    Publication date :

    2022-10-25


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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