JP2018072236A - Abnormality detection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect a deviation of a mounting angle of a distance measurement sensor as abnormality of the distance measurement sensor.SOLUTION: There is provided an abnormality detection system for detecting abnormality of at least one ultrasonic sensor which detects a distance to an object existing in the periphery of a vehicle, therein an ECU determines whether or not the periphery of the vehicle is flat in S21, and when it is determined that the periphery of the vehicle is flat in S21, the ECU compares a detection result by the ultrasonic sensor with a reference value to determine whether or not a detection result by the ultrasonic sensor is abnormal in S25, and when it is determined that the detection result by the ultrasonic sensor is abnormal in S25, the ECU notifies a driver of the vehicle of abnormality in S26.SELECTED DRAWING: Figure 4

Description

  The present disclosure relates to an abnormality detection device mounted on a vehicle.

  In Patent Document 1, a detection result of the presence or absence of an obstacle around a vehicle by an ultrasonic sensor as a distance measuring sensor and a determination result of whether or not the ultrasonic sensor is operating normally are obtained by a buzzer or a voice. There is disclosed an obstacle detection device that notifies a driver so that the driver can recognize the obstacle. In this obstacle detection apparatus, determination as to whether or not the ultrasonic sensor is operating normally is performed as follows. That is, when the ultrasonic sensor or the drive circuit is broken due to disconnection or the like, the drive signal input to the ultrasonic sensor changes from the normal value. Accordingly, it is determined whether or not the ultrasonic sensor is operating normally by determining whether or not the drive signal in the drive circuit of the ultrasonic sensor has changed from the normal value. Therefore, when the ultrasonic sensor or the drive circuit is broken due to disconnection or the like, it can be detected as an abnormality of the ultrasonic sensor.

Japanese Patent No. 5780159

  By the way, it is conceivable that the mounting angle of the ultrasonic sensor is shifted when the bumper to which the ultrasonic sensor is attached drops due to an accident or when the mounting member of the ultrasonic sensor is damaged. If the mounting angle of the ultrasonic sensor is deviated, for example, it is conceivable that the road surface is mistakenly recognized as an obstacle and the driver is erroneously notified. However, such an abnormality of the ultrasonic sensor is not a failure of the ultrasonic sensor itself, and the drive signal input to the ultrasonic sensor does not change from a normal value, and therefore cannot be detected by the obstacle detection device.

  An object of the present disclosure is to provide an abnormality detection device capable of detecting a displacement of a mounting angle of a distance measuring sensor as an abnormality of the distance measuring sensor.

  One aspect of the present disclosure is an abnormality detection device (14) for detecting an abnormality of at least one distance measurement sensor (12a to 12l) that detects a distance to an object that exists in the vicinity of a vehicle. A unit (S21), an abnormality determination unit (S25), and a notification unit (S26). The flatness determination unit determines whether or not the periphery of the vehicle is flat. When the flatness determination unit determines that the periphery of the vehicle is flat, the abnormality determination unit compares the detection result by the distance measurement sensor with the reference value, and determines whether the detection result by the distance measurement sensor is abnormal. Determine whether. The notifying unit notifies the vehicle driver of the abnormality when the abnormality determining unit determines that the detection result of the distance measuring sensor is abnormal.

  According to such a configuration, a deviation in the mounting angle of the distance measuring sensor in the vehicle can be detected as an abnormality of the distance measuring sensor. That is, when it is determined that the periphery of the vehicle is flat, the detection result by the distance measuring sensor is compared with the reference value. This is because when the detection result of the distance measuring sensor is compared with the reference value when it is not flat, the detection result by the distance measuring sensor is abnormal even though the mounting angle of the distance measuring sensor is not shifted. It is because it may be determined. And when it determines with the periphery of a vehicle being flat, it is determined whether the detection result by a ranging sensor is abnormal by comparing the detection result by a ranging sensor, and a reference value. Therefore, a shift in the mounting angle of the distance measuring sensor can be detected as an abnormality of the distance measuring sensor. As a result, the detected abnormality can be notified to the driver.

It is a block diagram which shows the structure of an abnormality detection apparatus. It is a figure showing the installation position of a camera and an ultrasonic sensor. It is a flowchart of an initial value recording process. It is a flowchart of an abnormality detection process.

Hereinafter, exemplary embodiments of the present disclosure will be described with reference to the drawings.
[1. Constitution]
The abnormality detection system 1 shown in FIG. 1 includes a camera group 11, an ultrasonic sensor group 12, a raindrop sensor 13, an ECU 14, and a display device 15. Hereinafter, a vehicle equipped with the abnormality detection system 1 is referred to as “own vehicle”.

  As shown in FIG. 2, the camera group 11 includes a plurality of, in this example, four cameras 11 a to 11 d attached to the host vehicle in order to image the periphery of the host vehicle. Specifically, the camera 11a is attached to the front of the host vehicle, the camera 11b is attached to the rear of the host vehicle, the camera 11c is attached to the left side of the host vehicle, and the camera 11d is attached to the right side of the host vehicle. The camera group 11 outputs a signal representing the captured image to the ECU 14.

  As shown in FIG. 2, the ultrasonic sensor group 12 includes a plurality of ultrasonic sensors 12 a to 12 a that are attached to the front bumper and the rear bumper of the own vehicle in order to detect the distance to an object existing around the own vehicle. 12l. Specifically, the ultrasonic sensors 12a, 12b, and 12c are the left front side portion of the front bumper of the own vehicle, and the ultrasonic sensors 12d, 12e, and 12f are the right front side portion of the front bumper of the own vehicle, the ultrasonic sensor 12g, 12h and 12i are attached to the left rear side part of the rear bumper of the own vehicle, and the ultrasonic sensors 12j, 12k and 12l are attached to the right rear side part of the rear bumper of the own vehicle, respectively. The ultrasonic sensors 12a to 12l transmit transmission waves that are ultrasonic waves, and receive reflected waves from the transmission waves. In the present embodiment, the ultrasonic sensors 12a to 12l calculate the distance to the object based on the time required to transmit the transmitted wave and receive the reflected wave, and the reflected voltage representing the intensity of the received reflected wave. Is detected. The ultrasonic sensor group 12 outputs the detection result to the ECU 14.

The raindrop sensor 13 detects the amount of rainfall based on raindrops attached to the windshield of the host vehicle in a rainy state. The raindrop sensor 13 outputs the detection result to the ECU 14.
The ECU 14 is configured around a well-known microcomputer having a CPU, RAM, ROM, and the like (not shown). The CPU executes a program stored in a ROM that is a non-transitional tangible recording medium. By executing the program, a method corresponding to the program is executed. Specifically, the ECU 14 executes an initial value recording process shown in FIG. 3 and an abnormality detection process shown in FIG. 4 according to the program. The ECU 14 outputs a signal representing an image to the display device 15. The ECU is an abbreviation for Electronic Control Unit.

The display device 15 is a display for displaying various images, and is provided at a position where a driver of the host vehicle can visually recognize.
[2. processing]
Next, the initial value recording process executed by the ECU 14 will be described with reference to the flowchart of FIG. The initial value recording process is executed at a place where the periphery of the host vehicle is flat in a vehicle factory or a vehicle dealer. Specifically, it is assumed that it is executed when the ultrasonic sensors 12a to 12l are attached for the first time or when the ultrasonic sensors 12a to 12l are attached again by exchanging a bumper or the like of the host vehicle. .

  In S11, the ECU 14 acquires the distance and the reflected voltage detected by each of the ultrasonic sensors 12a to 12l. And ECU14 records these detection results acquired for every ultrasonic sensor 12a-12l as an initial value of ultrasonic sensors 12a-12l, respectively. After executing S11, the ECU 14 ends the initial value recording process.

  Next, the abnormality detection process executed by the ECU 14 will be described with reference to the flowchart of FIG. The abnormality detection process is executed when the shift position of the shift lever of the host vehicle is parked.

  In S21, the ECU 14 acquires captured images from the cameras 11a to 11d, and determines whether or not the periphery of the host vehicle is flat based on the acquired captured images. Specifically, the ECU 14 first creates a bird's-eye view image based on the captured images acquired from the cameras 11a to 11d. A bird's-eye view image is a viewpoint image looking down from directly above the host vehicle. Then, the ECU 14 detects a lane marking around the host vehicle based on the bird's-eye view image. In this embodiment, ECU14 detects the division line which shows a parking frame as a division line. The ECU 14 determines whether or not the lane line detected based on the bird's-eye image indicates a parking frame as follows. In other words, the ECU 14 determines that if there are parallel lane markings extending in the front-rear direction on the left and right sides of the host vehicle and they are two opposite sides in a rectangle surrounding the host vehicle, they indicate a parking frame. That is, it is determined that two lane markings having the same length in the front-rear direction are parallel to each other indicating a parking frame. And ECU14 determines with the periphery of the own vehicle being flat, when a parking frame is detected, ie, when the own vehicle is in a parking lot. This is because the parking lot usually has a flat road surface. When it is determined that the periphery of the host vehicle is flat, the ECU 14 proceeds to S22.

On the other hand, when it determines with the periphery of the own vehicle not being flat in S21, ECU14 complete | finishes an abnormality detection process.
In S22, the ECU 14 determines whether there is a three-dimensional object around the host vehicle based on the captured images acquired from the cameras 11a to 11d. In this embodiment, a three-dimensional object such as a curb is detected by moving stereo. Specifically, the ECU 14 performs a process of acquiring captured images at a plurality of time points from the cameras 11a to 11d and storing them as history information in a state before the host vehicle stops, that is, a state in which the host vehicle is moving. Do. The three-dimensional object is specified by generating a three-dimensional image from captured images that are two-dimensional images at a plurality of points in time using a moving stereo method based on the history information. When a three-dimensional object is specified in at least one captured image among the cameras 11a to 11d, it is determined that a three-dimensional object exists around the host vehicle. If it is determined in S22 that there is a three-dimensional object around the host vehicle, the ECU 14 ends the abnormality detection process.

On the other hand, if it is determined in S22 that there is no three-dimensional object around the host vehicle, the ECU 14 proceeds to S23.
In S23, ECU14 acquires the detection result of the raindrop sensor 13, and determines whether it is a rainy state based on the acquired detection result. Specifically, based on the acquired detection result, the ECU 14 determines that it is raining when it determines that the total area of raindrops exceeds a certain threshold within a predetermined region. If it is determined that it is raining, the ECU 14 ends the abnormality detection process.

On the other hand, if it is determined that it is not raining, the ECU 14 proceeds to S24.
In S24, the ECU 14 determines whether or not an unnecessary deposit is attached to at least one of the ultrasonic sensors 12a to 12l. The unnecessary deposits referred to here are deposits that affect the detection results of the ultrasonic sensors 12a to 12l by adhering to the ultrasonic transmission / reception units of the ultrasonic sensors 12a to 12l. In S24, ECU14 acquires a detection result from ultrasonic sensor 12a-12l, and determines whether the reverberation waveform of the reflected wave as an acquired detection result is in the range of a predetermined value. This range is set so that the reverberation waveform of the reflected wave acquired from the ultrasonic sensors 12a to 12l is out of the range when unnecessary deposits are attached to the ultrasonic sensors 12a to 12l. Therefore, by determining whether or not the reverberation waveform of the reflected wave acquired from the ultrasonic sensors 12a to 12l is within the range, it is determined whether or not unnecessary deposits are attached to the ultrasonic sensors 12a to 12l. can do. When it is determined that an unnecessary deposit is attached to at least one of the ultrasonic sensors 12a to 12l, the ECU 14 ends the abnormality detection process.

On the other hand, when it is determined that no unnecessary deposits are attached to all the ultrasonic sensors 12a to 12l, the ECU 14 proceeds to S25.
In S25, the ECU 14 detects the distances and reflected voltages detected by the ultrasonic sensors 12a to 12l as the detection results of the ultrasonic sensors 12a to 12l acquired in S24, and reference values corresponding to the detection results, In the example, the initial value is compared. And it is determined whether each detection result of ultrasonic sensors 12a-12l is abnormal. Specifically, among the detection results of the ultrasonic sensors 12a to 12l, a reflected voltage having the same distance as the distance to the road surface on which the ultrasonic wave is reflected at each initial value of the ultrasonic sensors 12a to 12l is acquired. Then, the acquired reflected voltage is compared with the reflected voltage of the initial value corresponding to each of the acquired reflected voltages.

  Thereby, when it determines with each comparison result of ultrasonic sensor 12a-12l having a fixed tendency in S25, it determines with the detection result by ultrasonic sensor 12a-12l not abnormal. On the other hand, when it is determined in S25 that the comparison results of the ultrasonic sensors 12a to 12l do not have a certain tendency, the detection results of the ultrasonic sensors 12a to 12l are determined to be abnormal. The comparison result has a certain tendency, specifically, that the ratio of all detection results to the reference value is the same, and all the detection results are the same as the reference value, The case where the detection result is uniformly different from the reference value is included. The reason why the detection results of the ultrasonic sensors 12a to 12l are uniformly different from the reference value is considered to be the influence of, for example, a difference in the environment between the situation where the initial value is recorded and the detection time, or a difference in road surface conditions. When it is determined in S25 that the respective detection results are not abnormal, the ECU 14 ends the abnormality detection process.

On the other hand, when it is determined that each detection result is abnormal, the ECU 14 proceeds to S26.
In S <b> 26, the ECU 14 determines that there is a deviation in the mounting angle of any of the ultrasonic sensors 12 a to 12 l in the own vehicle. Then, the deviation of the mounting angle of any of the ultrasonic sensors 12a to 12l is detected as an abnormality of the ultrasonic sensors 12a to 12l, and the detected abnormality is notified to the driver. Specifically, the ECU 14 displays a warning image that prompts an inspection by a dealer on the display device 15. Thereafter, the ECU 14 ends the abnormality detection process.

[3. effect]
According to the embodiment detailed above, the following effects can be obtained.
(3a) According to this embodiment, it is possible to detect a deviation in the mounting angle of the ultrasonic sensors 12a to 12l in the host vehicle as an abnormality of the ultrasonic sensors 12a to 12l. That is, in this embodiment, when it is determined that the periphery of the host vehicle is flat, the detection results by the ultrasonic sensors 12a to 12l are compared with the reference value, and the ultrasonic wave is based on the comparison result. It is determined whether or not the detection results of the sensors 12a to 12l are abnormal. For this reason, even if the ultrasonic sensors 12a to 12l themselves are not broken, if the mounting angle of the ultrasonic sensors 12a to 12l in the own vehicle is shifted, it is determined that the detection result is abnormal. Is possible. Therefore, a deviation in the mounting angle of the ultrasonic sensors 12a to 12l can be detected as an abnormality of the ultrasonic sensors 12a to 12l. As a result, the detected abnormality can be notified to the driver.

  In particular, according to the present embodiment, it is possible to make it difficult to erroneously determine whether the detection results of the ultrasonic sensors 12a to 12l are abnormal. That is, when the periphery of the host vehicle is not flat, that is, when the road surface or the like is undulated, the detection results by the ultrasonic sensors 12a to 12l may be different from the results when the periphery of the host vehicle is flat. Thereby, for example, it is conceivable that the detection results of the ultrasonic sensors 12a to 12l are determined to be abnormal although the mounting angles of the ultrasonic sensors 12a to 12l are not shifted. On the other hand, in this embodiment, when it is determined that the periphery of the host vehicle is flat, the detection results by the ultrasonic sensors 12a to 12l are compared with the reference value. Therefore, it is possible to make it difficult to make an erroneous determination as to whether the detection results of the ultrasonic sensors 12a to 12l are abnormal. Specifically, for example, it becomes impossible to detect an obstacle to be detected due to an upward or downward deviation of the ultrasonic sensors 12a to 12l, or by detecting an obstacle that should not be detected. Unnecessary notification can be made difficult to occur.

  (3b) In the present embodiment, the ECU 14 acquires captured images from the cameras 11a to 11d, and creates a bird's-eye view image based on the acquired captured images. Then, if a lane line around the host vehicle is detected based on the bird's-eye view image and it is determined that the parking lot is based on the detected lane line, it is determined that the periphery of the host vehicle is flat. Thus, by detecting the parking frame, it is determined whether or not the periphery of the host vehicle is flat. Therefore, it is possible to easily determine whether or not the periphery of the host vehicle is flat.

  (3c) In this embodiment, if the ECU 14 determines that a three-dimensional object exists in the vicinity of the host vehicle even if the periphery of the host vehicle is flat, the detection results by the ultrasonic sensors 12a to 12l are abnormal. Does not determine whether or not there is. Thereby, since it is suppressed that a solid object influences a detection result, the erroneous determination whether the detection result by ultrasonic sensor 12a-12l is abnormal can be made hard to produce further.

  (3d) In the present embodiment, it is determined whether or not the detection results of the ultrasonic sensors 12a to 12l are abnormal with the initial value that is the detection result actually measured by the ultrasonic sensors 12a to 12l as a reference value. Thereby, it is confirmed that the mounting angle of the ultrasonic sensors 12a to 12l is deviated from the case where a predetermined value that does not take into account individual differences for each of the ultrasonic sensors 12a to 12l is used as a reference value. More accurate detection is possible.

  (3e) In this embodiment, the ECU 14 does not determine whether or not the detection results by the ultrasonic sensors 12a to 12l are abnormal when it is determined that it is raining. Thereby, since it is suppressed that a raindrop influences a detection result, it can further make it difficult to produce the misjudgment whether the detection result by ultrasonic sensor 12a-12l is abnormal.

  (3f) In this embodiment, the ECU 14 does not determine whether or not the detection result by the ultrasonic sensors 12a to 12l is abnormal when it is determined that the unnecessary deposits are attached to the ultrasonic sensors 12a to 12l. . Thereby, since it is suppressed that an unnecessary deposit | attachment influences a detection result, the erroneous determination whether the detection result by ultrasonic sensor 12a-12l is abnormal can be made hard to produce further.

  (3g) In the present embodiment, the ECU 14 compares the detection results of the ultrasonic sensors 12a to 12l with the reference values corresponding to the detection results, and determines that each comparison result has a certain tendency. In this case, it is determined that the detection results of the ultrasonic sensors 12a to 12l are not abnormal. As a result, the difference in the environment between the execution of the initial value recording process and the execution of the abnormality detection process is suppressed from affecting the determination result, so that the detection results by the ultrasonic sensors 12a to 12l are abnormal. It is possible to further prevent erroneous determination of whether or not.

  In the present embodiment, the ECU 14 corresponds to an abnormality detection device, the ultrasonic sensors 12a to 12l correspond to distance measuring sensors, S11 corresponds to processing as a recording unit, and S21 corresponds to processing as a flatness determination unit. Correspondingly, S22 corresponds to processing as a solid determination unit. Further, S23 corresponds to a process as a rain determining unit, S24 corresponds to a process as an attached matter determining unit, S25 corresponds to a process as an abnormality determining unit, and S26 corresponds to a process as a notifying unit.

[4. Other Embodiments]
Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and various modifications can be made.

  (4a) In the above embodiment, even when it is determined that the periphery of the host vehicle is flat, it is not determined whether the detection results by the ultrasonic sensors 12a to 12l are abnormal. The case where it was determined that a three-dimensional object exists in the vicinity of was illustrated. However, it is not limited to this when it is not determined whether or not the detection results by the ultrasonic sensors 12a to 12l are abnormal. For example, a configuration may be adopted in which it is not determined whether or not the detection results by the ultrasonic sensors 12a to 12l are abnormal when a portion having a different texture from other portions on the road surface that can change the reflected voltage is detected. Specifically, for example, it may be determined whether a manhole or the like exists. The texture of the road surface may be detected using image recognition based on texture.

  (4b) In the above embodiment, as a method of determining whether or not the detected lane marking is a lane marking indicating a parking frame, two parallel lane markings having the same length in the front-rear direction are detected on the left and right sides of the host vehicle. When it was done, the method of determining with it being a lane marking which shows a parking frame was illustrated. However, the method for determining whether or not the detected lane marking is a lane marking indicating a parking frame is not limited to this, and may be determined as follows, for example. First, two parallel marking lines extending in the front-rear direction on the left and right of the host vehicle and one marking line extending in the left-right direction behind the host vehicle are detected. And when they become three sides which intersect perpendicularly in the rectangle which surrounds the own vehicle, and show U character shape, it judges with them showing a parking frame.

  (4c) In the above embodiment, when it is determined that there is a three-dimensional object around the host vehicle or when it is determined that unnecessary deposits are attached to the ultrasonic sensors 12a to 12l, all the ultrasonic sensors 12a. Illustrated is a configuration in which it is not determined whether or not it is abnormal for ˜12 l. However, the response when it is determined that a three-dimensional object exists or when it is determined that an unnecessary deposit is attached is not limited to this. For example, whether or not at least one ultrasonic sensor 12a to 12l that does not detect a three-dimensional object determined to be present or at least one ultrasonic sensor 12a to 12l that is determined to have no unnecessary deposit attached thereto is abnormal. May be determined.

  (4d) In the above embodiment, the detection results of the ultrasonic sensors 12a to 12l are compared with the initial values corresponding to the detection results, and whether or not the detection results of the ultrasonic sensors 12a to 12l are abnormal is determined. The case where it was determined was illustrated. However, the method for determining whether or not the detection results by the ultrasonic sensors 12a to 12l are abnormal is not limited to this. For example, the detection results of the ultrasonic sensors 12a to 12l may be compared with each other to determine whether or not the detection results of the ultrasonic sensors 12a to 12l are abnormal. Specifically, the detection results of the ultrasonic sensors 12a to 12l located on the left and right in the own vehicle are compared with each other to determine whether or not the detection results of the ultrasonic sensors 12a to 12l are abnormal. Good.

  (4e) In the above embodiment, it is determined whether or not the detection results of the ultrasonic sensors 12a to 12l are abnormal. Based on one determination result, the mounting angles of the ultrasonic sensors 12a to 12l are shifted. The configuration for determining whether or not there is exemplified. However, the method for determining whether there is a deviation in the mounting angle of the ultrasonic sensors 12a to 12l is not limited to this. For example, it may be determined statistically based on a plurality of determination results whether or not there is a deviation in the mounting angle of the ultrasonic sensors 12a to 12l.

  (4f) In the above-described embodiment, the case where the abnormality detection process is executed by setting the shift position of the shift lever in the host vehicle is illustrated, but the timing of starting the abnormality detection process is limited to this. is not. For example, it may be executed by turning on an ignition switch.

  (4g) In the above embodiment, the ultrasonic sensors 12a to 12l are exemplified as the distance measuring sensors for detecting the distance to the object existing around the own vehicle, but the distance measuring sensors are not limited to this. . For example, the distance measuring sensor may be a millimeter wave radar, a laser radar, or the like.

  (4h) In the above embodiment, the configuration in which the detection results are compared without considering the difference between the environment in which the initial value is recorded and the environment in which the detection results of the ultrasonic sensors 12a to 12l are acquired is illustrated. However, the configuration for comparing the detection results is not limited to this. For example, since the environment of a vehicle factory or a vehicle dealer is different from the environment of a general road, the reflected voltage of the initial value may be corrected according to the environment.

  (4i) The transmission range of the transmission wave of the ultrasonic sensors 12a to 12l is not particularly limited. For example, the gain may be changed for failure detection so that the position directly under the host vehicle can be detected.

  (4j) In the above embodiment, the ultrasonic sensors 12a to 12l have been illustrated as being mounted on the front bumper and the rear bumper of the host vehicle, but the mounting locations of the ultrasonic sensors 12a to 12l are limited to this. Instead, it may be attached to a place other than the bumper.

  (4k) In the above embodiment, the configuration in which the driver is notified of the abnormality detected by displaying the warning image on the display of the display device 15, but the abnormality notification is not limited to the display of the warning image. Absent. For example, the abnormality may be notified by a buzzer or voice.

  (4l) In the above embodiment, a configuration is illustrated in which it is determined whether or not the reverberation waveform is within a predetermined range, and whether or not unnecessary deposits are attached to the ultrasonic sensors 12a to 12l. . However, the method for determining whether or not unnecessary deposits are attached is not limited to this. For example, it may be configured to determine whether or not unnecessary deposits are attached by comparing with the reverberation waveform when the initial value is detected in the initial value recording process.

(4m) A part or all of the functions executed by the ECU 14 in the above embodiment may be configured by one or more ICs in hardware.
(4n) In addition to the ECU 14 described above, the abnormality detection system 1 having the ECU 14 as a constituent element, a program for causing a computer to execute an initial value recording process and an abnormality detection process, and a non-transitive memory such as a semiconductor memory in which the program is recorded The present disclosure can also be realized in various forms such as a method of detecting a deviation of the attachment angle of the substantive recording medium and the ultrasonic sensors 12a to 12l as an abnormality of the ultrasonic sensors 12a to 12l.

  (4o) A plurality of functions of one constituent element in the above embodiment may be realized by a plurality of constituent elements, or a single function of one constituent element may be realized by a plurality of constituent elements. . Further, a plurality of functions possessed by a plurality of constituent elements may be realized by one constituent element, or one function realized by a plurality of constituent elements may be realized by one constituent element. Moreover, you may abbreviate | omit a part of structure of the said embodiment. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified only by the wording described in the claims are embodiments of the present disclosure.

  DESCRIPTION OF SYMBOLS 1 ... Abnormality detection system, 11 ... Camera group, 11a-11d ... Camera, 12 ... Ultrasonic sensor group, 12a-12l ... Ultrasonic sensor, 13 ... Raindrop sensor, 14 ... ECU, 15 ... Display apparatus.

Claims (8)

An abnormality detection device (14) for detecting an abnormality of at least one distance measuring sensor (12a to 12l) for detecting a distance to an object existing around a vehicle,
A flatness determination unit (S21) for determining whether or not the periphery of the vehicle is flat;
When the flatness determination unit determines that the periphery of the vehicle is flat, the detection result by the distance measurement sensor is compared with a reference value, and whether or not the detection result by the distance measurement sensor is abnormal An abnormality determination unit (S25) for determining
A notification unit (S26) for notifying the driver of the vehicle of the abnormality when the abnormality determination unit determines that the detection result by the distance measuring sensor is abnormal;
An abnormality detection device comprising: The abnormality detection apparatus according to claim 1,
The abnormality detection device, wherein the flatness determination unit determines whether or not the periphery of the vehicle is flat based on a captured image acquired from a camera (11) that images the periphery of the vehicle attached to the vehicle. The abnormality detection apparatus according to claim 2,
The flatness determination unit detects a lane marking around the vehicle based on the captured image, and determines that the surrounding area of the vehicle is flat when it is determined that the parking lot is based on the detected lane marking. Anomaly detection device. The abnormality detection device according to any one of claims 1 to 3, wherein
A solid determination unit (S22) for determining whether a solid object exists around the vehicle;
The abnormality detection unit is an abnormality detection device in which, when the solid determination unit determines that the three-dimensional object exists, the abnormality determination unit does not determine whether or not the detection result by the distance measuring sensor is abnormal. The abnormality detection device according to any one of claims 1 to 4, wherein:
A recording unit (S11) for recording a detection result by the distance measuring sensor in a place where the periphery of the vehicle is flat;
The abnormality determination unit uses the distance measurement sensor when the periphery of the vehicle is determined to be flat by the flatness determination unit, using the detection result recorded by the distance sensor recorded by the recording unit as the reference value. An abnormality detection device that determines whether a detection result is abnormal. The abnormality detection device according to any one of claims 1 to 5,
A rain determination unit (S23) for determining whether or not it is in a rainy state;
The abnormality detection device, wherein the abnormality determination unit does not determine whether the detection result by the distance measuring sensor is abnormal when the rain determination unit determines that the rain state is present. The abnormality detection device according to any one of claims 1 to 6,
An attachment determination unit (S24) that determines whether or not an unnecessary attachment that is an attachment that may affect the detection result of the distance sensor is attached to the distance measurement sensor;
The abnormality detection device, wherein the abnormality determination unit does not determine whether or not the detection result by the distance measuring sensor is abnormal when the adhesion determination unit determines that the unnecessary attachment is attached. The abnormality detection device according to any one of claims 1 to 7,
The at least one distance sensor is a plurality of distance sensors (12a to 12l);
The abnormality determination unit compares a plurality of detection results obtained by the plurality of distance measuring sensors with the reference values corresponding to the plurality of detection results, and determines that the plurality of comparison results have a certain tendency. And an abnormality detection device that determines that the detection results of the plurality of distance measuring sensors are not abnormal.

Images