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Autonomous vehicle and its failure determination method

一种自主车辆、车辆的技术，应用在自行车、车辆部件、单轮自行车等方向，能够解决传感器困难等问题

Active Publication Date: 2015-08-19
TOYOTA JIDOSHA KK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the autonomous vehicle described above, for example, when one of the posture detection sensor and the tilt detection sensor fails, it is very difficult to determine the occurrence of a failure in the sensor without using any special inspection equipment

Method used

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  • Autonomous vehicle and its failure determination method
  • Autonomous vehicle and its failure determination method
  • Autonomous vehicle and its failure determination method

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Embodiment Construction

[0019] Exemplary embodiments according to the present invention are described below with reference to the accompanying drawings. figure 1 is a side view showing a general configuration of an autonomous vehicle according to an exemplary embodiment of the present invention. figure 2 is a block diagram showing the system configuration of the autonomous vehicle according to this exemplary embodiment. An autonomous vehicle 1 according to this exemplary embodiment includes a vehicle body 2, a plurality of wheels 3 rotatably disposed in the vehicle body 2, and a plurality of motors 4 each driving a corresponding one of the wheels 3, at least one distance for measuring distances The sensor 5 , the control device 6 that controls each motor 4 based on the distance measured by the distance sensor 5 , and the posture sensor unit 7 that calculates the posture of the vehicle body 2 . Note that the above configuration of the ego vehicle 1 is only an example. The invention is not limited t...

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Abstract

An autonomous vehicle comprises at least one distance measurement means for measuring a distance to a road surface disposed in a vehicle main body, inclination calculation means for calculating an inclination of the vehicle main body based on the distance measured by the distance measurement means, posture calculation means including a sensor that detects at least one of an angular speed and an acceleration of the vehicle main body, the posture calculation means being configured to calculate the inclination of the vehicle main body based on a sensor value detected by the sensor, and failure determination means for determining a failure in each distance measurement means and the posture calculation means by comparing the inclination of the vehicle main body calculated by the inclination calculation means with the inclination of the vehicle main body calculated by the posture calculation means.

Description

technical field [0001] The present invention relates to an autonomous vehicle that moves autonomously based on a distance measured by a distance measuring device and a failure determination method thereof. Background technique [0002] An autonomous vehicle is known that includes a posture detection sensor that detects the posture of the vehicle body and an inclination detection sensor that detects the inclination of the vehicle body relative to the road surface, and moves autonomously (see Japanese Unexamined Patent Application Publication No. 2006-146560 ). [0003] The present inventors have found the following problems. In the autonomous vehicle described above, for example, when one of the attitude detection sensor and the tilt detection sensor fails, it is very difficult to determine the occurrence of a failure in the sensor without using any special inspection equipment. [0004] The present invention has been made in view of such problems, and its main purpose is t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G16Z99/00
CPCG05D1/0255G05D1/0257G05D1/0231G05D1/027B62K11/007Y02T10/72G16Z99/00G06F17/10B62K1/00B62D6/00B60L15/20B62D61/02B62K11/06
Inventor 平哲也高冈丰
Owner TOYOTA JIDOSHA KK