Device, method and program for determining abnormality, and vehicle

Abstract

To detect a sonar device in which detection accuracy has degraded.SOLUTION: An abnormality determination device comprises: a reception part for receiving the features of a reflection wave in response to an ultrasonic signal transmitted by each sonar device; and an abnormality determination part for determining abnormality of the sonar devices respectively based on discrepancy in the features.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to an abnormality determination device, method, program, and vehicle. [Background technology]

[0002] In recent years, vehicles have been equipped with various sensors, such as sonar devices. Sonar devices can detect the presence of a target (object) by transmitting ultrasonic waves and receiving the ultrasonic waves reflected by the target. They can also measure the distance to the target from the time difference between the time the waves are transmitted and the time they are received. Based on the detected target, the vehicle can apply emergency brakes or operate the steering wheel to prevent a collision with the target.

[0003] For example, Patent Document 1 discloses that the temperature characteristics of a sonar sensor are one of the factors that reduce the detection accuracy of the sonar sensor (sonar device). Patent Document 1 discloses that in order to reduce the influence of the temperature characteristics of the sonar sensor and improve detection accuracy, the receiving sensitivity of the transmitted wave or the transmission strength of the transmitted wave is corrected according to the temperature measured by the temperature sensor. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2017-096771 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the method of using a temperature sensor to measure the temperature around the sonar device, which is one of the factors that reduces the detection accuracy of the sonar device, was insufficiently considered, and there was a possibility that the detection accuracy of the target would be reduced.

[0006] Non-limiting examples of the present disclosure contribute to providing an abnormality determination device capable of detecting a sonar device with reduced detection accuracy, and a vehicle equipped with the abnormality determination device. [Means for solving the problem]

[0007] An abnormality determination device in one embodiment of the present disclosure includes a receiving unit that receives characteristics of reflected waves from ultrasonic signals transmitted by each sonar device, and an abnormality determination unit that determines an abnormality in each sonar device based on differences in the characteristics.

[0008] In one embodiment of the present disclosure, a vehicle is equipped with an abnormality determination device that includes a receiving unit that receives characteristics of reflected waves from ultrasonic signals transmitted by each sonar device, and an abnormality determination unit that determines an abnormality in each sonar device based on differences in the characteristics.

[0009] In an embodiment of the present disclosure, a method for determining an abnormality receives characteristics of reflected waves from ultrasonic signals transmitted by each sonar device, and determines an abnormality in each sonar device based on differences in the characteristics.

[0010] An abnormality determination program in one embodiment of the present disclosure causes a computer to execute a receiving step of receiving characteristics of reflected waves from ultrasonic signals transmitted by each sonar device, and an abnormality determination step of determining an abnormality in each sonar device based on differences in the characteristics. [Effects of the Invention]

[0011] According to the present disclosure, it is possible to provide an abnormality determination device, method, and program that can detect a sonar device with reduced detection accuracy, and a vehicle equipped with the abnormality determination device. [Brief explanation of the drawings]

[0012] [Figure 1] Sonar device block diagram [Figure 2] Top view of the vehicle [Figure 3] Diagram showing the ECU [Figure 4] A diagram showing an example of the operation sequence of a sonar device. [Figure 5] FIG. 10 is a diagram showing another example of the operation sequence of a sonar device. [Figure 6] Flowchart showing ECU processing DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. Note that the embodiments described below are merely examples, and the present disclosure is not limited to the following embodiments.

[0014] However, more detailed explanations than necessary may be omitted, for example, detailed explanations of well-known matters or redundant explanations of substantially the same configurations may be omitted, in order to avoid unnecessary redundancy in the following explanation and to facilitate understanding by those skilled in the art.

[0015] In the embodiment of the present disclosure, factors that reduce the detection accuracy of the sonar device will be described using the temperature of exhaust gas around the sonar device and matter adhering to the sonar device as examples, but are not limited to these.

[0016] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0017] 1 is an example of a block diagram of a sonar device 100. The sonar device 100 is a device that transmits ultrasonic signals and receives ultrasonic signals reflected by a target (object) to detect the target, and is mounted on, for example, a vehicle.

[0018] The sonar device 100 has a control unit 110, a transmission circuit 120, a reception circuit 130, and a microphone 140. Each sonar device 100 has a microphone 140. A vehicle is equipped with multiple sonar devices 100. Note that while FIG. 1 shows an example in which the microphone 140 is configured with one microphone, it may also be configured with multiple microphones.

[0019] The control unit 110 has a transmission / reception control unit 111 and a detection unit 112. The control unit 110 outputs the target detection results to a vehicle control device (Electronic Control Unit: ECU). Based on the detection results of the sonar device 100, the ECU can control the vehicle, such as by activating an emergency brake or controlling the direction of travel of the vehicle.

[0020] The transmission / reception control unit 111 controls the transmission circuit 120 and the reception circuit 130. The transmission / reception control unit 111 controls the timing at which the transmission circuit 120 transmits an ultrasonic signal, the frequency of the ultrasonic signal, and the transmission time for transmitting the ultrasonic signal.

[0021] The transmission / reception control unit 111 causes the transmission circuit 120 to transmit ultrasonic signals multiple times per cycle. The frequency of each transmitted ultrasonic signal varies for each sonar device 100, and may be, for example, 60 kHz, 70 kHz, or 80 kHz. The transmission / reception control unit 111 may change the frequency of the transmitted ultrasonic signal for each transmission cycle based on a chirp signal. The detection unit 112 detects the received ultrasonic signal.

[0022] The transmitting circuit 120 generates a transmission signal based on the control of the transmission / reception control unit 111, and outputs the generated transmission signal to the microphone 140. The receiving circuit 130 outputs a reception signal to the detection unit 112 based on a reception signal received from the microphone 140. The receiving circuit 130 may include a frequency filter, a Fourier transformer, etc.

[0023] The microphone 140 is an electroacoustic transducer that transmits an ultrasonic signal based on a transmission signal received from the transmission circuit 120, and transmits a reception signal to the reception circuit 130 based on the received ultrasonic signal.

[0024] Fig. 2 shows a top view of a vehicle 200. The vehicle 200 has sonar devices 211-218, a muffler 220, and an ECU 230. In the example of Fig. 2, four sonar devices 211-214 are mounted on the front of the vehicle, and four sonar devices 215-218 are mounted on the rear of the vehicle.

[0025] Sonar device 211 is located on the front right (FR). Sonar device 212 is located in the front right center (FRC). Sonar device 213 is located in the front left center (FLC). Sonar device 214 is located on the front left (FL).

[0026] Also, sonar device 215 is located on the rear right (RR). Sonar device 216 is located in the rear right center (RRC). Sonar device 217 is located in the rear left center (RLC). Sonar device 218 is located on the rear left (RL).

[0027] For example, the sonar device 100 in Fig. 1 is used as the sonar devices 211 to 218. Furthermore, the number and arrangement of the sonar devices are not limited to those shown in Fig. 2. The number of sonar devices mounted on the vehicle does not have to be eight, the number of sonar devices mounted on the front and rear may be different, or sonar devices may be provided on the sides of the vehicle.

[0028] The muffler 220 discharges exhaust gases. For example, in FIG. 2, the muffler 220 is located near the sonar device 216. Note that the location of the muffler 220 varies depending on the vehicle 200, and therefore the sonar device located nearby may also vary. Also, the vehicle 200 may have multiple mufflers 220.

[0029] The ECU 230 is connected to the sonar devices 211-218 and controls the control units 110 of the sonar devices 211-218.

[0030] 3 is a diagram showing the ECU 230. To the ECU 230, sonar devices 211 to 218, a vehicle speed information acquisition unit (vehicle CAN: Controller Area Network) 340, an acceleration unit 350, and a braking unit 360 are connected.

[0031] The ECU 230 includes a receiving unit 321 , an object detecting unit 322 , an abnormality determining unit 323 , a sonar control unit 324 , a collision predicting unit 325 , and a driving control unit 326 .

[0032] The receiving unit 321 is connected to the sonar devices 211-218 and receives signals indicating the characteristics of the reflected waves measured by each of the sonar devices 211-218. The characteristics of the reflected waves include TOF (Time of Flight), TOF variance, wave height, and wave height variance. The received signals are sent to the object detection unit 322 and the abnormality determination unit 323.

[0033] The object detection unit 322 performs at least one of detecting a target and measuring the distance to the target (hereinafter simply referred to as "target detection") based on a signal indicating the characteristics of a reflected wave received from a sonar device that is to detect the target. The sonar device that is to detect the target is notified by the sonar control unit 324.

[0034] The abnormality determination unit 323 determines whether a sonar device is abnormal based on the difference in the signals indicating the characteristics of the reflected waves received by each sonar device. The characteristics of the reflected waves are, for example, at least one of TOF, TOF variance, wave height, and wave height variance. The abnormality determination unit 323 notifies the sonar control unit 324 of the sonar device determined to be abnormal.

[0035] For example, under conditions where sonar devices 215, 216, 217, and 218 detect reflection of ultrasonic waves from the same object such as the ground, if the difference between the TOF received from sonar device 216 and the TOF received from sonar devices 215, 217, and 218 is greater than or equal to a predetermined value, the abnormality determination unit 323 determines that sonar device 216 is abnormal.

[0036] Furthermore, the abnormality determination unit 323 determines that the sonar device 216 is abnormal, for example, when the difference between the variance of the TOF received from the sonar device 216 and the variance of the TOF received from the sonar devices 215, 217, and 218 is equal to or greater than a predetermined value under conditions in which the sonar devices 215, 216, 217, and 218 detect the reflection of ultrasonic waves from the same object, such as the ground.

[0037] Furthermore, for example, under conditions where sonar devices 215, 216, 217, and 218 detect reflection of ultrasonic waves from the same object such as the ground, if the difference between the wave height received from sonar device 216 and the wave height received from sonar devices 215, 217, and 218 is equal to or greater than a predetermined value, abnormality determination unit 323 determines that sonar device 216 is abnormal.

[0038] Furthermore, for example, under conditions where sonar devices 215, 216, 217, and 218 detect the reflection of ultrasonic waves from the same object such as the ground, if the difference between the variance of the wave height received from sonar device 216 and the variance of the wave height received from sonar devices 215, 217, and 218 is equal to or greater than a predetermined value, abnormality determination unit 323 determines that sonar device 216 is abnormal.

[0039] As will be explained later, each sonar device may calculate at least one of the TOF variance and the wave height variance, and the receiving unit 321 may receive at least one of the TOF variance and the wave height variance, or each sonar device may not calculate at least one of the TOF variance and the wave height variance, and the receiving unit 321 may receive at least one of the TOF and the wave height, and the abnormality determination unit 323 may calculate at least one of the TOF variance and the wave height variance.

[0040] In addition, some sonar devices may calculate at least one of the TOF variance and the wave height variance, and the abnormality determination unit 323 may calculate at least one of the TOF variance and the wave height variance for sonar devices that did not receive at least one of the TOF variance and the wave height variance.

[0041] For example, the sonar device 211 transmits an ultrasonic signal and receives the ultrasonic signal reflected by a target. The sonar device 211 detects the time of flight (TOF), which is the time from transmission to reception, and the wave height of the received ultrasonic signal.

[0042] Then, the sonar device 211 calculates the variance of the TOF and the variance of the wave height based on the TOF and the wave height detected multiple times. The sonar device 211 transmits the detected TOF and the wave height and the calculated variance of the TOF and the variance of the wave height to the ECU 230.

[0043] Each of the sonar devices 211 to 218 has the same configuration, and each of the sonar devices 212 to 218 executes the same processing.

[0044] The sonar control unit 324 controls the sonar devices 211 to 218. Depending on the traveling direction of the vehicle, the sonar control unit 324 determines for each sonar device whether it is a sonar device that detects targets (hereinafter referred to as a "detection sonar device") or a sonar device that performs abnormality determination (hereinafter referred to as an "abnormality determination sonar device").

[0045] Then, the sonar control unit 324 notifies the abnormality determination unit 323 of which sonar device is the abnormality determination sonar device, and notifies the object detection unit 322 of which sonar device is the detection sonar device.

[0046] For example, when the vehicle is moving forward, the sonar control unit 324 causes the front sonar units 211-214 to function as detection sonar units to detect targets in front of the vehicle, and the rear sonar units 215-218 to function as abnormality determination sonar units to execute the abnormality determination process according to the present disclosure. When the vehicle is moving backward, the sonar control unit 324 causes the rear sonar units 215-218 to function as detection sonar units to detect targets in front of the vehicle, and the front sonar units 211-214 to function as abnormality determination sonar units to execute the abnormality determination process according to the present disclosure. Note that the sonar control unit 324 may also cause all sonar units 211-218 to function as abnormality determination sonar units to execute the abnormality determination process according to the present disclosure when the vehicle is traveling at or above a predetermined speed, when the vehicle is stopped, or both.

[0047] The sonar control unit 324 causes the anomaly determination sonar devices 215-218 to transmit ultrasonic signals at increased sound pressure. By transmitting ultrasonic signals at increased sound pressure, each of the anomaly determination sonar devices 215-218 can receive ultrasonic signals reflected from the ground. The anomaly determination sonar devices 215-218 measure the characteristics of the received ultrasonic signals. The sound pressure transmitted by the anomaly determination sonar devices 215-218 may be the maximum sound pressure, a predetermined sound pressure, or a sound pressure corresponding to the vehicle speed.

[0048] The characteristics to be measured are, for example, TOF and wave height, but either TOF or wave height, or other characteristics, may be measured. Whether an ultrasonic signal is reflected by the ground can be determined by TOF. In addition, by measuring the characteristics of the ultrasonic signal multiple times, the variance of the characteristics of the ultrasonic signal can be calculated.

[0049] For example, the characteristics of an ultrasonic signal received by a sonar device affected by a temperature rise due to exhaust gases from a muffler will change because the effect of the exhaust gases is not uniform. For example, variations will occur in at least one of the TOF and the wave height, and at least one of the TOF variance and the wave height variance will increase.

[0050] Therefore, ECU 230 can determine that an abnormality has occurred in one sonar device when at least one of the TOF variance and wave height variance of one sonar device is greater than at least one of the TOF variance and wave height variance of another sonar device by a predetermined value or more.

[0051] For example, the characteristics of the ultrasonic signal received by a sonar device whose microphone is affected by a deposit will be affected by the deposit, and at least one of the TOF and wave height will change compared to a sonar device without deposits.

[0052] Therefore, when at least one of the TOF and wave height of one sonar device differs from at least one of the TOF and wave height of another sonar device by a predetermined value or more, ECU 230 can determine that an abnormality has occurred in one sonar device. At least one of the average TOF and the average wave height can also be used instead of at least one of the TOF and wave height.

[0053] Since the detection of ultrasonic signal characteristics by sonar devices is performed based on multiple measurements to improve reliability, it is preferable to determine abnormalities based on values ​​based on multiple measurements, such as at least one of the variance and mean of the characteristics.

[0054] The abnormality determination unit 323 may infer the cause of the abnormality based on the conditions under which it is determined that an abnormality has occurred, for example, the characteristics of the ultrasonic signal. For example, the abnormality determination unit 323 may infer that the abnormality is due to the influence of exhaust gas when at least one of the variance of the TOF and the variance of the wave height of one sonar device is greater than at least one of the variance of the TOF and the variance of the wave height of another sonar device by a predetermined value or more.

[0055] In addition, the abnormality determination unit 323 may infer that the abnormality is due to an attachment when at least one of the TOF variance and wave height variance of one sonar device is small (or is about the same as that of other sonar devices), but at least one of the TOF and wave height of one sonar device is smaller than at least one of the TOF and wave height of other sonar devices by a predetermined value or more.

[0056] When the vehicle is moving forward, the sonar devices 211-214 located at the front are used as detection sonar devices, and the sonar devices 215-218 located at the rear are used as abnormality determination sonar devices, but when the vehicle is moving backward, the sonar devices 215-218 located at the rear are used as detection sonar devices, and the sonar devices 211-214 located at the front are used as abnormality determination sonar devices.

[0057] The sonar control unit 324 also transmits a control signal to the detection sonar device to cause it to transmit an ultrasonic signal to detect the target, and transmits a control signal to the anomaly detection sonar to cause it to transmit an ultrasonic signal to determine an anomaly. The sonar control unit 324 may notify the object detection unit 322 which sonar device is the detection sonar device, and may notify the anomaly determination unit 323 that which sonar device is the anomaly determination sonar device.

[0058] For example, the sonar control unit 324 transmits one of the control signals to each sonar device according to the detection period. The sonar control unit 324 does not use a sonar device that has been determined to be abnormal as a detection sonar device until it is determined that the abnormality has been resolved.

[0059] 2, for example, four sonar units are mounted on the front and rear of the vehicle to detect targets. To prevent interference between the sonar units, sonar control unit 324 causes the sonar units at both ends of the vehicle (sonar units 211 and 214, 215 and 218) to transmit ultrasonic signals simultaneously, while the sonar unit in the center (sonar units 212 and 213, 216 and 217) transmits ultrasonic signals independently.

[0060] FIG. 4 is a diagram showing an example of the operation order of sonar devices when a sonar device determined to be abnormal is not included. FIG. 5 is a diagram showing an example of the operation order of sonar devices when a sonar device determined to be abnormal is included. For example, when the vehicle is moving backward, the sonar control unit 324 periodically operates the sonar devices mounted at the rear of the vehicle in the order shown in FIG. 4. For example, the sonar control unit 324 periodically operates each sonar device in the order of (1) sonar devices 215 and 218, (2) sonar device 216, and (3) sonar device 217. In this case, if the operation time of each sonar device is T, the detection period is 3T.

[0061] Here, for example, if sonar device 216 of the detecting sonar devices 215 to 218 is determined to be abnormal, sonar control unit 324 excludes sonar device 216 from the sonar devices to be operated in the detection cycle, and operates the remaining sonar devices periodically in the order shown in Figure 5.

[0062] In this case, the detection period is 2T, and sonar control unit 324 periodically operates each sonar device in the following order: (1) sonar devices 215 and 218, and (2) sonar device 217.

[0063] The sonar control unit 324 shortens the detection cycle by excluding sonar devices determined to be abnormal from the sonar devices that operate during the detection cycle. In this case, each sonar device detects targets within a short detection cycle, preventing a decrease in detection capability due to a reduction in the number of detection sonar devices.

[0064] Alternatively, the sonar control unit 324 may exclude the anomaly determination sonar device from operation, but may not change the order of operation. For example, if the sonar device 216 is determined to be abnormal in Fig. 4, the sonar control unit 324 may not operate any sonar at the operation timing of the sonar device 216 in Fig. 4. The sonar control unit 324 may cause the sonar device 216 to transmit an ultrasonic signal for determining an anomaly at the operation timing of the sonar device 216 in Fig. 4.

[0065] The sonar control unit 324 continues to subject a sonar device that has been determined to be abnormal to abnormality determination, thereby allowing the abnormality determination unit 323 to determine whether the sonar device has recovered from the abnormality.

[0066] Collision prediction unit 325 predicts whether or not the vehicle will collide with a target, based on the target detection result by object detection unit 322, vehicle speed information (hereinafter referred to as "vehicle speed information") from vehicle speed information acquisition unit 340, etc. Travel control unit 326 controls acceleration device 440, braking device 450, etc., based on the collision prediction result by collision prediction unit 325.

[0067] The vehicle speed information acquisition unit 340 is a device that acquires vehicle speed information, the acceleration device 440 is a device that accelerates the vehicle, and the braking device 450 is a device that applies the brakes to the vehicle.

[0068] 6 is a flowchart describing the processing of the ECU 230. The following describes a case where an abnormality is determined for each sonar device based on the TOF, wave height, TOF variance, and wave height variance between the sonar devices.

[0069] First, ECU 230 increases the sound pressure and transmits ultrasonic signals from all sonar devices that are not detecting a target (step S601). For example, if the vehicle is moving forward, the sonar device that is not detecting a target is the sonar device installed at the rear.

[0070] Next, ECU 230 receives a signal indicating at least one of the TOF and wave height of the received ultrasonic signal measured by each sonar device (step S602). ECU 230 may also receive at least one of the TOF variance and wave height variance calculated based on at least one of the TOF and wave height measured by each sonar device.

[0071] Note that ECU 230 may calculate at least one of the variance of TOF and the variance of wave height based on the signals indicating at least one of TOF and the wave height received from each sonar device without receiving signals indicating at least one of TOF and the variance of wave height from each sonar device. ECU 230 may proceed to step S603 after receiving a signal indicating at least one of TOF and the wave height measured multiple times in order to calculate at least one of TOF and the variance of wave height.

[0072] Thereafter, ECU 230 determines the sonar device that will be first determined to have an abnormality (step S603). In the following, the sonar device that is the target for determining the presence or absence of an abnormality will be represented as sonar device N (N=1, 2, 3, . . . ).

[0073] ECU230 compares the TOF, wave height, TOF variance, and wave height variance received from sonar device N with the TOF, wave height, TOF variance, and wave height variance received from sonar devices other than sonar device N, and determines whether there is a difference greater than or equal to a predetermined value (step S604).

[0074] If it is determined in step S604 that there is a difference of a predetermined value or more in any of the TOF, wave height, TOF variance, and wave height variance (step S604, Yes), the ECU 230 determines that the sonar N is abnormal (step S605).

[0075] The ECU 230 may further estimate the cause of the abnormality. For example, if there is a difference of a predetermined value or more in at least one of the TOF and the wave height, but there is no difference of a predetermined value or more in at least one of the TOF variance and the wave height variance, the ECU 230 may estimate that the abnormality is due to adhesion, and if there is a difference of a predetermined value or more in at least one of the TOF and the wave height, and there is also a difference of a predetermined value or more in at least one of the TOF variance and the wave height variance, the ECU 230 may estimate that the abnormality is due to the exhaust gas temperature. If both cases apply, the ECU 230 may estimate that the abnormality is due to both reasons.

[0076] If the differences among the TOF, wave height, TOF variance, and wave height variance are not equal to or greater than the predetermined value (No at step S604), ECU 230 does not determine that there is an abnormality, and proceeds to step S606.

[0077] Then, the ECU 230 determines whether or not the presence or absence of an abnormality has been determined for all sonar devices (step S606).

[0078] If ECU 230 has not yet determined whether or not there is an abnormality for all sonar devices (step S606, No), ECU 230 selects the next sonar device (step S607) and returns to step S604.

[0079] If the ECU 230 determines whether or not there is an abnormality in all sonar devices (Yes in step S606), the ECU 230 ends the process.

[0080] The process shown in FIG. 6 is repeatedly executed, but ECU 230 may exclude a sonar device determined to be abnormal from the sonar devices to be operated in the detection cycle, as shown in FIGS.

[0081] Although the embodiments have been described above with reference to the drawings, the present disclosure is not limited to such examples. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims. It is understood that such modifications or alterations also fall within the technical scope of the present disclosure. Furthermore, the components in the embodiments may be combined in any manner without departing from the spirit of the present disclosure.

[0082] This disclosure has explained factors that reduce the detection accuracy of a sonar device using the temperature of the exhaust gas around the sonar device and adhesions to the sonar device as examples, but the present disclosure can also be applied to other factors, such as broken wires within the sonar device or broken wires from an external device connected to the sonar device.

[0083] This allows the sonar device to avoid the need for a highly accurate temperature sensor and simplifies the structure, thereby suppressing increases in manufacturing costs.In addition, because the sonar device determines abnormalities using the characteristics of the reflected waves, it can determine abnormalities in the sonar device caused by factors other than temperature changes due to exhaust gas, such as adhesions to the sonar device, broken wiring from external devices connected to the sonar device, or a malfunction of the sonar device itself.

[0084] In the above description, the notation "... part" used for each component may be replaced with other notations such as "... assembly," "... circuit," "... device," "... unit," or "... module." The abnormality determination device may also be configured to be executed by a CPU using a program stored in memory.

[0085] (1) In one embodiment of the present disclosure, an abnormality determination device includes a receiving unit that receives characteristics of reflected waves from ultrasonic signals transmitted by each sonar device, and an abnormality determination unit that determines an abnormality in each sonar device based on differences in the characteristics.

[0086] (2) In an embodiment of the present disclosure, the abnormality determination device is the abnormality determination device according to (1), wherein the feature is at least one of TOF, TOF variance, wave height, and wave height variance.

[0087] (3) In an embodiment of the present disclosure, the abnormality determination device is the abnormality determination device described in (1), wherein the abnormality determination unit estimates a cause of the abnormality based on the difference in the characteristics.

[0088] (4) In one embodiment of the present disclosure, the abnormality determination device is the abnormality determination device described in (1), and further includes a sonar control unit that determines whether each sonar device is a sonar device that performs abnormality determination or a sonar device that detects targets.

[0089] (5) In one embodiment of the abnormality determination device of the present disclosure, in the abnormality determination device described in (4), the sonar control unit determines whether the sonar device is a sonar device that performs the abnormality determination or a sonar device that detects the target, depending on the direction of travel of the vehicle.

[0090] (6) In one embodiment of the abnormality determination device of the present disclosure, in the abnormality determination device described in (4), the sonar control unit excludes sonar devices determined to be abnormal by the abnormality determination unit and determines the sonar device that will detect the target.

[0091] (7) In one embodiment of the abnormality determination device of the present disclosure, in the abnormality determination device described in (6), the sonar control unit operates the sonar devices that detect the target in a predetermined order excluding the sonar device that has been determined to be abnormal.

[0092] (8) In one embodiment of the abnormality determination device of the present disclosure, in the abnormality determination device described in (4), the sonar control unit operates the sonar devices that detect the target in a predetermined order, and the abnormality determination unit re-determines the abnormality of the sonar device that has been determined to be abnormal in the order of the sonar device that has been determined to be abnormal within the predetermined order.

[0093] (9) A vehicle according to an embodiment of the present disclosure includes the abnormality determination device described in (1).

[0094] (10) In one embodiment of the present disclosure, a method for determining an abnormality receives characteristics of reflected waves from ultrasonic signals transmitted by each sonar device, and determines whether an abnormality exists in each sonar device based on differences in the characteristics.

[0095] (11) In an embodiment of the present disclosure, the abnormality determination method is the abnormality determination method of (10), wherein the feature is at least one of TOF, TOF variance, wave height, and wave height variance.

[0096] (12) In one embodiment of the present disclosure, the method for determining an abnormality of the method for determining an abnormality of (10) further includes estimating the cause of the abnormality based on the difference in the characteristics.

[0097] (13) In one embodiment of the present disclosure, the abnormality determination method of (10) further determines whether each sonar device is a sonar device that performs abnormality determination or a sonar device that detects targets.

[0098] (14) In one embodiment of the abnormality determination method of the present disclosure, in the abnormality determination method of (13), it is determined whether each sonar device is a sonar device that performs the abnormality determination or a sonar device that detects the target, depending on the direction of travel of the vehicle.

[0099] (15) In one embodiment of the present disclosure, in the method for determining an abnormality of the method for determining an abnormality of (13), sonar devices that detect the target are excluded if they are determined to be abnormal.

[0100] (16) In one embodiment of the present disclosure, the method for determining an abnormality of the method for determining an abnormality of (10) is such that the sonar devices that detect the target are operated in a predetermined order excluding the sonar device that has been determined to be abnormal.

[0101] (17) In one embodiment of the abnormality determination method of the present disclosure, in the abnormality determination method of (10), the sonar devices that detect the target are operated in a predetermined order, and the sonar devices that are determined to be abnormal are again determined to be abnormal in the order of the sonar devices that were determined to be abnormal within the predetermined order.

[0102] (18) An abnormality determination program in one embodiment of the present disclosure causes a computer to execute a receiving step of receiving characteristics of reflected waves of ultrasonic signals transmitted by each sonar device, and an abnormality determination step of determining an abnormality in each sonar device based on differences in the characteristics. [Explanation of symbols]

[0103] 100, 211-218: Sonar equipment 110: Control unit 111: Transmission and reception control unit 112: Detection unit 120: Transmitting circuit 130: Receiving circuit 140: Microphone 200: Vehicle 220: Muffler 230:ECU 321: Receiving unit 322: Object detection unit 323: Abnormality determination section 324: Sonar control unit 325: Collision prediction unit 326: Driving control unit 340:Vehicle speed information acquisition part 350: Acceleration section 360: Braking part

Claims

1. a receiving unit for receiving characteristics of reflected waves from ultrasonic signals transmitted by each sonar device; an abnormality determination unit that determines an abnormality in each of the sonar devices based on the difference in the characteristics; An abnormality determination device comprising:

2. The feature is at least one of TOF, variance of TOF, wave height, and variance of wave height. The abnormality determination device according to claim 1 .

3. the abnormality determination unit estimates a cause of the abnormality based on the difference in the characteristics. The abnormality determination device according to claim 1 .

4. Further, a sonar control unit is provided that determines whether each sonar device is a sonar device that performs abnormality determination or a sonar device that performs target detection. The abnormality determination device according to claim 1 .

5. The sonar control unit determines whether the sonar device is a sonar device that performs the abnormality determination or a sonar device that detects the target, depending on the traveling direction of the vehicle. The abnormality determination device according to claim 4.

6. the sonar control unit excludes the sonar device determined to be abnormal by the abnormality determination unit and determines the sonar device that will detect the target. The abnormality determination device according to claim 4.

7. the sonar control unit operates the sonar devices that detect the target in a predetermined order excluding the sonar device that has been determined to be abnormal. The abnormality determination device according to claim 6.

8. the sonar control unit operates the sonar devices that detect the target in a predetermined order, the abnormality determination unit re-determines whether the sonar devices determined to be abnormal are abnormal in the order of the sonar devices determined to be abnormal in the predetermined order. The abnormality determination device according to claim 4.

9. A vehicle comprising the abnormality determination device according to claim 1.

10. Each sonar device receives the characteristics of the reflected waves from the transmitted ultrasonic signal; determining an abnormality in each of the sonar devices based on the difference in the characteristics; Abnormality determination method.

11. The feature is at least one of TOF, variance of TOF, wave height, and variance of wave height. The abnormality determination method according to claim 10.

12. Inferring a cause of the abnormality based on the difference in the characteristics. The abnormality determination method according to claim 10.

13. Furthermore, It is determined whether each sonar device is a sonar device that performs abnormality determination or a sonar device that performs target detection. The abnormality determination method according to claim 10.

14. Each of the sonar devices is determined to be a sonar device that performs the abnormality determination or a sonar device that detects the target object depending on the traveling direction of the vehicle. The abnormality determination method according to claim 13.

15. Among the sonar devices that detect the target, sonar devices that are determined to be abnormal are excluded. The abnormality determination method according to claim 13.

16. operating the sonar devices that detect the target in a predetermined order excluding the sonar device that has been determined to be abnormal; The abnormality determination method according to claim 15.

17. Operate the sonar devices that detect the target in a predetermined order; The sonar device determined to be abnormal is again determined to be abnormal in the order of the sonar device determined to be abnormal in the predetermined order. The abnormality determination method according to claim 13.

18. On the computer, a receiving step of receiving, by each sonar device, a characteristic of a reflected wave from the ultrasonic signal transmitted by the sonar device; an abnormality determination step of determining an abnormality in each of the sonar devices based on the difference in the characteristics; An abnormality detection program that executes the above.

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