Vehicle surrounding sensor anomaly detection system

Abstract

This system performs a unified detection of abnormalities in the vehicle's surrounding monitoring sensors. [Solution] The abnormality detection system 1000 includes: a position information acquisition unit 162a that acquires first position information indicating the position of an object when the surrounding monitoring sensor 120 detects an object; a received power acquisition unit 162b that acquires first received power received when an object is detected; a degree of agreement determination unit 212d that refers to a database that associates second position information indicating the position of each of a plurality of arbitrary objects with second received power received when the arbitrary object is detected and determines the degree of agreement between the first position information and the second position information; a degree of agreement determination unit 162f that determines an axis misalignment based on the difference between the first position information and the second position information in which the degree of agreement is within an acceptable range; and a dirt determination unit 162h that determines dirt based on the difference between the first received power and the second received power associated with the second position information in which the degree of agreement is within the acceptable range.

Claims

[Claim 1] When a surrounding monitoring sensor mounted on a vehicle detects an object, a position information acquisition unit acquires first position information indicating the position of the object detected by the surrounding monitoring sensor, A received power acquisition unit that acquires a first received power received when the surrounding monitoring sensor detects the target object, A degree of agreement determination unit refers to a database that stores a second position information indicating the position of each of a plurality of arbitrary objects and a second received power received by an arbitrary vehicle's surrounding monitoring sensor when detecting the arbitrary object, and determines the degree of agreement between the first position information and the second position information. An axis misalignment determination unit determines the axis misalignment of the surrounding monitoring sensor based on the discrepancy between the first position information and the second position information in which the degree of agreement with the first position information is within an acceptable range, A dirt detection unit determines the dirt on the surrounding monitoring sensor based on the discrepancy between the first received power and the second received power associated with the second position information, the degree of agreement between the first received power and the first position information being within an acceptable range; A system for detecting abnormalities in vehicle surrounding sensors, equipped with the following features. [Claim 2] An abnormality detection system for a vehicle's surrounding monitoring sensor according to claim 1, further comprising an axis misalignment correction unit that corrects the axis misalignment of the surrounding monitoring sensor so that the position of the object detected by the surrounding monitoring sensor becomes the position indicated by the second position information. [Claim 3] The database stores the second location information and the second received power, associated with the vehicle type and year. The vehicle surrounding monitoring sensor abnormality detection system according to claim 1 or 2, wherein the matching degree determination unit determines the degree of matching between the first location information and the second location information based on the second location information which is associated with the same vehicle make and model year as the vehicle equipped with the surrounding monitoring sensor that is the subject of abnormality detection. [Claim 4] A matching unit compares the first location information obtained from the aforementioned vehicle with the location information of an object registered in a high-precision 3D map, and extracts an object whose location information corresponding to the first location information is registered in the high-precision 3D map. A storage processing unit that stores the extracted object as the arbitrary object in the database, the storage processing unit that stores the location information of the object registered in the high-precision three-dimensional map as the second location information, and stores the distribution of the first received power that was matched at the time of extraction as the second received power, An abnormality detection system for a vehicle's surrounding monitoring sensor according to claim 1 or 2, further comprising the above. [Claim 5] The abnormality detection system for a vehicle's surrounding monitoring sensor according to claim 4, wherein the memory processing unit stores the second location information and the second received power in association with the vehicle type and year obtained from the arbitrary vehicle.

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