Abnormal detection device

Abstract

To provide an abnormality determination device capable of determining abnormality of peripheral recognition performance of an automatic drive system early.SOLUTION: An abnormality determination device 6 comprises an information acquisition part 13 which acquires determination information including at least any of a recognition result of an external situation, a state of intervention operation for drive by a driver, and vehicle behavior, a similarity determination part 14 which determines whether the situation that the determination information shows is similar to a predetermined abnormality determination situation by predetermined similarity or more, and an abnormality determination part 15 which determines whether peripheral recognition performance of an automatic drive system 1 is abnormal. When it is determined that the abnormality determination situation and the situation that the determination information shows are similar to each other by the predetermined similarity or more, the abnormality determination part 15 changes an abnormality determination threshold used for abnormality determination so as to make it easier to determine that the peripheral recognition performance of the automatic drive system 1 is abnormal.SELECTED DRAWING: Figure 1

Claims

1. An abnormality determination device for determining whether or not there is an abnormality in the automatic driving system of a vehicle, An information acquisition unit that acquires judgment information including the status of driver intervention operations performed during autonomous driving, A similarity determination unit that determines whether a predetermined abnormality determination situation and the situation indicated by the determination information are similar to a predetermined degree or higher, An abnormality determination unit that determines whether or not there is an abnormality in the surrounding recognition performance of the automated driving system using a pre-set abnormality determination threshold, Equipped with, The abnormality in the surrounding recognition performance determined by the abnormality determination unit is an abnormality in the external sensor that detects the external conditions of the vehicle, or an abnormality in the recognition of the external conditions of the vehicle. An abnormality determination device wherein the abnormality determination unit modifies the abnormality determination threshold for determining whether there is an abnormality in the external sensor when it is determined that the driving intervention operation indicated by the abnormality determination status and the driving intervention operation by the driver indicated by the determination information are similar to a predetermined degree or more, compared to when it is not determined that they are similar to a predetermined degree or more, or modifies the abnormality determination threshold for determining whether there is an abnormality in the recognition of the external conditions of the vehicle when it is determined that there is an abnormality in the recognition of the external conditions of the vehicle.

2. An abnormality determination device for determining whether or not there is an abnormality in the automatic driving system of a vehicle, An information acquisition unit that acquires judgment information including the vehicle behavior of the aforementioned vehicle, A similarity determination unit that determines whether a predetermined abnormality determination situation and the situation indicated by the determination information are similar to a predetermined degree or higher, An abnormality determination unit that determines whether or not there is an abnormality in the surrounding recognition performance of the automated driving system using a pre-set abnormality determination threshold, Equipped with, The abnormality in the surrounding recognition performance determined by the abnormality determination unit is an abnormality in the external sensor that detects the external conditions of the vehicle, or an abnormality in the recognition of the external conditions of the vehicle. An abnormality determination device wherein the abnormality determination unit modifies the abnormality determination threshold for determining whether there is an abnormality in the external sensor when it is determined that the vehicle behavior indicated by the abnormality determination status and the vehicle behavior indicated by the determination information are similar to a predetermined degree or more, compared to when it is not determined that they are similar to a predetermined degree or more, or modifies the abnormality determination threshold for determining whether there is an abnormality in the recognition of the external situation when it is determined that there is an abnormality in the recognition of the external situation of the vehicle.

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