JP2021120796A - Abnormality detection device, abnormality detection method, and program - Google Patents

Abstract

To improve abnormality detection accuracy while suppressing an increase of a cost and power consumption, as an example.SOLUTION: An abnormality detection device 10 includes: a position information acquisition section 20 for acquiring position information corresponding to a travel position of a vehicle 200; a vibration information acquisition section 22 for acquiring vibration information corresponding to a vehicle vibration generated in the vehicle 200; a reference information acquisition section 24 for acquiring reference information expressing a reference vibration related to a travel position of the vehicle 200. and an abnormality determination section 26 for determining an abnormality based on a comparison result obtained by comparing vibration information and reference information on a travel position to be expressed by position information acquired by the position information acquisition section 20.SELECTED DRAWING: Figure 1

Description

The techniques disclosed in the present application relate to anomaly detection devices, anomaly detection methods and programs.

In recent years, various techniques for detecting vehicle abnormalities have been proposed. Examples of this technique include the following. That is, the technique according to the first example is a device that detects the movement of an occupant in a vehicle with a camera and monitors the situation of the occupant (see, for example, Patent Document 1). Further, the technique according to the second example is a device that detects vibration in a specific part of the vehicle by a vibration detection unit attached to the vehicle and determines the presence or absence of an abnormality in the specific part based on the vibration (for example,). See Patent Document 2).

JP-A-2010-149767 JP-A-2018-118621

However, in the technique according to the first example, since the inside of the vehicle is imaged by a camera and the image is analyzed by an image processing device, there is a problem that cost and power consumption increase. Further, in the technique according to the second example, since the vibration detection unit attached to the vehicle detects the vibration at a specific part of the vehicle, the disturbance vibration generated by the road shape such as the step on the road surface is applied to the specific part of the vehicle. There is a problem that there is a risk of erroneously detecting an abnormality when it is added.

Therefore, as an example, the technique disclosed in the present application aims to improve the abnormality detection accuracy while suppressing an increase in cost and power consumption.

The first aspect of the technique disclosed in the present application is a position information acquisition unit that acquires position information according to the traveling position of the vehicle, a vibration information acquisition unit that acquires vibration information according to the vehicle vibration generated in the vehicle, and the vibration information acquisition unit. The reference information acquisition unit that acquires the reference information representing the reference vibration associated with the traveling position of the vehicle, and the vibration information and the reference information about the traveling position represented by the position information acquired by the position information acquisition unit. It is an abnormality detection device including an abnormality determination unit that determines an abnormality based on the comparison result of comparison.

The second aspect of the technique disclosed in the present application includes a position information acquisition step for acquiring position information according to the traveling position of the vehicle, a vibration information acquisition step for acquiring vibration information according to the vehicle vibration generated in the vehicle, and a vibration information acquisition step. The reference information acquisition step for acquiring the reference information representing the reference vibration associated with the traveling position of the vehicle, and the vibration information and the reference information for the traveling position represented by the position information acquired in the position information acquisition step. This is an abnormality detection method including an abnormality determination step of determining an abnormality based on a comparison result of comparison.

The third aspect of the technique disclosed in the present application includes a position information acquisition step for acquiring position information according to the traveling position of the vehicle, a vibration information acquisition step for acquiring vibration information according to the vehicle vibration generated in the vehicle, and the vibration information acquisition step. The reference information acquisition step for acquiring the reference information representing the reference vibration associated with the traveling position of the vehicle, and the vibration information and the reference information for the traveling position represented by the position information acquired in the position information acquisition step. This is a program for causing a computer to execute an abnormality determination step of determining an abnormality based on the comparison result of comparison.

According to the technique disclosed in the present application, as an example, it is possible to improve the abnormality detection accuracy while suppressing an increase in cost and power consumption.

It is a block diagram of the abnormality detection system including the abnormality detection device which concerns on 1st Embodiment. It is a graph which shows an example of the reference vibration represented by the reference information. It is a flowchart which shows an example of the processing flow of the abnormality detection apparatus which concerns on 1st Embodiment. It is a graph which shows an example which compared the vehicle vibration represented by the vibration information and the reference vibration represented by the reference information. It is a figure which shows an example which compared the spectrum of the vehicle vibration represented by the vibration information, and the spectrum of the reference vibration represented by the reference information. It is a figure which shows an example which represented the spectrum of the vehicle vibration shown in FIG. 5 for each traveling position. It is a block diagram of the abnormality detection system including the abnormality detection device which concerns on 4th Embodiment. It is a block diagram of the abnormality detection system including the abnormality detection device which concerns on 5th Embodiment. It is a block diagram of the abnormality detection system including the abnormality detection device which concerns on 6th Embodiment. It is a block diagram of the abnormality detection system including the abnormality detection device which concerns on 7th Embodiment. It is a block diagram of the abnormality detection system including the abnormality detection device which concerns on 8th Embodiment. It is a flowchart which shows an example of the processing flow of the abnormality detection apparatus which concerns on 8th Embodiment. It is a block diagram of the abnormality detection system including the abnormality detection device which concerns on 9th Embodiment. It is a flowchart which shows an example of the processing flow of the abnormality detection apparatus which concerns on 9th Embodiment. It is a block diagram of the abnormality detection system including the abnormality detection device which concerns on tenth embodiment. It is a figure which shows an example which the reference information corresponding to a planned travel route is generated by combining a plurality of reference information based on the route information. It is a block diagram of the abnormality detection system including the abnormality detection device which concerns on eleventh embodiment. It is a figure which shows an example which the reference information corresponding to a planned travel route is generated by combining a plurality of other vehicle information based on the route information. It is a block diagram of the abnormality detection system including the abnormality detection device which concerns on 12th Embodiment. It is a flowchart which shows an example of the flow of the process of saving the update information in the update information storage part. It is a flowchart which shows an example of the flow of the process of updating the reference information to the update information by the reference information update part. It is a block diagram of the abnormality detection system including the abnormality detection device which concerns on thirteenth embodiment. It is a figure explaining an example which the reference information of a vehicle is updated based on the other vehicle information obtained from the vibration information and the position information of another vehicle. It is a block diagram of the abnormality detection system including the abnormality detection device which concerns on 14th Embodiment. It is a block diagram of the abnormality detection system including the abnormality detection device which concerns on 15th Embodiment. It is a figure which shows an example of the prediction model. It is a figure which shows the modification of the prediction model. It is a block diagram of the abnormality detection system including the abnormality detection device which concerns on 16th Embodiment. It is a figure which shows an example of the relationship between the reception intensity of a plurality of vibration sensors arranged at a plurality of places of a vehicle, and a vibration source. It is a figure which shows an example of the display information displayed on a display.

[First Embodiment]
First, the first embodiment of the technique disclosed in the present application will be described.

FIG. 1 is a block diagram of an abnormality detection system S including the abnormality detection device 10 according to the first embodiment. As shown in FIG. 1, the abnormality detection system S is mounted on the vehicle 200. The vehicle 200 is not particularly limited, but in the first embodiment, a bus carrying passengers is an example of the vehicle 200. The vehicle 200 may be a manned or unmanned vehicle, and may be an automobile or a two-wheeled vehicle, not limited to a bus.

The abnormality detection system S includes a position information receiver 202, a vibration sensor 204, a display 206, and an abnormality detection device 10. The position information receiver 202, the vibration sensor 204, and the display 206 are electrically connected to the abnormality detection device 10 via, for example, a CAN (Controller Area Network). Of course, it is not necessary to connect to the vehicle network, and for example, a device that can be installed by retrofitting independently of the vehicle network may be used, and the present invention is not limited to this.

The position information receiver 202 is, for example, a receiver of GNSS (Global Navigation Satellite System). The position information receiver 202 is configured to receive position information according to the traveling position of the vehicle 200 and output the received position information.

The vibration sensor 204 is, for example, an acceleration sensor. The vibration sensor 204 is configured to detect vehicle vibration generated in the vehicle 200 and output vibration information corresponding to the vehicle vibration. As an example, the vibration sensor 204 is configured to output vibration information according to the magnitude of vehicle vibration.

The direction of vibration detected by the vibration sensor 204 is at least one of the vertical direction, the horizontal direction, and the front-rear direction of the vehicle 200. The direction of vibration detected by the vibration sensor 204 may be a direction in which the vehicle 200 is inclined with respect to at least one of the vertical direction, the horizontal direction, and the front-rear direction.

The vehicle vibration detected by the vibration sensor 204 includes, for example, vibration caused by a right turn of the vehicle 200, vibration caused by a left turn of the vehicle 200, vibration caused by the vehicle 200 overcoming a step, or operation of a drive unit of the vehicle 200. Includes vibrations associated with the normal running of the vehicle 200, such as vibrations associated with the vehicle 200. Further, for example, when an abnormal vibration occurs in the vehicle 200, such as a passenger falling over, a passenger colliding with a structure in the vehicle 200, or an object colliding with the vehicle 200, this abnormality occurs. Vibration is also included in the vehicle vibration detected by the vibration sensor 204.

The display 206 is, for example, a liquid crystal display. The display 206 is configured to display an abnormality detection result based on the abnormality detection information output from the abnormality detection device 10. The display 206 is installed, for example, at a position visible from the driver's seat or the driver's seat of the vehicle 200. The specific content of the abnormality detection result displayed on the display 206 will be described together with the abnormality detection method described later.

The abnormality detection device 10 is a computer. The abnormality detection device 10 includes a processor 12 and a memory 14 as hardware. The processor 12 has a CPU (Central Processing Unit) and the like. The memory 14 includes a ROM (Read Only Memory), a RAM (Random Access Memory), a storage, and the like.

The ROM stores various programs and various data. The RAM temporarily stores a program or data as a work area. The storage is composed of an HDD (Hard Disk Drive), an SSD (Solid State Drive), or the like, and stores various programs including an operating system and various data. A program 16 for detecting an abnormality is stored in the ROM or the storage. The processor 12 reads the program 16 and executes the RAM as a work area.

Further, the abnormality detection device 10 includes a position information acquisition unit 20, a vibration information acquisition unit 22, a reference information acquisition unit 24, an abnormality determination unit 26, and an abnormality detection information output unit 28 as functional configurations. The position information acquisition unit 20, vibration information acquisition unit 22, reference information acquisition unit 24, abnormality determination unit 26, and abnormality detection information output unit 28 are realized by the processor 12 executing the program 16. Further, the memory 14 has a reference information storage unit 30. The reference information storage unit 30 is formed in the storage.

The position information acquisition unit 20 has a function of acquiring the position information output from the position information receiver 202 according to the traveling position of the vehicle 200. The position information acquired by the position information acquisition unit 20 is, for example, information regarding the current traveling position of the vehicle 200. The vibration information acquisition unit 22 has a function of acquiring vibration information output from the vibration sensor 204 according to the magnitude of the vehicle vibration generated in the vehicle 200. The vibration information acquired by the vibration information acquisition unit 22 when the vehicle 200 is normally traveling does not include the result of detecting abnormal vibration, but when abnormal vibration occurs in the vehicle 200. The vibration information acquired by the vibration information acquisition unit 22 includes the result of detecting abnormal vibration.

The reference information storage unit 30 stores reference information representing a predetermined reference vibration associated with the traveling position of the vehicle 200. This reference information is information to be compared with the vibration information acquired by the vibration information acquisition unit 22. The reference vibration represented by this reference information corresponds to the vibration associated with the normal running of the vehicle 200. That is, the reference information representing this reference vibration does not include the result of detecting an abnormal vibration. This reference information may be, for example, information set based on the vibration information acquired by the vibration information acquisition unit 22 when the vehicle 200 is driven, and may be, for example, the road shape on which the vehicle 200 is scheduled to travel. Information estimated based on information such as the surrounding environment may be used.

Here, FIG. 2 is a graph showing an example of the reference vibration represented by the reference information. In FIG. 2, the horizontal axis represents the traveling position and the vertical axis represents the magnitude of vibration. In the example shown in FIG. 2, the magnitude of the reference vibration increases when the vehicle 200 turns right, when the vehicle 200 gets over a step, and when the vehicle 200 turns left. This increase in the magnitude of the reference vibration is not due to abnormal vibration, but due to vibration associated with normal running of the vehicle 200.

The reference information acquisition unit 24 shown in FIG. 1 has a function of acquiring reference information stored in the reference information storage unit 30. The abnormality determination unit 26 has a function of comparing vibration information and reference information with respect to the traveling position represented by the position information acquired by the position information acquisition unit 20, and determining an abnormality based on the comparison result.

As described above, the vibration information may include the result of detecting abnormal vibration, but the reference information does not include the result of detecting abnormal vibration. Therefore, by comparing the vibration information and the reference information with respect to the traveling position represented by the position information acquired by the position information acquisition unit 20, it is determined whether or not the vibration information includes the result of detecting abnormal vibration. Is possible. Then, when the vibration information includes the result of detecting abnormal vibration, it can be determined to be abnormal, and when the vibration information does not include the result of detecting abnormal vibration, it is normal. It is possible to determine that.

More specifically, the abnormality determination unit 26 has a calculation unit 32 and a determination unit 34. The calculation unit 32 has a function of calculating the difference in magnitude between the vehicle vibration represented by the vibration information and the reference vibration represented by the reference information as a comparison result. The determination unit 34 has a function of determining an abnormality based on the difference calculated by the calculation unit 32.

More specifically, when the difference calculated by the calculation unit 32 is within a predetermined appropriate range, the determination unit 34 outputs a normal determination result determined to be normal, and the calculation unit 32 outputs the normal determination result. When the difference calculated in is outside the predetermined appropriate range, it has a function of outputting an abnormality determination result determined to be abnormal. The abnormality detection information output unit 28 has a function of outputting the abnormality detection information to the display 206 when the abnormality determination result determined to be abnormal is output from the determination unit 34. The abnormality detection information includes, for example, information on the traveling position where the abnormal vibration has occurred and the magnitude of the abnormal vibration.

Subsequently, the abnormality detection method according to the first embodiment will be described.

The abnormality detection method according to the first embodiment is executed by using the abnormality detection device 10. FIG. 3 is a flowchart showing an example of the processing flow of the abnormality detection device 10 according to the first embodiment. In the following description, FIG. 1 will be referred to for the configuration of the abnormality detection system S, and FIG. 3 will be referred to for steps S1 to S4 showing the processing flow of the abnormality detection device 10.

In step S1, the position information acquisition unit 20 acquires the position information output from the position information receiver 202 according to the traveling position of the vehicle 200. Further, in step S1, the vibration information acquisition unit 22 acquires the vibration information output from the vibration sensor 204 in response to the vehicle vibration generated in the vehicle 200. The step of acquiring the position information is an example of the "position information acquisition step", and the step of acquiring the vibration information is an example of the "vibration information acquisition step". Either of the step of acquiring the position information and the step of acquiring the vibration information may come first.

More specifically, the vibration information acquired by the vibration information acquisition unit 22 is information output from the vibration sensor 204 at the traveling position when the position information is acquired by the position information acquisition unit 20. That is, the vibration information acquired by the vibration information acquisition unit 22 is information acquired at the same traveling position as the position information acquired by the position information acquisition unit 20.

The vibration information acquired by the vibration information acquisition unit 22 when the vehicle 200 is normally traveling does not include the result of detecting abnormal vibration, but when abnormal vibration occurs in the vehicle 200. The vibration information acquired by the vibration information acquisition unit 22 includes the result of detecting abnormal vibration.

In step S2, the reference information acquisition unit 24 acquires the reference information stored in the reference information storage unit 30. More specifically, the reference information acquired by the reference information acquisition unit 24 is information predetermined in association with the traveling position represented by the position information acquired by the position information acquisition unit 20. The step of acquiring the reference information is an example of the “reference information acquisition step”.

In step S3, the abnormality determination unit 26 compares the vibration information acquired in step S1 with the reference information acquired in step S2, and determines an abnormality based on the comparison result. That is, the abnormality determination unit 26 compares the vibration information and the reference information with respect to the traveling position represented by the position information acquired by the position information acquisition unit 20, and determines an abnormality based on the comparison result. The step of determining this abnormality is an example of the “abnormality determination step”.

Then, while it is determined to be normal (step S3: NO) in step S3, steps S1 to S3 are repeatedly executed. On the other hand, if it is determined to be abnormal in step S3 (step S3: YES), the process proceeds to step S4.

More specifically, in step S3, the calculation unit 32 and the determination unit 34 of the abnormality determination unit 26 execute the following processing. That is, the calculation unit 32 calculates the difference in magnitude between the vehicle vibration represented by the vibration information and the reference vibration represented by the reference information. Then, the determination unit 34 outputs a determination result as to whether or not the difference calculated by the calculation unit 32 is outside the predetermined appropriate range.

Here, the processes of the calculation unit 32 and the determination unit 34 will be specifically described with reference to FIG. FIG. 4 is a graph showing an example comparing the vehicle vibration represented by the vibration information and the reference vibration represented by the reference information. In FIG. 4, the horizontal axis represents the traveling position and the vertical axis represents the magnitude of vibration. The graph G1 shows the vehicle vibration represented by the vibration information, and the graph G2 shows the reference vibration represented by the reference information.

In step S3, the abnormality determination unit 26 sets an appropriate range 40 as an example. The appropriate range 40 is defined by an upper limit value 40A and a lower limit value 40B having a predetermined difference with respect to the magnitude of the reference vibration. The calculation unit 32 calculates the difference in magnitude between the vehicle vibration and the reference vibration with respect to the traveling position represented by the position information acquired by the position information acquisition unit 20.

Then, the determination unit 34 determines whether or not the difference calculated by the calculation unit 32 is outside the predetermined appropriate range 40. Here, the determination unit 34 determines that the difference calculated by the calculation unit 32 is within the appropriate range 40, and determines that the difference is abnormal when the difference calculated by the calculation unit 32 is outside the appropriate range 40. Is determined. The appropriate range 40 is set to a range in which abnormality detection accuracy can be ensured while suppressing false detection of abnormality.

In the example shown in FIG. 4, when the vehicle 200 turns right, when the vehicle 200 gets over a step, and when the vehicle 200 turns left, the magnitudes of the vehicle vibration and the reference vibration increase. However, since the difference in magnitude between the vehicle vibration and the reference vibration is within the appropriate range 40, the determination unit 34 determines that it is normal. When the determination unit 34 determines that it is normal, the determination unit 34 outputs the normality determination result to the abnormality detection information output unit 28.

On the other hand, when an abnormality occurs, the magnitude of the vehicle vibration shown in the graph G1 increases, and the difference between the magnitudes of the vehicle vibration and the reference vibration widens, so that this difference is out of the appropriate range 40. At this time, the determination unit 34 determines that it is abnormal. When the determination unit 34 determines that there is an abnormality, the determination unit 34 outputs the abnormality determination result to the abnormality detection information output unit 28.

In step S4, the abnormality detection information output unit 28 outputs the abnormality detection information to the display 206 based on the abnormality determination result output from the determination unit 34. The abnormality detection information includes, for example, information on the traveling position where the abnormal vibration has occurred and the magnitude of the abnormal vibration. The abnormality detection information may be information relating only to the traveling position where the abnormality has occurred or only the time when the abnormality has occurred.

Then, when the abnormality detection information is received by the display 206, the display 206 displays the abnormality detection result based on the abnormality detection information. As a result, as the abnormality detection result, for example, the contents related to the traveling position where the abnormal vibration is generated and the magnitude of the abnormal vibration are displayed. The abnormality detection information output unit 28 may estimate the cause of the abnormality according to the magnitude of the vehicle vibration, and the estimated cause of the abnormality may be displayed on the display 206. Further, when an abnormality occurs, the abnormality notification may be notified to the remote control center, and the operator of the control center may confirm the situation with the camera image in the vehicle. In addition, the operator of the control center and the voice device in the vehicle may confirm safety and abnormality by voice telephone.

Subsequently, the operation and effect of the first embodiment will be described.

In the first embodiment, when the abnormality detection device 10 determines the abnormality, the abnormality detection information is output to the display 206. Then, on the display 206, the contents related to the traveling position where the abnormal vibration is generated and the magnitude of the abnormal vibration are displayed. As a result, it is possible to notify the driver of the vehicle 200 of the occurrence of the abnormality.

Further, in the first embodiment, the position information, the vibration information and the reference information are acquired, and the abnormality is determined based on the comparison result of comparing the vibration information and the reference information with respect to the traveling position represented by the position information. Therefore, for example, as compared with a device that detects the movement of an occupant in the vehicle 200 with a camera and monitors the situation of the occupant, a camera and an image treatment device are not required, so that an increase in cost and power consumption can be suppressed. ..

Further, in the first embodiment, as described above, the vibration information output according to the vehicle vibration generated in the vehicle 200 is compared with the reference vibration determined in advance in relation to the traveling position of the vehicle 200, and this comparison is made. The abnormality is judged based on the comparison result. Therefore, even when the disturbance vibration generated by the road shape such as a step on the road surface is added to the vehicle vibration, the influence of the disturbance vibration can be eliminated because the disturbance vibration is included in the reference vibration in advance. As a result, for example, the abnormality detection accuracy is improved as compared with a device that detects vibration in a specific part of the vehicle 200 by a vibration detection unit attached to the vehicle 200 and determines the presence or absence of an abnormality in the specific part based on this vibration. Can be made to.

Further, in the first embodiment, the difference in magnitude between the vehicle vibration represented by the vibration information and the reference vibration represented by the reference information is calculated, and based on the determination result of whether or not this difference is outside the predetermined appropriate range. To determine the abnormality. Therefore, for example, it is possible to suppress erroneous detection of an abnormality as compared with the case where an abnormality is determined based on the fact that the magnitude of the vehicle vibration simply exceeds the magnitude of the reference vibration.

In a device that detects the movement of an occupant in the vehicle 200 with a camera and monitors the situation of the occupant, for example, one of the plurality of occupants falls while the plurality of occupants overlap on the optical axis of the camera. When an abnormality such as a camera occurs, there is a possibility that the abnormality is not detected or the detection of the abnormality is delayed. On the other hand, in the first embodiment, the vibration information output according to the vehicle vibration generated in the vehicle 200 is acquired, and the abnormality is determined based on the comparison result of comparing the vibration information with the reference information. Therefore, for example, even if an abnormality such as one of the plurality of occupants falling over in a state where the plurality of occupants are overlapped, the abnormality can be quickly detected.

Subsequently, a modified example of the first embodiment will be described.

In the first embodiment described above, the reference information may be, for example, information output from the navigation system, that is, estimated information estimated based on information such as right / left turn information, stop position information, speed limit information, and the like.

Further, the reference information may be, for example, estimated information estimated based on information output from the ECU mounted on the vehicle 200, that is, information such as steering angle information, engine speed information, or brake operation information. good.

Further, the abnormality determination unit 26 may determine the degree of occurrence of the abnormality based on the comparison result of comparing the vibration information and the reference information.

Further, the abnormality determination unit 26 may output a determination result that a large vibration has occurred in the vehicle 200 when the difference between the magnitudes of the vehicle vibration and the reference vibration is larger than a predetermined upper limit value.

Further, the abnormality determination unit 26 may determine the occurrence of an abnormality by comparing the vibration information with the reference information after changing the size of the appropriate range of the reference vibration according to the traveling position of the vehicle.

[Second Embodiment]
Next, a second embodiment of the technique disclosed in the present application will be described.

In the second embodiment, the configuration of the abnormality detection system S will be referred to FIG. In the second embodiment, the configuration of the abnormality determination unit 26 is different from that of the first embodiment as follows. That is, in the second embodiment, the calculation unit 32 has a function of calculating the difference in intensity of the same frequency component in the vehicle vibration represented by the vibration information and the reference vibration represented by the reference information as a comparison result. The determination unit 34 has a function of determining an abnormality based on the difference calculated by the calculation unit 32.

More specifically, when the difference calculated by the calculation unit 32 is within a predetermined appropriate range, the determination unit 34 outputs a normal determination result determined to be normal, and the calculation unit 32 outputs the normal determination result. When the difference calculated in is out of the appropriate range, it has a function to output an abnormality determination result determined to be abnormal.

Subsequently, the abnormality detection method according to the second embodiment will be described.

In the second embodiment, FIG. 3 will be referred to for steps S1 to S4 showing the processing flow of the abnormality detection device 10. In the second embodiment, the calculation unit 32 and the determination unit 34 operate as follows in step S3 with respect to the first embodiment.

Here, the processes of the calculation unit 32 and the determination unit 34 will be specifically described with reference to FIG. FIG. 5 is a diagram showing an example of comparing the spectrum of vehicle vibration represented by vibration information and the spectrum of reference vibration represented by reference information. The upper figure of FIG. 5 shows the spectrum of the reference vibration represented by the reference information, and the lower figure of FIG. 5 shows the spectrum of the vehicle vibration represented by the vibration information. In the upper and lower views of FIG. 5, the horizontal axis represents the traveling position and the vertical axis represents the frequency.

In the following description, the same frequency component of vehicle vibration and reference vibration means that the frequency value represented by the vertical axis of vehicle vibration and the value of the vertical axis represented by the vertical axis of reference vibration are the same. .. In addition, the darker the spectrum, the higher the intensity. For reference, FIG. 6 is a diagram showing an example showing the spectrum of vehicle vibration shown in FIG. 5 for each traveling position.

The calculation unit 32 calculates the difference in intensity of the same frequency component between the vehicle vibration represented by the vibration information and the reference vibration represented by the reference information for the traveling position represented by the position information acquired by the position information acquisition unit 20. Then, the determination unit 34 outputs a determination result as to whether or not the difference calculated by the calculation unit 32 is outside the predetermined appropriate range. The appropriate range is set to a range in which abnormality detection accuracy can be ensured while suppressing false detection of abnormality.

In the example shown in FIG. 5, when the vehicle 200 turns right, when the vehicle 200 gets over a step, and when the vehicle 200 turns left, the intensities of the same frequency components of the vehicle vibration and the reference vibration increase. However, since the difference in intensity of the same frequency component in the vehicle vibration and the reference vibration is within an appropriate range, the determination unit 34 determines that it is normal. When the determination unit 34 determines that it is normal, the determination unit 34 outputs the normality determination result to the abnormality detection information output unit 28.

On the other hand, when an abnormality occurs, the intensity of the specific frequency component of the reference vibration does not change, the intensity of the specific frequency component of the vehicle vibration increases, and the difference between the vehicle vibration and the same frequency component of the reference vibration widens. , This difference is out of the proper range. The specific frequency component that represents the anomaly varies depending on the type of anomalous vibration. When the difference between the same frequency components of the vehicle vibration and the reference vibration is out of the appropriate range, the determination unit 34 determines that it is abnormal. When the determination unit 34 determines that there is an abnormality, the determination unit 34 outputs the abnormality determination result to the abnormality detection information output unit 28.

The abnormality detection information output unit 28 outputs the abnormality detection information to the display 206 based on the abnormality determination result output from the determination unit 34, and the display 206 displays the contents related to the abnormality detection information. The abnormality detection information output unit 28 may estimate the cause of the abnormality according to the frequency component and intensity of the vehicle vibration, and the estimated cause of the abnormality may be displayed on the display 206.

Subsequently, the operation and effect of the second embodiment will be described.

In the second embodiment, the difference in the intensities of the same frequency components in the vehicle vibration represented by the vibration information and the reference vibration represented by the reference information is calculated, and the determination result of whether or not this difference is outside the predetermined appropriate range is used. Determine the abnormality based on. Therefore, by calculating the difference in intensity of the same frequency component, it is possible to detect the type of vibration corresponding to the frequency component, so that the abnormality detection accuracy can be further improved.

Further, in the second embodiment, as described above, the difference in the intensities of the same frequency components in the vehicle vibration represented by the vibration information and the reference vibration represented by the reference information is calculated, and whether this difference is outside the predetermined appropriate range. An abnormality is determined based on the determination result of whether or not. Therefore, for example, it is possible to suppress erroneous detection of an abnormality as compared with the case where an abnormality is determined based on the fact that the intensity of a specific frequency component of vehicle vibration simply exceeds the intensity of a specific frequency component of a reference vibration.

Further, the abnormality determination unit 26 determines the next frequency when the difference in the intensity of the same frequency component calculated within a certain period of time continuously shows a constant value in the difference in the intensity of the same frequency component of the vehicle vibration and the reference vibration. When calculating the vibration information of the components, the difference between the intensity of the corrected vehicle vibration obtained by dividing the specific vibration information component from the vehicle vibration information and the intensity of the same frequency component in the reference vibration was calculated, and this difference was predetermined. The abnormality may be determined based on the determination result of whether or not the frequency is out of the appropriate range. Therefore, for example, when there is vibration that is constantly generated by the luggage brought in by the passenger, the intensity of the vibration in the frequency range of the vibration generated by the luggage of the vehicle vibration continues to increase, so that a slight disturbance occurs. Even when it is detected that an abnormality has occurred, it is possible to eliminate the influence of vibration information included in the frequency component of the vehicle vibration, although it is not related to the abnormality, so that false detection of the abnormality can be suppressed.

In the second embodiment, the same operation and effect are exhibited with respect to the same configuration as that of the first embodiment. Further, in the second embodiment, the same modified example can be adopted for the same configuration as that of the first embodiment.

[Third Embodiment]
Next, a third embodiment of the technique disclosed in the present application will be described.

In the third embodiment, the configuration of the abnormality detection system S will be referred to FIG. In the third embodiment, the configurations of the calculation unit 32 and the determination unit 34 are different from those of the first embodiment as follows. That is, in the third embodiment, the calculation unit 32 has a function of calculating an integrated value obtained by integrating the difference in magnitude between the vehicle vibration represented by the vibration information and the reference vibration represented by the reference information in a predetermined time window as a comparison result. Has.

The determination unit 34 has a function of determining an abnormality based on the integrated value. More specifically, the determination unit 34 has a function of outputting a determination result of whether or not the integral value calculated by the calculation unit 32 exceeds a predetermined threshold value.

Then, in the third embodiment, when the integrated value is equal to or less than a predetermined threshold value, the determination unit 34 determines that the integration value is normal, and the determination unit 34 outputs the normal determination result. On the other hand, when the integrated value exceeds a predetermined threshold value, the determination unit 34 determines that the abnormality is present, and the determination unit 34 outputs the abnormality determination result.

As described above, in the third embodiment, the integrated value obtained by integrating the difference in magnitude between the vehicle vibration represented by the vibration information and the reference vibration represented by the reference information is calculated in a predetermined time window, and this integrated value is predetermined. Anomalies are determined based on whether or not the threshold is exceeded. Therefore, even when a non-abnormal sudden disturbance vibration is applied to the vehicle 200, it is possible to suppress false detection of this sudden disturbance vibration as an abnormality, so that the abnormality detection accuracy can be further improved.

In the third embodiment, the calculation unit 32 has a function of calculating an integrated value obtained by integrating the difference in intensity of the same frequency component between the vehicle vibration represented by the vibration information and the reference vibration represented by the reference information in a predetermined time window. May have. Further, the determination unit 34 may have a function of outputting a determination result of whether or not the integral value calculated by the calculation unit 32 exceeds a predetermined threshold value.

Even with this configuration, when a non-abnormal sudden disturbance vibration is applied to the vehicle 200, it is possible to suppress false detection of this sudden disturbance vibration as an abnormality, so that the abnormality detection accuracy is further improved. Can be improved.

In this third embodiment, the same operation and effect are exhibited with respect to the same configuration as that of the first embodiment. Further, in the third embodiment, the same modified example can be adopted for the same configuration as that of the first embodiment.

[Fourth Embodiment]
Next, a fourth embodiment of the technique disclosed in the present application will be described.

FIG. 7 is a block diagram of an abnormality detection system S including the abnormality detection device 10 according to the fourth embodiment. As shown in FIG. 7, in the fourth embodiment, the configuration of the abnormality determination unit 26 is different from that of the first embodiment as follows. That is, in the fourth embodiment, the abnormality determination unit 26 has a count unit 36 in addition to the calculation unit 32 and the determination unit 34.

The calculation unit 32 has a function of calculating the difference in magnitude between the vehicle vibration represented by the vibration information and the reference vibration represented by the reference information. The counting unit 36 has a function of obtaining a count value obtained by counting the time when the difference calculated by the calculating unit 32 is outside the predetermined appropriate range as a comparison result. The determination unit 34 has a function of determining an abnormality based on the count value counted by the count unit 36. More specifically, the determination unit 34 has a function of outputting a determination result of whether or not the count value exceeds a predetermined threshold value.

Then, in the fourth embodiment, when the count value is equal to or less than a predetermined threshold value, the determination unit 34 determines that the count value is normal, and the determination unit 34 outputs the normal determination result. On the other hand, when the count value exceeds a predetermined threshold value, the determination unit 34 determines that the abnormality is present, and the determination unit 34 outputs the abnormality determination result.

As described above, in the fourth embodiment, the difference in magnitude between the vehicle vibration represented by the vibration information and the reference vibration represented by the reference information is calculated by the calculation unit 32, and the time during which this difference is outside the predetermined appropriate range is calculated. The counted count value is obtained by the counting unit 36. Then, the abnormality is determined based on whether or not this count value exceeds a predetermined threshold value. Therefore, even when a non-abnormal sudden disturbance vibration is applied to the vehicle 200, it is possible to suppress false detection of this sudden disturbance vibration as an abnormality, so that the abnormality detection accuracy can be further improved.

In the fourth embodiment, the calculation unit 32 may have a function of calculating the difference in intensity of the same frequency component in the vehicle vibration represented by the vibration information and the reference vibration represented by the reference information. Further, the counting unit 36 may have a function of obtaining a count value obtained by counting the time when the difference calculated by the calculating unit 32 is outside the predetermined appropriate range. Further, the determination unit 34 may have a function of outputting a determination result as to whether or not the count value obtained by the counting unit 36 exceeds a predetermined threshold value.

Even with this configuration, when a non-abnormal sudden disturbance vibration is applied to the vehicle 200, it is possible to suppress false detection of this sudden disturbance vibration as an abnormality, so that the abnormality detection accuracy is further improved. Can be improved.

In this fourth embodiment, the same operation and effect are exhibited with respect to the same configuration as that of the first embodiment. Further, in the fourth embodiment, the same modified example can be adopted for the same configuration as that of the first embodiment.

[Fifth Embodiment]
Next, a fifth embodiment of the technique disclosed in the present application will be described.

FIG. 8 is a block diagram of an abnormality detection system S including the abnormality detection device 10 according to the fifth embodiment. As shown in FIG. 8, in the fifth embodiment, the output destination of the abnormality detection information by the abnormality detection device 10 is different from that of the first embodiment as follows.

That is, the vehicle 200 includes an ECU (Electronic Control Unit) 208. The ECU 208 is connected to the abnormality detection device 10. The ECU 208 is any ECU mounted on the vehicle 200, such as an ECU that controls an engine, an ECU that controls an airbag, an ECU that controls a brake, an ECU that controls steering, and an ECU that controls a warning light. Such an ECU may be used.

The abnormality detection information output unit 28 has a function of outputting the abnormality detection information to the ECU 208 when the abnormality determination result determined to be abnormal is output from the determination unit 34. When the abnormality detection information is received by the ECU 208, the ECU 208 executes control according to the abnormality detection result based on the abnormality detection information. Therefore, for example, when the occurrence of an abnormality in which the intensity of vehicle vibration is extremely high is detected, it is possible to stop the vehicle while maintaining a safe acceleration while blinking the hazard lamp, and the abnormality that has already occurred can be detected. It is possible to prevent the occurrence of secondary abnormalities induced by the above and to minimize the damage.

With this configuration, when an abnormality is detected by the abnormality detection device 10, the ECU 208 can execute appropriate control according to the abnormality detection result.

In the second to fourth embodiments described above, the output destination of the abnormality detection information by the abnormality detection device 10 may be the ECU 208. Further, in the sixth to sixteenth embodiments described later, the output destination of the abnormality detection information by the abnormality detection device 10 may be the ECU 208.

[Sixth Embodiment]
Next, a sixth embodiment of the technique disclosed in the present application will be described.

FIG. 9 is a block diagram of an abnormality detection system S including the abnormality detection device 10 according to the sixth embodiment. As shown in FIG. 9, in the sixth embodiment, the input destination of the reference information by the reference information acquisition unit 24 is different from that of the first embodiment as follows.

That is, the vehicle 200 includes a communication device 210. The communication device 210 is communicably connected to the management device 214 via a network 212 such as the Internet. The management device 214 has, for example, a server. The management device 214 is communicably connected to the communication devices 210 of the plurality of vehicles 200.

The management device 214 stores reference information representing a predetermined reference vibration associated with the traveling position of the vehicle 200. The content of the reference information is the same as that of the reference information of the first embodiment. The reference information acquisition unit 24 has a function of acquiring reference information transmitted from the management device 214 and received by the communication device 210. The function of the abnormality determination unit 26, that is, the function of comparing the reference information acquired by the reference information acquisition unit 24 with the vibration information acquired by the vibration information acquisition unit 22 to determine an abnormality is the same as in the first embodiment. Is.

With this configuration, when it is necessary to update or change the reference information, the reference information stored in the management device 214 may be updated or changed. Therefore, the reference information can be easily updated or changed as compared with the case where the reference information of the memory 14 mounted on each of the plurality of vehicles 200 is updated or changed for each of the plurality of vehicles 200.

In the second to fifth embodiments described above, the input destination of the reference information by the reference information acquisition unit 24 may be the management device 214. Further, in the seventh to sixteenth embodiments described later, the input destination of the reference information by the reference information acquisition unit 24 may be the management device 214.

Further, in the sixth embodiment described above, the management device manages a plurality of abnormality detection devices described in the sixth embodiment, and obtains vehicle vibration information acquired by the first abnormality detection device mounted on the first vehicle. It may be used to update the reference vibration information of the second abnormality detection device mounted on the second vehicle. Therefore, for example, even if the road shape suddenly changes, the following vehicle uses the reference vibration information that takes into account the vehicle vibration information of the preceding vehicle that has passed the changed road, so that the suddenly generated road shape can be obtained. It is possible to suppress false detection of the caused vibration as an abnormality.

[Seventh Embodiment]
Next, a seventh embodiment of the technique disclosed in the present application will be described.

FIG. 10 is a block diagram of an abnormality detection system S including the abnormality detection device 10 according to the seventh embodiment. As shown in FIG. 10, in the seventh embodiment, the configuration of the abnormality detection device 10 is different from that of the first embodiment as follows.

That is, in the seventh embodiment, the abnormality detection device 10 is, for example, a management device such as a server. The abnormality detection device 10 has a communication device 216, and the vehicle 200 has a communication device 210. The communication device 210 of the vehicle 200 is communicably connected to the communication device 216 of the abnormality detection device 10 via a network 212 such as the Internet.

The position information and vibration information output from the vibration sensor 204 and the position information receiver 202 mounted on the vehicle 200 are transmitted from the communication device 210 and received by the communication device 216 of the abnormality detection device 10. The position information acquisition unit 20 and the vibration information acquisition unit 22 acquire the position information and the vibration information received by the communication device 216, respectively. The functions of the reference information storage unit 30, the reference information acquisition unit 24, and the abnormality determination unit 26 are the same as those in the first embodiment.

The abnormality detection information output from the abnormality detection information output unit 28 of the abnormality detection device 10 is transmitted from the communication device 216 and received by the communication device 210 of the vehicle 200. The abnormality detection information received by the communication device 210 is output to the display 206, and the display 206 displays the abnormality detection result based on the abnormality detection information.

With such a configuration, it is not necessary to mount the abnormality detection device 10 on the vehicle 200, so that an increase in the cost of the vehicle 200 can be suppressed.

In the second to sixth embodiments described above, the abnormality detection device 10 may be configured as a management device. Further, in the eighth to sixteenth embodiments described later, the abnormality detection device 10 may be configured as a management device.

Further, in the seventh embodiment described above, the management device manages a plurality of vehicles according to the seventh embodiment, and the management device manages the reference using the traveling position information and the vibration information acquired by the first vehicle. Even if the vibration information is updated and the occurrence of an abnormality is determined using the reference vibration information updated using the traveling position information of the first vehicle and the vibration information, the traveling position information of the second vehicle, and the reference vibration information. good. Therefore, for example, even if the road shape suddenly changes, the following vehicle uses the reference vibration information that takes into account the vehicle vibration information of the preceding vehicle that has passed the changed road, so that the suddenly generated road shape can be obtained. It is possible to suppress false detection of the caused vibration as an abnormality.

[Eighth Embodiment]
Next, an eighth embodiment of the technique disclosed in the present application will be described.

FIG. 11 is a block diagram of an abnormality detection system S including the abnormality detection device 10 according to the eighth embodiment. As shown in FIG. 11, in the eighth embodiment, the configuration of the abnormality detection device 10 is different from that of the first embodiment as follows.

That is, in the eighth embodiment, the abnormality detection device 10 includes a vehicle information acquisition unit 50. The vehicle information acquisition unit 50 is realized by the processor 12 executing the program 16. The vehicle information acquisition unit 50 has a function of acquiring vehicle information about the vehicle 200 output from the ECU 208 mounted on the vehicle 200.

The ECU 208 outputs, for example, an ECU that outputs a signal according to the rotation speed of the engine, an ECU that outputs a signal according to a vehicle speed sensor, an ECU that outputs a signal corresponding to the opening / closing of a door, or an ECU that outputs a signal corresponding to the operation of an air conditioner. It may be an ECU that does. Further, the ECU 208 is an ECU that outputs a signal according to the steering angle, an ECU that outputs a signal according to the operation of the airbag, an ECU that outputs a signal according to the operation of the brake, or an ECU that controls the display of the warning light. It may be.

Further, the ECU 208 may be any ECU as long as it is an ECU mounted on the vehicle 200. Further, the vehicle information output from the ECU 208 may be any information as long as it is information related to the vehicle 200.

The abnormality determination unit 26 has a function of determining an abnormality based on the comparison result of comparing the vibration information and the reference information with respect to the traveling position represented by the position information acquired by the position information acquisition unit 20 and the vehicle information.

FIG. 12 is a flowchart showing an example of the processing flow of the abnormality detection device 10 according to the eighth embodiment. In the following description, FIG. 11 will be referred to for the configuration of the abnormality detection system S, and FIG. 12 will be referred to for steps S11 to S16 showing the processing flow of the abnormality detection device 10.

In step S11, the position information acquisition unit 20 acquires the position information output from the position information receiver 202 according to the traveling position of the vehicle 200. Further, in step S11, the vibration information acquisition unit 22 acquires the vibration information output from the vibration sensor 204 in response to the vehicle vibration generated in the vehicle 200. Further, in step S11, the vehicle information acquisition unit 50 acquires the vehicle information output from the ECU 208.

More specifically, the vehicle information acquired by the vehicle information acquisition unit 50 is information output from the ECU 208 at the traveling position when the position information is acquired by the position information acquisition unit 20. That is, the vehicle information acquired by the vehicle information acquisition unit 50 is information acquired at the same traveling position as the position information acquired by the position information acquisition unit 20.

In step S12, the reference information acquisition unit 24 acquires the reference information stored in the reference information storage unit 30, and in step S13, the abnormality determination unit 26 acquires the vibration information acquired in step S11 and the reference information in step S12. Abnormality is judged based on the comparison result of comparison with the reference information. Steps S12 and S13 are the same as steps S2 and S3 in the first embodiment.

Then, while it is determined to be normal (step S13: NO) in step S13, steps S11 to S13 are repeatedly executed. On the other hand, if it is determined to be abnormal in step S13 (step S13: YES), the process proceeds to step S14.

In step S14, the abnormality determination unit 26 analyzes the vehicle information. Then, as a result of the analysis of the vehicle information, if the abnormality determination unit 26 determines in step S15 that the occurrence of vibration is normal (step S15: YES), the process returns to step S11 without outputting the abnormality detection information. ..

On the other hand, as a result of analyzing the vehicle information, if the abnormality determination unit 26 determines in step S15 that the occurrence of vibration is abnormal (step S15: NO), the abnormality detection information is output in step S16.

As described above, in the eighth embodiment, the abnormality is determined based on the comparison result of comparing the vibration information and the reference information with respect to the traveling position represented by the position information acquired by the position information acquisition unit 20, and the vehicle information. Therefore, for example, even when the vibration accompanying the normal operation of the vehicle 200 is detected, the erroneous detection of the abnormality can be suppressed, so that the abnormality detection accuracy can be further improved.

In addition, the function in the eighth embodiment, that is, the function of determining an abnormality based on vehicle information may be added to the abnormality detection device 10 according to the second to seventh embodiments described above. Further, the function of determining an abnormality based on the vehicle information may be added to the abnormality detection device 10 according to the ninth to sixteenth embodiments described later.

Further, in the eighth embodiment, the abnormality determination unit 26 may determine the abnormality by adding other information to the comparison result between the vibration information and the reference information and the vehicle information.

Further, the reference information storage unit 30 may store other information in association with the reference information. Then, with respect to the traveling position represented by the position information acquired by the position information acquisition unit 20, the vibration information and the vehicle information are compared with the reference information and other information stored in the reference information storage unit 30, and an abnormality is determined. You may.

Further, the vehicle information may be information such as the type, model, size, weight, traveling speed, and presence / absence of occupants related to the vehicle 200. Further, although the vehicle information is information output from the ECU 208, it may be information output from a device other than the ECU 208. Further, when the vehicle is equipped with a communication device for wireless communication, the vehicle information received by using the communication device may be acquired by the vehicle information acquisition unit 50.

[Ninth Embodiment]
Next, a ninth embodiment of the technique disclosed in the present application will be described.

FIG. 13 is a block diagram of an abnormality detection system S including the abnormality detection device 10 according to the ninth embodiment. As shown in FIG. 13, in the ninth embodiment, the configuration of the abnormality detection system S is different from that of the first embodiment as follows.

That is, in the ninth embodiment, the vehicle 200 is equipped with the environment sensor 218. The environmental sensor 218 is configured to output environmental information regarding the environment outside the vehicle 200. The environmental sensor 218 is preferably a sensor that detects an environmental factor that causes vibration in the vehicle 200, such as a wind speed sensor that detects the wind speed outside the vehicle 200.

The environmental sensor 218 may be any sensor as long as it is a sensor that outputs environmental information regarding the environment outside the vehicle 200. Further, the environmental information output from the environmental sensor 218 may be any information as long as it is information on the environment outside the vehicle 200. Further, the environmental sensor 218 may be installed in the traveling passage in which the vehicle 200 travels, and may be configured to provide environmental information to the vehicle 200 traveling in the traveling passage.

In the ninth embodiment, the abnormality detection device 10 includes an environmental information acquisition unit 52. The environment information acquisition unit 52 is realized by the processor 12 executing the program 16. The environmental information acquisition unit 52 has a function of acquiring environmental information regarding the environment outside the vehicle 200 output from the environmental sensor 218.

The abnormality determination unit 26 has a function of determining an abnormality based on a comparison result of comparing vibration information and reference information with respect to a traveling position represented by the position information acquired by the position information acquisition unit 20 and environmental information.

FIG. 14 is a flowchart showing an example of the processing flow of the abnormality detection device 10 according to the ninth embodiment. In the following description, FIG. 13 will be referred to for the configuration of the abnormality detection system S, and FIG. 14 will be referred to for steps S21 to S26 showing the processing flow of the abnormality detection device 10.

In step S21, the position information acquisition unit 20 acquires the position information output from the position information receiver 202 according to the traveling position of the vehicle 200. Further, in step S21, the vibration information acquisition unit 22 acquires the vibration information output from the vibration sensor 204 in response to the vehicle vibration generated in the vehicle 200. Further, in step S21, the environmental information acquisition unit 52 acquires the environmental information output from the environmental sensor 218.

More specifically, the environmental information acquired by the environmental information acquisition unit 52 is information output from the vibration sensor 204 at the traveling position when the position information is acquired by the position information acquisition unit 20. That is, the environmental information acquired by the environmental information acquisition unit 52 is information acquired at the same traveling position as the position information acquired by the position information acquisition unit 20.

In step S22, the reference information acquisition unit 24 acquires the reference information stored in the reference information storage unit 30, and in step S23, the abnormality determination unit 26 acquires the vibration information acquired in step S21 and the vibration information in step S22. Abnormality is judged based on the comparison result of comparison with the reference information. Step S22 and step S23 are the same as steps S2 and S3 in the first embodiment.

Then, while it is determined to be normal (step S23: NO) in step S23, steps S21 to S23 are repeatedly executed. On the other hand, if it is determined to be abnormal in step S23 (step S23: YES), the process proceeds to step S24.

In step S24, the abnormality determination unit 26 analyzes the environmental information. Then, as a result of the analysis of the environmental information, if the abnormality determination unit 26 determines in step S25 that the occurrence of vibration is normal (step S25: YES), the process returns to step S21 without outputting the abnormality detection information. ..

On the other hand, as a result of the analysis of the environmental information, when the abnormality determination unit 26 determines in step S25 that the occurrence of vibration is abnormal (step S25: NO), the abnormality detection information is output in step S26.

As described above, in the ninth embodiment, the abnormality is determined based on the comparison result of comparing the vibration information and the reference information with respect to the traveling position represented by the position information acquired by the position information acquisition unit 20, and the environmental information. Therefore, for example, even when vibration due to a change in the environment outside the vehicle 200 is detected, erroneous detection of an abnormality can be suppressed, so that the abnormality detection accuracy can be further improved.

In addition, the function in the eighth embodiment, that is, the function of determining an abnormality based on environmental information may be added to the abnormality detection device 10 according to the second to eighth embodiments described above. Further, the function of determining an abnormality based on this environmental information may be added to the abnormality detection device 10 according to the tenth to sixteenth embodiments described later.

Further, in the ninth embodiment, the abnormality determination unit 26 may determine the abnormality by adding other information to the comparison result between the vibration information and the reference information and the environmental information.

Further, the reference information storage unit 30 may store other information in association with the reference information. Then, with respect to the traveling position represented by the position information acquired by the position information acquisition unit 20, the vibration information and the environmental information are compared with the reference information and other information stored in the reference information storage unit 30, and an abnormality is determined. You may.

[10th Embodiment]
Next, a tenth embodiment of the technique disclosed in the present application will be described.

FIG. 15 is a block diagram of an abnormality detection system S including the abnormality detection device 10 according to the tenth embodiment. As shown in FIG. 15, in the tenth embodiment, the configuration of the abnormality detection system S is different from that of the first embodiment as follows.

That is, in the tenth embodiment, the vehicle 200 is equipped with the navigation system 220. When the target location is set in the navigation system 220, the planned travel route from the current location to the target location is set in the navigation system 220. When the planned travel route is set, the navigation system 220 outputs route information corresponding to the planned travel route.

Further, in the tenth embodiment, the abnormality detection device 10 includes a route information acquisition unit 60, a reference information storage execution unit 62, a reference information extraction unit 64, and a reference information generation unit 66. The route information acquisition unit 60, the reference information storage execution unit 62, the reference information extraction unit 64, and the reference information generation unit 66 are realized by the processor 12 executing the program 16. Further, the memory 14 has a reference information storage unit 68. The reference information storage unit 68 is formed in the storage.

The route information acquisition unit 60 has a function of acquiring the route information output from the navigation system 220. The reference information storage execution unit 62 has a function of storing the reference information in the reference information storage unit 68. The reference information is information in which the vibration information acquired by the vibration information acquisition unit 22 is associated with the traveling position represented by the position information acquired by the position information acquisition unit 20. Reference information is stored in the reference information storage unit 68. The reference information stored in the reference information storage unit 68 is information on the route that the vehicle 200 has traveled in the past.

The reference information extraction unit 64 has a function of extracting a plurality of reference information corresponding to each of the plurality of routes constituting the planned travel route from the reference information storage unit 68 based on the route information. The reference information generation unit 66 has a function of combining a plurality of reference information based on the route information to generate reference information corresponding to the planned travel route. Further, the reference information generation unit 66 has a function of storing the reference information in the reference information storage unit 30.

Then, in the tenth embodiment, every time the vehicle 200 travels and the vibration information acquisition unit 22 and the position information acquisition unit 20 acquire the vibration information and the position information, the reference information is stored in the reference information storage unit 68. .. That is, the reference information storage unit 68 stores the reference information for each traveling position.

Further, when the planned travel route from the current location to the target location is set in the navigation system 220, the navigation system 220 outputs the route information corresponding to the planned travel route. This route information is acquired by the route information acquisition unit 60.

When the route information is acquired by the route information acquisition unit 60, a plurality of reference information corresponding to each of the plurality of routes constituting the planned travel route is collected from the reference information storage unit 68 from the reference information storage unit 68 based on the route information. Is extracted by. Then, the reference information generation unit 66 combines a plurality of reference information based on the route information to generate the reference information corresponding to the planned travel route. This reference information is stored in the reference information storage unit 30.

FIG. 16 is a diagram showing an example in which reference information corresponding to a planned travel route is generated by combining a plurality of reference information based on the route information. In the example shown in FIG. 16, first, by setting the planned travel route A, a plurality of routes a1 to a3 constituting the planned travel route A are extracted from the past travel routes A1 to A3. Subsequently, a plurality of reference information x1 to x3 for each of the plurality of routes a1 to a3 are extracted. Then, the reference information X corresponding to the planned travel route A is generated by combining the plurality of reference information x1 to x3.

According to the tenth embodiment, for example, as shown in FIG. 16, even if the abnormality detection device 10 does not have the reference information X corresponding to the planned travel route A, a plurality of components constituting the planned travel route A. Reference information X can be obtained by combining a plurality of reference information x1 to x3 corresponding to each of the paths a1 to a3. As a result, it is possible to avoid the occurrence of a route that cannot detect an abnormality.

In addition, the function in the tenth embodiment, that is, the function of combining a plurality of reference information to generate reference information may be added to the abnormality detection device 10 according to the second to ninth embodiments described above. Further, the function of generating reference information by combining the plurality of reference information may be added to the abnormality detection device 10 according to the eleventh to sixteenth embodiments described later.

[Eleventh Embodiment]
Next, the eleventh embodiment of the technique disclosed in the present application will be described.

FIG. 17 is a block diagram of an abnormality detection system S including the abnormality detection device 10 according to the eleventh embodiment. As shown in FIG. 17, in the eleventh embodiment, the configuration of the abnormality detection device 10 is different from that of the tenth embodiment as follows.

That is, in the eleventh embodiment, the vehicle 200 equipped with the abnormality detection device 10 includes a communication device 210. The communication device 210 is communicably connected to the management device 214 via a network 212 such as the Internet. The management device 214 is communicably connected to a plurality of other vehicles 222.

The management device 214 stores a plurality of other vehicle information acquired by the plurality of other vehicles 222. The other vehicle information is information in which the vibration information acquired by the other vehicle 222 is stored in association with the traveling position of the other vehicle 222. The management device 214 stores other vehicle information for each traveling position of the other vehicle 222 with respect to the route that the other vehicle 222 has traveled in the past. The management device 214 has a function of extracting a plurality of other vehicle information corresponding to each of the plurality of routes constituting the planned travel route of the vehicle 200 based on the request information output from the abnormality detection device 10.

In the eleventh embodiment, the abnormality detection device 10 includes a route information acquisition unit 60, a request information output unit 70, another vehicle information acquisition unit 72, and a reference information generation unit 66. The route information acquisition unit 60, the request information output unit 70, the other vehicle information acquisition unit 72, and the reference information generation unit 66 are realized by the processor 12 executing the program 16.

The route information acquisition unit 60 has a function of acquiring the route information output from the navigation system 220, as in the tenth embodiment. The request information output unit 70 has a function of generating request information based on the route information and outputting the request information to the management device 214.

The other vehicle information acquisition unit 72 has a function of acquiring a plurality of other vehicle information transmitted from the management device 214 in response to the request information. The reference information generation unit 66 has a function of combining a plurality of other vehicle information based on the route information to generate reference information corresponding to the planned travel route. Further, the reference information generation unit 66 has a function of storing the reference information in the reference information storage unit 30.

Then, in the eleventh embodiment, when the planned travel route from the current location to the target location is set in the navigation system 220, the navigation system 220 outputs the route information corresponding to the planned travel route. This route information is acquired by the route information acquisition unit 60.

When the route information acquisition unit 60 acquires the route information, the request information is generated based on the route information, and the request information is transmitted to the management device 214. The management device 214 extracts a plurality of other vehicle information corresponding to each of the plurality of routes constituting the planned travel route based on the request information, and transmits the plurality of other vehicle information. The plurality of other vehicle information is acquired by the other vehicle information acquisition unit 72. Then, the reference information generation unit 66 combines a plurality of other vehicle information based on the route information to generate the reference information corresponding to the planned travel route. This reference information is stored in the reference information storage unit 30.

FIG. 18 is a diagram showing an example in which reference information corresponding to a planned travel route is generated by combining a plurality of other vehicle information based on the route information. In the example shown in FIG. 18, first, by setting the planned travel route A, a plurality of routes a1 to a3 constituting the planned travel route A are extracted from the past travel routes A1 to A3 of the other vehicles 1 to 3. Will be done. Subsequently, a plurality of other vehicle information x1 to x3 for each of the plurality of routes a1 to a3 are extracted. Then, the reference information X corresponding to the planned travel route A is generated by combining the plurality of other vehicle information x1 to x3.

According to this eleventh embodiment, for example, as shown in FIG. 18, even if the abnormality detection device 10 and the management device 214 do not have the reference information X corresponding to the planned travel route A, the planned travel route Reference information X can be obtained by combining a plurality of other vehicle information x1 to x3 corresponding to each of the plurality of routes a1 to a3 constituting A. As a result, it is possible to avoid the occurrence of a route that cannot detect an abnormality. Further, when the reference information X is generated, the occupant information regarding the occupant of the vehicle 200 of the plurality of other vehicle information, the vehicle information regarding the vehicle 200, the vehicle body information regarding the vehicle body of the vehicle 200, and the weather related to the weather of the traveling route on which the vehicle 200 travels. Information, tire information regarding the tires of the vehicle 200, vibration sensor information regarding the vibration sensor of the vibration sensor 204, vibration sensor mounting information regarding mounting of the vibration sensor 204 on the vehicle 200, road surface information, and the like may be used. As a result, it becomes possible to create the reference information X of the vehicle 200 using other vehicle information similar to the vehicle 200, and it is possible to suppress erroneous detection of the occurrence of an abnormality.

In addition, the function in the eleventh embodiment, that is, the function of combining a plurality of other vehicle information to generate reference information may be added to the abnormality detection device 10 according to the second to tenth embodiments described above. Further, the function of generating reference information by combining the plurality of other vehicle information may be added to the abnormality detection device 10 according to the twelfth to sixteenth embodiments described later.

[Twelfth Embodiment]
Next, the twelfth embodiment of the technique disclosed in the present application will be described.

FIG. 19 is a block diagram of an abnormality detection system S including the abnormality detection device 10 according to the twelfth embodiment. As shown in FIG. 19, in the twelfth embodiment, the configuration of the abnormality detection device 10 is different from that of the first embodiment as follows.

That is, in the twelfth embodiment, the abnormality detection device 10 includes an update information storage execution unit 74, an update information extraction unit 76, and a reference information update unit 78. The update information storage execution unit 74, the update information extraction unit 76, and the reference information update unit 78 are realized by the processor 12 executing the program 16. Further, the memory 14 has an update information storage unit 80. The update information storage unit 80 is formed in the storage.

The update information storage execution unit 74 has a function of storing the update information in the update information storage unit 80. The update information is information in which the vibration information acquired by the vibration information acquisition unit 22 is associated with the traveling position represented by the position information acquired by the position information acquisition unit 20. The update information is stored in the update information storage unit 80. The update information is an example of "change information". The update information stored in the update information storage unit 80 is information on the route that the vehicle 200 has traveled in the past.

The update information extraction unit 76 has a function of extracting the update information stored in the update information storage unit 80. The reference information update unit 78 has a function of changing the reference information based on the update information. More specifically, the reference information updating unit 78 has a function of replacing the reference information with the update information and updating the reference information. The update information extraction unit 76 is an example of the “change information extraction unit”, and the reference information update unit 78 is an example of the “reference information change unit”.

FIG. 20 is a flowchart showing an example of a flow of processing for storing update information in the update information storage unit 80. FIG. 20 shows steps S31 to S32 showing the flow of the process of storing the update information in the update information storage unit 80.

In step S31, the position information acquisition unit 20 acquires the position information output from the position information receiver 202 according to the traveling position of the vehicle 200. Further, in step S31, the vibration information acquisition unit 22 acquires the vibration information output from the vibration sensor 204 in response to the vehicle vibration generated in the vehicle 200.

More specifically, the vibration information acquired by the vibration information acquisition unit 22 is information output from the vibration sensor 204 at the traveling position when the position information is acquired by the position information acquisition unit 20. That is, the vibration information acquired by the vibration information acquisition unit 22 is information acquired at the same traveling position as the position information acquired by the position information acquisition unit 20.

In step S32, the update information execution unit stores the update information in the update information storage unit 80. This update information is information in which the vibration information acquired in step S31 is associated with the traveling position represented by the position information also acquired in step S31.

The steps S31 to S32 are repeatedly executed. By repeatedly executing steps S31 to S32 in this way, every time the vibration information acquisition unit 22 and the position information acquisition unit 20 acquire the vibration information and the position information, the update information is updated by the update information storage unit 80. It is saved in.

FIG. 21 is a flowchart showing an example of a flow of processing for updating the reference information to the update information by the reference information update unit 78. FIG. 21 shows steps S41 to S44 showing a flow of processing for updating the reference information to the update information by the reference information update unit 78.

Steps S41 to S44 are executed every time the position information is acquired in, for example, step S31. Steps S41 to S44 are processes for updating reference information about the traveling position represented by the position information acquired in step S31.

In step S41, the update information extraction unit 76 extracts the latest update information stored in the update information storage unit 80. This latest update information is information stored about the traveling position represented by the position information acquired in step S31.

In step S42, the reference information updating unit 78 determines whether or not the updated information has been updated. At this time, the reference information update unit 78 extracts the reference information stored in the reference information storage unit 30 corresponding to the traveling position represented by the position information acquired in step S31, and this reference information and the latest update information. Compare with.

Then, when the reference information extracted from the reference information storage unit 30 and the latest update information extracted by the update information extraction unit 76 are the same, the reference information update unit 78 has not updated the update information. to decide. If the update information has not been updated (step S42: NO), the process ends without updating the reference information.

On the other hand, when the reference information extracted from the reference information storage unit 30 and the latest update information extracted by the update information extraction unit 76 are different from each other, the reference information update unit 78 determines that the update information has been updated. When the update information is updated (step S42: YES), the process proceeds to step S43.

In step S43, the reference information update unit 78 statistically processes a plurality of update information stored in the update information storage unit 80 for the same travel position as the travel position represented by the position information acquired in step S31. The plurality of update information includes the latest update information extracted in step S41 and the past update information stored in the past.

Then, the reference information update unit 78 statistically processes the plurality of update information and determines the update information for updating the reference information. For statistical processing at this time, various methods such as averaging, root mean square, and weighted averaging are used.

In step S44, the reference information updating unit 78 replaces the reference information stored in the reference information storage unit 30 with the update information determined in step S43 and updates it. By executing steps S41 to S44 in this way, the reference information stored in the reference information storage unit 30 is updated.

According to this twelfth embodiment, for example, even when the vibration information acquired at the same traveling position changes due to a change in the road surface shape or the like, the reference information follows the change in the road surface shape or the like. Is updated. Therefore, since the abnormality can be appropriately detected based on this reference information, erroneous detection of the abnormality can be suppressed.

In addition, the function in the twelfth embodiment, that is, the function of replacing the update information with the reference information and updating the abnormality detection device 10 according to the second to eleventh embodiments described above may be added. The function of replacing the update information with the reference information and updating it may be added to the abnormality detection device 10 according to the thirteenth to sixteenth embodiments described later.

[13th Embodiment]
Next, the thirteenth embodiment of the technique disclosed in the present application will be described.

FIG. 22 is a block diagram of an abnormality detection system S including the abnormality detection device 10 according to the thirteenth embodiment. As shown in FIG. 22, in the thirteenth embodiment, the configuration of the abnormality detection device 10 is different from that of the twelfth embodiment as follows.

That is, in the thirteenth embodiment, the vehicle 200 equipped with the abnormality detection device 10 includes a communication device 210. The communication device 210 is communicably connected to the management device 214 via a network 212 such as the Internet.

The management device 214 stores the other vehicle information acquired by the other vehicle 222. The other vehicle information is information in which the vibration information acquired by the other vehicle 222 is stored in association with the traveling position of the other vehicle 222. The management device 214 stores other vehicle information for each traveling position of the other vehicle 222 with respect to the route that the other vehicle 222 has traveled in the past. The other vehicle 222 is a preceding vehicle that travels ahead of the vehicle 200 on the travel route on which the vehicle 200 travels, or a vehicle that has traveled on the travel route on which the vehicle 200 travels in the past.

In the thirteenth embodiment, the abnormality detection device 10 includes another vehicle information acquisition unit 72, another vehicle information storage execution unit 82, another vehicle information extraction unit 84, and a reference information update unit 78. The other vehicle information acquisition unit 72, the other vehicle information storage execution unit 82, the other vehicle information extraction unit 84, and the reference information update unit 78 are realized by the processor 12 executing the program 16. Further, the memory 14 has another vehicle information storage unit 86. The other vehicle information storage unit 86 is formed in the storage.

The other vehicle information acquisition unit 72 has a function of acquiring other vehicle information transmitted from the management device 214. The other vehicle information storage execution unit 82 has a function of storing other vehicle information in the other vehicle information storage unit 86. Other vehicle information is stored in the other vehicle information storage unit 86. Other vehicle information is an example of "change information".

The other vehicle information extraction unit 84 has a function of extracting other vehicle information stored in the other vehicle information storage unit 86. The reference information updating unit 78 has a function of changing the reference information based on other vehicle information. More specifically, the reference information updating unit 78 has a function of replacing the reference information with other vehicle information and updating the reference information. The other vehicle information extraction unit 84 is an example of the "change information extraction unit", and the reference information update unit 78 is an example of the "reference information change unit".

Then, in the thirteenth embodiment, the management device 214 transmits the other vehicle information acquired for each traveling position of the other vehicle 222 with respect to the traveling route on which the other vehicle 222 has traveled. The other vehicle information acquisition unit 72 acquires the other vehicle information transmitted from the management device 214, and the other vehicle information execution unit stores the other vehicle information in the other vehicle information storage unit 86. As a result, the other vehicle information storage unit 86 stores other vehicle information for each traveling position of the other vehicle 222 with respect to the traveling route on which the other vehicle 222 has traveled.

Further, when the other vehicle information is stored in the other vehicle information storage unit 86, the reference information update process is executed for each traveling position of the other vehicle 222. That is, the other vehicle information extraction unit 84 extracts the latest other vehicle information stored in the other vehicle information storage unit 86. Then, the reference information updating unit 78 determines whether or not the other vehicle information has been updated. At this time, the reference information updating unit 78 extracts the reference information stored in the reference information storage unit 30 and compares the reference information with the latest other vehicle information.

Then, when the reference information extracted from the reference information storage unit 30 and the latest other vehicle information extracted by the other vehicle information extraction unit 84 are the same, the reference information update unit 78 updates the other vehicle information. Judge that it is not. On the other hand, when the reference information extracted from the above-mentioned reference information storage unit 30 and the latest other vehicle information extracted by the other vehicle information extraction unit 84 are different, the reference information update unit 78 states that the other vehicle information has been updated. to decide.

Subsequently, the reference information updating unit 78 statistically processes a plurality of other vehicle information stored in the other vehicle information storage unit 86. The plurality of other vehicle information includes the latest other vehicle information and the past other vehicle information acquired in the past. The latest other vehicle information and the past other vehicle information are information acquired at the same traveling position of the other vehicle 222. The reference information updating unit 78 statistically processes a plurality of other vehicle information acquired at the same traveling position of the other vehicle 222, and determines the other vehicle information for updating the reference information.

Then, the reference information updating unit 78 updates the reference information stored in the reference information storage unit 30 by replacing it with the other vehicle information determined above. In this way, the reference information stored in the reference information storage unit 30 is updated.

FIG. 23 is a diagram illustrating an example in which the reference information of the vehicle 200 is updated based on the other vehicle information obtained from the vibration information and the position information of the other vehicle 222. In the example shown in FIG. 23, the other vehicle 222, which is a preceding vehicle with respect to the vehicle 200, detects vibration by overcoming a step due to construction work while traveling on a traveling route. The vibration information and the position information detected at this time are transmitted to the management device 214.

In the management device 214, the vibration information acquired by the other vehicle 222 is stored as the other vehicle information in association with the traveling position of the other vehicle 222. Then, other vehicle information is transmitted from the management device 214 to the vehicle 200, and the reference information of the vehicle 200 is updated based on the other vehicle information.

According to this thirteenth embodiment, for example, even when the vibration information acquired at the same traveling position changes due to a change in the road surface shape or the like, the reference information follows the change in the road surface shape or the like. Is updated. Therefore, since the abnormality can be appropriately detected based on this reference information, erroneous detection of the abnormality can be suppressed.

In addition, the function in the thirteenth embodiment, that is, the function of replacing other vehicle information with reference information and updating the abnormality detection device 10 according to the second to eleventh embodiments described above may be added. In addition, another function of replacing vehicle information with reference information and updating it may be added to the abnormality detection device 10 according to the fourteenth to sixteenth embodiments described later.

[14th Embodiment]
Next, a fourteenth embodiment of the technique disclosed in the present application will be described.

FIG. 24 is a block diagram of the abnormality detection system S including the abnormality detection device 10 according to the fourteenth embodiment. As shown in FIG. 24, in the fourteenth embodiment, the configuration of the abnormality detection system S is different from that of the twelfth embodiment as follows.

That is, in the fourteenth embodiment, the abnormality detection system S includes a communication device 210. The communication device 210 is communicably connected to the cloud 224 via a network 212 such as the Internet.

Cloud 224 holds change information. The change information is, for example, construction information or weather information of a traveling route on which the vehicle 200 travels. This change information is information associated with the traveling position and time of the traveling route on which the vehicle 200 travels.

In the fourteenth embodiment, the abnormality detection device 10 includes a change information acquisition unit 88, a change information storage execution unit 90, a change information extraction unit 92, and a reference information change unit 94. The change information acquisition unit 88, the change information storage execution unit 90, the change information extraction unit 92, and the reference information change unit 94 are realized by the processor 12 executing the program 16. Further, the memory 14 has a change information storage unit 96. The change information storage unit 96 is formed in the storage.

The change information acquisition unit 88 has a function of acquiring change information transmitted from the cloud 224. The change information storage execution unit 90 has a function of storing the change information in the change information storage unit 96. The change information is stored in the change information storage unit 96. The change information extraction unit 92 has a function of extracting the change information stored in the change information storage unit 96. The reference information changing unit 94 has a function of changing the reference information based on the change information.

Then, in the fourteenth embodiment, the change information is transmitted from the cloud 224. The cloud 224 may have a management device that transmits change information in response to a request from the vehicle 200, or may have a management device that periodically transmits change information. Further, the cloud 224 determines whether or not it is necessary to transmit the change information to the vehicle 200 at a specific traveling position or a specific time using the change information, and if it is determined that the change information is necessary, the change information is determined. May have a management device to transmit.

The change information acquisition unit 88 acquires the change information transmitted from the cloud 224, and the change information storage execution unit 90 stores the change information in the change information storage unit 96. As a result, the change information storage unit 96 stores the change information associated with the travel position of the travel route on which the vehicle 200 travels.

Further, when the change information is saved in the change information storage unit 96, the reference information change process is executed for the traveling position corresponding to the change information. That is, the change information extraction unit 92 extracts the change information stored in the change information storage unit 96. Then, the reference information changing unit 94 changes the reference information stored in the reference information storage unit 30 based on the change information.

According to this fourteenth embodiment, for example, even when the vibration information changes due to the presence or absence of construction or a change in weather, the reference information is changed in response to the presence or absence of construction or a change in weather. Therefore, since the abnormality can be appropriately detected based on this reference information, erroneous detection of the abnormality can be suppressed.

When the change information transmitted from the cloud 224 is, for example, construction information, the change information may include the time when the construction is performed. Then, when the vehicle 200 travels in the construction section, if it is outside the construction time, the reference information may not be changed.

Further, in the above-mentioned fourteenth embodiment, the change information held by the cloud 224 is statistically obtained by using, for example, big data obtained by aggregating the vibration information and the position information acquired during the past running of the other vehicle 222 and the vehicle 200. The processed or predictive processed information may be used. This change information is information in which vibration information regarding the vehicle 200 is associated with the traveling position of the vehicle 200. Then, the reference information changing unit 94 may change the reference information stored in the reference information storage unit 30 by replacing it with the change information.

With this configuration, for example, even if the vibration information acquired at the same traveling position changes due to a change in the road surface shape or the like, the reference information follows the change in the road surface shape or the like. Will be updated. Therefore, since the abnormality can be appropriately detected based on this reference information, erroneous detection of the abnormality can be suppressed.

Further, the function in the fourteenth embodiment, that is, the function of changing the reference information based on the change information may be added to the abnormality detection device 10 according to the second to thirteenth embodiments described above. Further, the function of changing the reference information based on the change information may be added to the abnormality detection device 10 according to the fifteenth to sixteenth embodiments described later.

Further, in the fourteenth embodiment, the change information transmitted from other than the cloud 224 may be acquired by the change information acquisition unit 88, and the reference information may be changed by the reference information change unit 94 based on the change information.

[Fifteenth Embodiment]
Next, the fifteenth embodiment of the technique disclosed in the present application will be described.

FIG. 25 is a block diagram of an abnormality detection system S including the abnormality detection device 10 according to the fifteenth embodiment. As shown in FIG. 25, in the fifteenth embodiment, the configuration of the abnormality detection device 10 is different from that of the first embodiment as follows.

That is, in the fifteenth embodiment, the abnormality detection device 10 includes the reference information prediction unit 98. The reference information prediction unit 98 has a function of predicting reference information from position information and vibration information using the prediction model 102. The reference information prediction unit 98 is realized by the processor 12 executing the program 16. Further, the memory 14 has a prediction model storage unit 100. The prediction model storage unit 100 is formed in the storage. The prediction model 102 is stored in the prediction model storage unit 100.

FIG. 26 is a diagram showing an example of the prediction model 102. The prediction model 102 is not particularly limited, but in the fifteenth embodiment, the deep learning model is used as an example of the prediction model 102. The prediction model 102 may be a statistical model or the like in addition to the deep learning model.

The prediction model 102 has an input layer 104, an intermediate layer 106, and an output layer 108. The prediction model 102 is constructed by machine learning in advance. In advance machine learning, a set of numerical values corresponding to position information and vibration information and numerical values corresponding to reference vibration is used as teacher data. When the numerical value corresponding to the position information and the vibration information is input to the input layer 104, the prediction model 102 predicts the traveling position and the numerical value corresponding to the reference vibration at the traveling position and outputs the numerical value from the output layer 108. It is configured in. The traveling position output from the output layer 108 of the prediction model 102 and the numerical value corresponding to the reference vibration at this traveling position correspond to the reference information representing the reference vibration associated with the traveling position.

Then, in the fifteenth embodiment, the position information acquisition unit 20 acquires the position information output from the position information receiver 202 according to the traveling position of the vehicle 200. Further, the vibration information acquisition unit 22 acquires the vibration information output from the vibration sensor 204 in response to the vehicle vibration generated in the vehicle 200.

More specifically, the vibration information acquired by the vibration information acquisition unit 22 is information output from the vibration sensor 204 at the traveling position when the position information is acquired by the position information acquisition unit 20. That is, the vibration information acquired by the vibration information acquisition unit 22 is information acquired at the same traveling position as the position information acquired by the position information acquisition unit 20.

Then, the reference information prediction unit 98 predicts the reference information from the position information and the vibration information by using the prediction model 102. The reference information predicted by the reference information prediction unit 98 is then used by the abnormality determination unit 26. That is, the abnormality is determined by comparing the vibration information and the predicted reference information with respect to the traveling position represented by the predicted reference information.

According to the fifteenth embodiment, for example, even when the vibration information acquired at the same traveling position changes due to a change in the road surface shape or the like, the reference information is predicted by the prediction model 102. Therefore, since the abnormality can be appropriately detected based on the predicted reference information, erroneous detection of the abnormality can be suppressed.

Here, FIG. 27 is a diagram showing a modified example of the prediction model 102. In the modification shown in FIG. 27, the prediction model 102 corresponds to the traveling position and the reference vibration at the traveling position when the numerical values corresponding to the position information, the vibration information and the other information are input to the input layer 104. It is configured to predict a numerical value and output it from the output layer 108.

Other information input to the input layer 104 of the prediction model 102 is, for example, occupant information regarding the occupant of the vehicle 200, vehicle information regarding the vehicle 200, vehicle body information regarding the vehicle body of the vehicle 200, and weather of the travel route on which the vehicle 200 travels. Meteorological information, tire information regarding the tires of the vehicle 200, vibration sensor information regarding the vibration sensor of the vibration sensor 204, vibration sensor mounting information or road surface information regarding mounting of the vibration sensor 204 on the vehicle 200, and the like.

The occupant information is information such as the number of occupants or the boarding position. Vehicle information is information such as traveling speed, acceleration, deceleration, turning speed, turning radius, and the like. The vehicle body information is information such as the size, model or year of the vehicle body, the model of the drive device, and whether or not it is replaced. Meteorological information is information such as weather, rainfall, and wind speed. Tire information is information such as tire type, size, and aging deterioration. The vibration sensor information is information such as a sensor model and a vibration detection method. The vibration sensor mounting information includes information on the traveling position of the vibration sensor mounted on the vehicle 200, the number of mounted vibration sensors, the material of the installed base, the material of the adhesive used for installation, the aging deterioration coefficient, and information on whether or not to replace the vibration sensor. The road surface condition is information such as the material of the road surface, the amount of water on the road surface, the deposits on the road surface, and the inclination angle. The other information input to the input layer 104 of the prediction model 102 may be any information as long as it is information on an influencing factor that causes the vehicle 200 to vibrate.

In this way, when other information is added to the input layer 104 of the prediction model 102, the reference information can be predicted based on more information, so that the prediction accuracy of the reference information can be improved. As a result, the abnormality can be detected based on the highly accurate reference information, so that the abnormality detection accuracy can be improved.

In addition, the function in the fifteenth embodiment, that is, the function of predicting the reference information by using the prediction model 102 may be added to the abnormality detection device 10 according to the second to fourteenth embodiments described above. Further, the function of predicting the reference information using the prediction model 102 may be added to the abnormality detection device 10 according to the sixteenth embodiment described later.

[16th Embodiment]
Next, the sixteenth embodiment of the technique disclosed in the present application will be described.

FIG. 28 is a block diagram of the abnormality detection system S including the abnormality detection device 10 according to the sixteenth embodiment. As shown in FIG. 28, in the sixteenth embodiment, the configuration of the abnormality detection system S is different from that of the first embodiment as follows.

That is, in the sixteenth embodiment, the abnormality detection system S includes a plurality of vibration sensors 204. The plurality of vibration sensors 204 are installed at a plurality of locations in the vehicle 200. The vibration sensor 204 is configured to detect vehicle vibration generated at a location where the vibration sensor 204 is installed and output vibration information corresponding to the vehicle vibration.

The vibration information acquisition unit 22 has a function of acquiring vibration information output from a plurality of vibration sensors 204. The abnormality determination unit 26 has a function of determining an abnormality based on a comparison result of comparing a plurality of vibration information and reference information with respect to the traveling position represented by the position information acquired by the position information acquisition unit 20. For example, when the abnormality determination unit 26 compares the plurality of vibration information with the reference information and the result of detecting abnormal vibration is included in at least one of the plurality of vibration information, the abnormality determination unit 26 may include the result of detecting the abnormal vibration. It has a function to determine that it is abnormal.

Further, in the fifteenth embodiment, the abnormality detection device 10 includes a vibration source estimation unit 110, a display information generation unit 112, and a display information output unit 114. The vibration source estimation unit 110 has a function of estimating the position of the vibration source in the vehicle 200 based on a plurality of vibration information when the abnormality determination unit 26 determines that the abnormality is present. The display information generation unit 112 has a function of generating display information for displaying the position of the vibration source on the display 206. The display information output unit 114 has a function of outputting display information to the display 206.

Then, in the sixteenth embodiment, as a result of comparing the plurality of vibration information with the reference information in the abnormality determination unit 26, the result of detecting abnormal vibration in at least one of the plurality of vibration information is the result. If it is included, it is determined to be abnormal. Further, the vibration source estimation unit 110 estimates the position of the vibration source in the vehicle 200 based on a plurality of vibration information.

Here, FIG. 29 is a diagram showing an example of the relationship between the reception intensity of the plurality of vibration sensors 204 arranged at the plurality of locations of the vehicle 200 and the vibration generation source 226. FIG. 29 shows the vehicle 200 in a schematic plan view. In FIG. 29, the points where the values of the reception intensities of the plurality of vibration sensors 204 are the same are indicated by the contour lines.

In the example shown in FIG. 29, the vibration source 226 is located at the center between the vibration sensor A and the vibration sensor B, and the vibration sensor C is located farther from the vibration source than the vibration sensors A and B. .. In this case, the reception strength of the vibration sensor A and the vibration sensor B is larger than the reception strength of the vibration sensor C, and the reception strength of the vibration sensor A and the reception strength of the vibration sensor B are the same.

In this case, the vibration source estimation unit 110 estimates that the vibration source 226 is located at the center between the vibration sensor A and the vibration sensor B, for example. Further, the display information generation unit 112 generates display information for displaying the position of the vibration generation source 226 on the display 206, and the display information output unit 114 outputs the display information to the display 206.

FIG. 30 is a diagram showing an example of display information 228 displayed on the display 206. The example shown in FIG. 30 is an example in which the display information 228 generated based on the example shown in FIG. 29 is heat-mapped on the display 206. In the example shown in FIG. 30, the display information 228 is displayed in a darker color as the probability of vibration generation increases, and thus the position of the vibration generation source 226 is indicated in the display information 228. In addition to the heat map display, the display information 228 displayed on the display 206 may be other displays such as a contour display or a mesh display.

According to the sixteenth embodiment, the abnormality determination unit 26 determines the abnormality based on the vibration information from the plurality of vibration sensors 204 arranged at the plurality of locations of the vehicle 200. Therefore, for example, the sensitivity of abnormality detection can be increased as compared with the case of determining an abnormality based on the vibration information from the vibration sensor 204 arranged at one location of the vehicle 200, so that the abnormality detection accuracy is improved. Can be made to.

Further, the vibration source estimation unit 110 estimates the position of the vibration source 226 in the vehicle 200 based on a plurality of vibration information, and display information regarding the position of the vibration source 226 estimated by the vibration source estimation unit 110. 228 is displayed on the display 206. As a result, the position of the vibration source 226 can be appropriately communicated to the driver of the vehicle 200.

The abnormality detection device 10 according to the second to fifteenth embodiments may be added with the first function of the sixteenth embodiment, that is, a function of determining an abnormality based on a plurality of vibration information. .. Further, the abnormality detection device 10 according to the second to fifteenth embodiments described above has the second and third functions in the sixteenth embodiment, that is, a function of estimating a vibration source and a function of generating display information. May be added.

Further, in the sixteenth embodiment, the vibration source estimation unit 110 has a function of estimating the position of the vibration source 226, but may have a function of estimating the type of the vibration source 226. Further, the vibration source estimation unit 110 may have a function of estimating the position and type of the vibration source 226.

Further, the vibration source estimation unit 110 has a function of estimating the vibration source 226 based on a plurality of vibration information, and estimates the vibration source 226 based on the vibration information output from one vibration sensor 204. It may have a function.

Further, the vibration source estimation unit 110 may have a function of estimating at least one of the position and type of the vibration source 226 based on the frequency analysis result of a plurality of vibration information or one vibration information.

Further, the display information output unit 114 outputs display information to the display 206 mounted on the vehicle 200, and the display information is displayed to, for example, a management device connected to the abnormality detection device 10 via a network 212 such as the Internet. May be output.

Further, when all of the plurality of vibration information output from the plurality of vibration sensors 204 includes the result of detecting abnormal vibration, the abnormality determination unit 26 outputs the determination result that the vehicle 200 has generated a large vibration. You may.

In addition, the technologies that can be combined among the plurality of technologies disclosed in the first to sixteenth embodiments may be combined as appropriate. Further, when a plurality of functions are duplicated by appropriately combining the technologies that can be combined among the plurality of technologies, any one of the plurality of functions may be prioritized based on various conditions and the like.

Although an example of the technology disclosed in the present application has been described above, the technology disclosed in the present application is not limited to the above, and can be implemented by various modifications within a range not deviating from the gist thereof. Of course there is.

10 ... Abnormality detection device, 20 ... Position information acquisition unit, 22 ... Vibration information acquisition unit, 24 ... Reference information acquisition unit, 26 ... Abnormality determination unit, 28 ... Abnormality detection information output unit, 30 ... Reference information storage unit, 32 ... Calculation unit, 34 ... Judgment unit, 50 ... Vehicle information acquisition unit, 52 ... Environmental information acquisition unit, 60 ... Route information acquisition unit, 62 ... Reference information storage execution unit, 64 ... Reference information extraction unit, 66 ... Reference information generation unit , 68 ... Reference information storage unit, 70 ... Request information output unit, 72 ... Other vehicle information acquisition unit, 74 ... Update information storage execution unit, 76 ... Update information extraction unit, 78 ... Reference information update unit, 80 ... Update information storage Department, 82 ... Other vehicle information storage execution unit, 84 ... Other vehicle information extraction unit, 86 ... Other vehicle information storage unit, 88 ... Change information acquisition unit, 90 ... Change information storage execution unit, 92 ... Change information extraction unit, 94 ... Reference information change unit, 96 ... Change information storage unit, 98 ... Reference information prediction unit, 100 ... Prediction model storage unit, 102 ... Prediction model, 110 ... Vibration source estimation unit, 112 ... Display information generation unit, 114 ... Display Information output unit, 200 ... Vehicle, 202 ... Position information receiver, 204 ... Vibration sensor, 206 ... Display, 210 ... Communication device, 212 ... Network, 214 ... Management device, 218 ... Environmental sensor, 220 ... Navigation system, 222 ... other vehicles, 224 ... cloud.

Claims (16)

A position information acquisition unit (20) that acquires position information according to the traveling position of the vehicle (200), and
A vibration information acquisition unit (22) that acquires vibration information according to the vehicle vibration generated in the vehicle, and
A reference information acquisition unit (24) that acquires reference information representing a reference vibration associated with the traveling position of the vehicle, and a reference information acquisition unit (24).
An abnormality determination unit (26) that determines an abnormality based on a comparison result of comparing the vibration information and the reference information with respect to the traveling position represented by the position information acquired by the position information acquisition unit.
Anomaly detection device (10). The abnormality determination unit
A calculation unit (32) that calculates the difference in magnitude between the vehicle vibration represented by the vibration information and the reference vibration represented by the reference information or the difference in the intensity of the same frequency component as the comparison result.
A determination unit (34) that determines an abnormality based on the difference,
Have,
The abnormality detection device according to claim 1. The abnormality determination unit
A calculation unit that calculates as the comparison result an integral value obtained by integrating the difference in magnitude between the vehicle vibration represented by the vibration information and the reference vibration represented by the reference information or the difference in intensity of the same frequency component in a predetermined time window. 32) and
A determination unit (34) that determines an abnormality based on the integrated value, and
Have,
The abnormality detection device according to claim 1. The abnormality determination unit
A calculation unit (32) that calculates the difference in magnitude between the vehicle vibration represented by the vibration information and the reference vibration represented by the reference information or the difference in the intensity of the same frequency component, and
With the counting unit (36), which obtains a count value obtained by counting the time when the difference is outside the predetermined appropriate range as the comparison result.
A determination unit (34) that determines an abnormality based on the count value, and
Have,
The abnormality detection device according to claim 1. A vehicle information acquisition unit (50) for acquiring vehicle information regarding the vehicle is further provided.
The abnormality determination unit determines an abnormality based on the comparison result and the vehicle information.
The abnormality detection device according to any one of claims 1 to 4. An environmental information acquisition unit (52) for acquiring environmental information according to the environment outside the vehicle is further provided.
The abnormality determination unit determines an abnormality based on the comparison result and the environmental information.
The abnormality detection device according to any one of claims 1 to 5. A route information acquisition unit (60) that acquires route information corresponding to the planned travel route of the vehicle, and
A reference information storage unit (68) that stores vibration information acquired by the vibration information acquisition unit as reference information in association with the traveling position of the vehicle.
A reference information extraction unit (64) that extracts a plurality of the reference information corresponding to each of the plurality of routes constituting the planned travel route from the reference information storage unit (68) based on the route information.
A reference information generation unit (66) that generates the reference information corresponding to the planned travel route by combining a plurality of the reference information based on the route information.
Further prepare,
The abnormality detection device according to any one of claims 1 to 6. When the vibration information acquired by the other vehicle (222) is associated with the traveling position of the other vehicle (222) and the stored information is defined as the other vehicle information.
A route information acquisition unit (60) that acquires route information corresponding to the planned travel route of the vehicle, and
The other vehicle information acquisition unit (72) that acquires a plurality of the other vehicle information corresponding to each of the plurality of routes constituting the planned travel route, and the other vehicle information acquisition unit (72).
A reference information generation unit (66) that generates the reference information corresponding to the planned travel route by combining a plurality of other vehicle information based on the route information.
Further prepare,
The abnormality detection device according to any one of claims 1 to 6. A change information storage unit (80; 86; 96) that stores change information that changes the reference information, and
A change information extraction unit (76; 84; 92) that extracts the change information, and a change information extraction unit (76; 84; 92).
A reference information changing unit (78; 94) that changes the reference information based on the change information,
Further prepare,
The abnormality detection device according to any one of claims 1 to 8. An update information storage unit (80) that stores the vibration information acquired by the vehicle as update information in association with the traveling position of the vehicle.
An update information extraction unit (76) that extracts the update information,
A reference information update unit (78) that replaces the reference information with the update information and updates the reference information.
Further prepare,
The abnormality detection device according to any one of claims 1 to 8. When the vibration information acquired by the other vehicle (222) is associated with the traveling position of the other vehicle (222) and the stored information is defined as the other vehicle information.
The other vehicle information storage unit (86) that stores the other vehicle information, and
The other vehicle information extraction unit (84) that extracts the other vehicle information, and the other vehicle information extraction unit (84).
The reference information update unit (78) that replaces the reference information with the other vehicle information and updates the reference information,
Further prepare,
The abnormality detection device according to any one of claims 1 to 8. A reference information prediction unit (98) that predicts the reference information from the position information and the vibration information using the prediction model (102) is further provided.
The abnormality detection device according to any one of claims 1 to 11. The vibration information acquisition unit acquires a plurality of the vibration information output according to each of the vehicle vibrations generated at the plurality of locations of the vehicle.
The abnormality determination unit determines an abnormality based on a comparison result of comparing a plurality of the vibration information and the reference information with respect to the traveling position represented by the position information acquired by the position information acquisition unit.
The abnormality detection device according to any one of claims 1 to 12. A vibration source estimation unit (110) that estimates a vibration source in the vehicle based on the vibration information when the abnormality determination unit determines that the abnormality is present.
A display information generation unit (112) that generates display information for displaying the vibration source on the display, and
Further prepare,
The abnormality detection device according to any one of claims 1 to 13. A position information acquisition step for acquiring position information according to the traveling position of the vehicle (200), and
A vibration information acquisition step for acquiring vibration information according to the vehicle vibration generated in the vehicle, and
A reference information acquisition step for acquiring reference information representing the reference vibration associated with the traveling position of the vehicle, and
An abnormality determination step of determining an abnormality based on a comparison result of comparing the vibration information and the reference information with respect to the traveling position represented by the position information acquired in the position information acquisition step.
Anomaly detection method. A position information acquisition step for acquiring position information according to the traveling position of the vehicle (200), and
A vibration information acquisition step for acquiring vibration information according to the vehicle vibration generated in the vehicle, and
A reference information acquisition step for acquiring reference information representing the reference vibration associated with the traveling position of the vehicle, and
An abnormality determination step of determining an abnormality based on a comparison result of comparing the vibration information and the reference information with respect to the traveling position represented by the position information acquired in the position information acquisition step.
Program (16) for causing a computer to execute.

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