KR20180006759A - Apparatus and method for detecting a malfunction of dynamic sensor in vehicle - Google Patents

Abstract

The present invention relates to an apparatus to detect a disorder of a dynamic sensor of a vehicle and a method thereof, which are able to detect if there is a disorder in a wheel speed sensor by comparing a first vehicle speed acquired by the wheel speed sensor and a second vehicle speed acquired through a front side image, and to detect if there is a disorder in a yaw rate sensor by comparing a first yaw rate acquired by the yaw rate sensor and a second yaw rate acquired through a front side image. According to the present invention, the apparatus to detect a disorder in the dynamic sensor of the vehicle comprises: a vehicle speed detection unit which detects a first vehicle speed from a wheel speed sensor installed on each wheel of the vehicle; a yaw rate detection unit which detects a first yaw rate of the vehicle by using a yaw rate sensor; an image acquisition unit which acquires a front side image of the vehicle through a camera; an image processing unit which estimates a second vehicle speed and a second yaw rate based on the front side image of the vehicle; and a control unit which determines if there is a disorder in the wheel speed sensor by comparing the first vehicle speed and the second vehicle speed, and determines if there is a disorder in the yaw rate sensor by comparing the first yaw rate and the second yaw rate.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a dynamic sensor abnormality detection apparatus and method,

The present invention detects an abnormality of a wheel speed sensor by comparing the speed of a vehicle detected by a front-view image obtained by photographing the front of the vehicle with the speed of a vehicle detected by a wheel speed sensor, The present invention relates to a dynamic sensor abnormality detecting apparatus and method for detecting abnormality of a yaw rate sensor by comparing a yaw rate detected by a yaw rate sensor with a rate.

Generally, a wheel speed sensor used in a vehicle uses a method of sensing the speed of a wheel by a variation of a magnetic field, and is installed to face a rotor that rotates in conjunction with a wheel.

The wheel speed sensor generates the induced voltage at both ends of the coil due to the change of the magnetic field resistance by the rotation of the rotor having the toothed wheel in the magnetic field of constant intensity generated from the magnet contained in the wheel speed sensor.

Accordingly, the magnetic field generated in the magnet varies in accordance with the speed variation of the rotor, and accordingly, the wheel speed sensor outputs a square wave proportional to the wheel speed.

However, when the wheel speed sensor is slightly damaged or contaminated by materials such as stones or dusts existing on the road surface, the vehicle control system may fail to detect the malfunction of the wheel speed sensor, There is a problem that it can not be determined whether the vehicle is moving forward or backward.

On the other hand, the yaw rate sensor indicates the ratio of the values that rotate left and right with respect to the Z axis. Such a yaw rate sensor may cause a slight error with the actual value due to external environment such as temperature. In order to correct the error, the offset value of the yaw rate sensor is stored in the nonvolatile memory to calculate a more accurate yaw rate. That is, the detection value of the currently commercialized yaw rate sensor may have an offset depending on the situation, and compensation for the yaw rate sensor offset is therefore essential.

If the offset value of the yaw rate sensor changes with time or the offset value stored beforehand due to the replacement of the yaw rate sensor does not match, there is a problem that the risk of malfunction may occur.

Korean Registered Patent No. 10-0844758 (Registered Date: July 1, 2008)

According to an aspect of the present invention, there is provided a method of detecting an abnormality of a wheel speed sensor by comparing a speed of a vehicle estimated through a forward image with a speed of a vehicle detected by a wheel speed sensor, And an object of the present invention is to provide an apparatus and method for detecting a dynamic sensor abnormality of a vehicle which can detect abnormality of a yaw rate sensor by comparing an estimated yaw rate with a yaw rate detected by a yaw rate sensor.

Other features and advantages of the invention will be set forth in the description which follows, or may be obvious to those skilled in the art from the description and the claims.

According to an aspect of the present invention, there is provided an apparatus for detecting a dynamic sensor abnormality of a vehicle, comprising: a vehicle speed detecting section for detecting a first vehicle speed using a wheel speed sensor provided on each wheel of the vehicle; An image processing unit for estimating a second vehicle speed and a second yaw rate by processing a forward image obtained by photographing the front of the vehicle through a camera, And a control unit for comparing the vehicle speed with the second vehicle speed to determine whether the wheel speed sensor is abnormal and comparing the first yaw rate and the second yaw rate to determine whether the yaw rate sensor is abnormal.

Here, the image processing unit may estimate the second vehicle speed using a constant time interval between image frames of the forward image of the vehicle.

Further, the image processing section can distinguish the lane by extracting a lane from the forward image of the vehicle.

The image processing unit recognizes the lane in the current frame of the forward image as the first frame lane, recognizes the lane as the second frame lane in the next frame of the forward image, and recognizes the lane as the first frame lane and the second frame lane, Can be calculated.

The image processing unit may estimate the second yaw rate through a rate of change of the angle between the first frame lane and the second frame lane for a predetermined time interval between the image frames of the forward image.

When the difference between the first vehicle speed and the second vehicle speed exceeds the error range, the control unit compares the first vehicle speed detected by the wheel speed sensor provided on each wheel of the vehicle with the second vehicle speed, It can be determined that there is an abnormality in the sensor.

Then, the control unit compares the first yaw rate detected by the yaw rate sensor installed in the vehicle with the second yaw rate, and if the difference between the first yaw rate and the second yaw rate deviates from the error range, .

According to another aspect of the present invention, there is provided a method for detecting a dynamic sensor abnormality of a vehicle, comprising the steps of: (a) detecting a first vehicle speed using a wheel speed sensor provided on each wheel of the vehicle, ; (b) detecting a first yaw rate of the vehicle using a yaw rate sensor in a yaw rate detecting section; (c) capturing a forward image of the vehicle in an image acquisition unit to acquire a forward image; (d) estimating a second vehicle speed and a second yaw rate by processing the forward image in an image processing unit; And (e) a controller for comparing the first vehicle speed with the second vehicle speed to determine whether the wheel speed sensor is abnormal, comparing the first yaw rate with the second yaw rate, And a step of judging whether or not it is possible.

According to the present invention, it is possible to detect the abnormality of the wheel speed sensor by comparing the speed of the vehicle obtained through the camera with the speed of the vehicle obtained through the wheel speed sensor.

In addition, it is possible to judge the vehicle speed even when the vehicle is backward, because it is possible to determine whether the vehicle is backward or forward through the image taken by the camera.

In addition, manufacturing cost can be reduced by replacing an expensive sensor for determining whether the vehicle is moving forward or backward with a camera.

Then, it is possible to determine whether the yaw rate sensor is abnormal by comparing the yaw rate acquired through the camera with the yaw rate acquired through the yaw rate sensor.

In addition, other features and advantages of the present invention may be newly understood through embodiments of the present invention.

1 is a diagram showing the configuration of a dynamic sensor abnormality detecting apparatus for a vehicle according to an embodiment of the present invention.
2 is a diagram illustrating an example of calculating a lane and a traveling direction angle for estimating a yaw rate according to an embodiment of the present invention.
3 is a diagram illustrating an example of calculating an angle for estimating a yaw rate according to an embodiment of the present invention.
4 is a diagram illustrating an example of calculating an angle for estimating a yaw rate when the vehicle travels on a curved lane according to an embodiment of the present invention.
5 is a flowchart illustrating an operation for detecting a dynamic sensor abnormality in a vehicle according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may be embodied in many different forms and is not limited to the embodiments described herein.

In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

Throughout the specification, when a part is referred to as being "connected" to another part, it includes not only "directly connected" but also "electrically connected" with another part in between . Also, when an element is referred to as "comprising ", it means that it can include other elements as well, without departing from the other elements unless specifically stated otherwise.

If any part is referred to as being "on" another part, it may be directly on the other part or may be accompanied by another part therebetween. In contrast, when a section is referred to as being "directly above" another section, no other section is involved.

The terms first, second and third, etc. are used to describe various portions, components, regions, layers and / or sections, but are not limited thereto. These terms are only used to distinguish any moiety, element, region, layer or section from another moiety, moiety, region, layer or section. Thus, a first portion, component, region, layer or section described below may be referred to as a second portion, component, region, layer or section without departing from the scope of the present invention.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms as used herein include plural forms as long as the phrases do not expressly express the opposite meaning thereto. Means that a particular feature, region, integer, step, operation, element and / or component is specified and that the presence or absence of other features, regions, integers, steps, operations, elements, and / It does not exclude addition.

Terms indicating relative space such as "below "," above ", and the like may be used to more easily describe the relationship to other portions of a portion shown in the figures. These terms are intended to include other meanings or acts of the apparatus in use, as well as intended meanings in the drawings. For example, when inverting a device in the figures, certain portions that are described as being "below" other portions are described as being "above " other portions. Thus, an exemplary term "below" includes both up and down directions. The device can be rotated by 90 degrees or rotated at different angles, and terms indicating relative space are interpreted accordingly.

Unless otherwise defined, all terms including technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Commonly used predefined terms are further interpreted as having a meaning consistent with the relevant technical literature and the present disclosure, and are not to be construed as ideal or very formal meanings unless defined otherwise.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

1 is a diagram showing the configuration of a dynamic sensor abnormality detecting apparatus for a vehicle according to an embodiment of the present invention.

1, an apparatus 100 for detecting a dynamic sensor abnormality of a vehicle according to an embodiment of the present invention includes an image acquisition unit 110, an image processing unit 120, a control unit 130, a vehicle speed detection unit 140, And a detection unit 150.

The image acquiring unit 110 acquires the forward image by photographing the front of the vehicle through the camera. At this time, the image obtaining unit 110 can also obtain road information from the acquired forward image. The road information may include road information, travel restriction information, lane information, traffic signs, and the like displayed on the road bottom in the obtained forward image. The image acquisition unit 110 provides the acquired forward image to the image processing unit 120. [

The image processing unit 120 processes the forward image to estimate the second vehicle speed and the second yaw rate. That is, the image processing unit 120 estimates the second vehicle speed using a predetermined time interval between the image frames of the forward image. Accordingly, the image processing unit 120 can estimate the speed of the vehicle when the vehicle is advanced or retracted by using the second vehicle speed based on the forward image.

In addition, the image processing unit 120 extracts lanes based on the forward image and distinguishes the lanes. 2, the image processing unit 120 recognizes the driving direction of the vehicle, which is displayed for each image frame of the forward image, as shown in FIG. 2, The angle between the running direction of the vehicle in the current frame of the forward image and the running direction of the vehicle in the immediately preceding frame of the forward image is calculated. 3 is a diagram illustrating an example of calculating an angle for estimating a yaw rate according to an embodiment of the present invention. 3, the image processing unit 120 calculates the angle between the running direction 40 of the vehicle in the current frame of the forward image and the running direction 50 of the vehicle in the immediately preceding frame of the forward image do. 2 is a diagram illustrating an example of calculating a lane and a traveling direction angle for estimating a yaw rate according to an embodiment of the present invention. The image processing unit 120 recognizes the straight line extending in the traveling direction of the current vehicle as the first frame lane 10. At this time, if the vehicle changes the lane, the image processing unit 120 recognizes the straight line extending toward the change lane in the running direction of the vehicle as the second frame lane 20. The image processing unit 120 calculates an angle between the first frame lane 10 and the second frame lane 20. Therefore, the angle between the first frame lane 10 and the second frame lane 20 becomes? _{N -1} . In addition, the image processing unit 120 recognizes the straight line extending in the running direction of the vehicle entering the change lane as the third frame lane 30. The image processing unit 120 calculates an angle between the second frame lane 20 and the third frame lane 30. Therefore, the angle between the second frame lane 20 and the third frame lane 30 is? _N. The image processing unit 120 estimates the yaw rate on the basis of the rate of change [theta] _n - [theta] _n-1 for a predetermined time interval between the image frames of the forward image.

Also, the image processing unit 120 estimates the second yaw rate in the same way as when the vehicle is traveling on a curved roadway, as in the case of changing the driving lane. When the vehicle travels on a curved lane, the running direction of the vehicle is changed even if the vehicle runs without changing the lane, so that an angle is generated according to different traveling directions between successive frames of the front image so that the second yaw rate can be estimated . 4 is a diagram illustrating an example of calculating an angle for estimating a yaw rate when the vehicle travels on a curved lane according to an embodiment of the present invention. Referring to FIG. 4, the image processing unit 120 recognizes the straight line extending in the traveling direction of the current vehicle as the first frame lane 60. Then, the image processing unit 120 recognizes the straight line extending in the traveling direction of the vehicle running on the curved road by the second frame lane 70. The image processing unit 120 calculates an angle between the first frame lane 60 and the second frame lane 70. [ Therefore, the angle between the first frame lane 60 and the second frame lane 70 is? _N-1 . Further, the image processing unit 120 recognizes the straight line extending in the traveling direction of the vehicle entering the straight lane through the curved lane as the third frame lane 80. The image processing unit 120 calculates the angle between the second frame lane 70 and the third frame lane 80. [ Therefore, the angle between the second frame lane 70 and the third frame lane 80 is? _N. The image processing unit 120 estimates the yaw rate through a rate of change of theta ([theta] _n - [theta] _n-1 ) for a predetermined time interval between each image frame of the forward image.

The vehicle speed detecting section 140 includes a wheel speed sensor, and the wheel speed sensor is mounted on each wheel of the vehicle to detect the speed of the vehicle on each wheel. The wheel speed sensor outputs a square wave having a frequency corresponding to the rotation speed of each wheel. When the wheel speed is high, the frequency of the rectangular wave to be outputted is large, and when the wheel speed is low, the frequency of the rectangular wave to be output is low. The speed of the vehicle transmitted from each wheel is referred to as a first vehicle speed.

The yaw rate detection unit 150 includes a yaw rate sensor, and the yaw rate sensor detects the yaw rate of the vehicle by detecting the steering angle of the steering wheel. The yaw rate detected by the yaw rate sensor is referred to as a first yaw rate.

In an embodiment of the present invention, the dynamic sensor includes a wheel speed sensor and a yaw rate sensor. In an embodiment of the present invention, a camera communication unit may be included to transmit the first vehicle speed detected through the wheel speed sensor and the first yaw rate detected by the yaw rate sensor to the control unit 130. At this time, the camera communication unit converts the value provided from outside the camera so that the value provided outside the camera and the value existing in the camera are the same in order to compare the value provided outside the camera with the value present inside the camera . For example, if the value present inside the camera is represented by 16 bits and the value provided from the outside of the camera is represented by 8 bits, the value provided from the outside of the camera is set to 16 bits Conversion.

The control unit 130 compares the first vehicle speed and the first yaw rate provided by the dynamic sensor with the second vehicle speed and the second yaw rate estimated by the camera to determine whether the dynamic sensor is abnormal. That is, the control unit 130 compares each vehicle speed acquired from each wheel included in the first vehicle speed with the second vehicle speed to determine whether the wheel speed sensor is abnormal.

If the difference between the first vehicle speed and the second vehicle speed does not deviate from the error range when the first vehicle speed obtained from each wheel is compared with the second vehicle speed, the control unit 130 determines that the wheel speed sensor has no abnormality And if the difference between the first vehicle speed and the second vehicle speed deviates from the error range, the wheel speed sensor determines that there is an abnormality. The controller 130 compares the wheel speed sensors of the respective wheels to determine whether the wheel speed sensors of the respective wheels are abnormal.

Further, the controller 130 compares the first yaw rate obtained through the yaw rate sensor with the second yaw rate estimated by the camera to determine whether the yaw rate sensor is abnormal. If the difference between the first yaw rate and the second yaw rate does not deviate from the error range by comparing the first yaw rate and the second yaw rate, the yaw rate sensor determines that there is no abnormality, and if the difference between the first yaw rate and the second yaw rate The yaw rate sensor judges that there is an abnormality.

5 is a flowchart illustrating an operation for detecting a dynamic sensor abnormality in a vehicle according to an embodiment of the present invention.

5, the vehicle speed detecting section 140 detects a first vehicle speed through a wheel speed sensor attached to each wheel of the vehicle, and the yaw rate detecting section 150 detects a first yaw rate through a yaw rate sensor (S110).

Next, the image obtaining unit 110 obtains the forward image through the camera, and estimates the second vehicle speed and the second yaw rate based on the forward image acquired by the image processing unit 120 (S120).

That is, the image processing unit 120 estimates the second vehicle speed using a predetermined time interval between each image frame of the forward image through the camera. Here, since the second vehicle speed is a value estimated based on the forward image through the camera, it is possible to estimate the vehicle speed when the vehicle advances and retreats.

Also, the image processing unit 120 estimates the second yaw rate based on the forward image acquired through the camera. That is, as shown in FIG. 2, the image processing unit 120 detects a lane in a forward image to distinguish a lane. When the vehicle changes its current driving lane, the image processing unit 120 recognizes a driving direction of the vehicle, , And calculates the angle between the running direction of the vehicle in the current frame of the forward image and the running direction of the vehicle in the immediately preceding frame of the forward image as shown in Fig.

Specifically, as shown in FIG. 2, the image processing unit 120 recognizes the straight line extending in the traveling direction of the current vehicle as the first frame lane 10. At this time, if the vehicle changes the lane, the image processing unit 120 recognizes the straight line extending toward the change lane in the running direction of the vehicle as the second frame lane 20. The image processing unit 120 calculates an angle between the first frame lane 10 and the second frame lane 20. Therefore, the angle between the first frame lane 10 and the second frame lane 20 is? _N-1 .

In addition, the image processing unit 120 recognizes the straight line extending in the traveling direction of the vehicle entering the change lane as the third frame lane 30 in Fig. The image processing unit 120 calculates an angle between the second frame lane 20 and the third frame lane 30. Therefore, the angle between the second frame lane 20 and the third frame lane 30 is? _N.

On the other hand, the image processing unit 120 estimates the yaw rate on the basis of the rate of change [theta] _n - [theta] _n-1 for a predetermined time interval between each image frame in the forward image.

Also, the image processing unit 120 estimates the second yaw rate in the same way as when the vehicle is traveling on a curved roadway, as in the case of changing the driving lane. The second yaw rate can be estimated because the running direction of the vehicle is changed even if the vehicle runs without changing the lane when the vehicle travels on a curved lane.

Specifically, as shown in FIG. 4, the image processing unit 120 recognizes the straight line extending in the traveling direction of the current vehicle as the first frame lane 60. Then, the image processing unit 120 recognizes the straight line extending in the traveling direction of the vehicle running on the curved road by the second frame lane 70. The image processing unit 120 calculates an angle between the first frame lane 60 and the second frame lane 70. [ Therefore, the angle between the first frame lane 60 and the second frame lane 70 is? _N-1 .

In addition, the image processing unit 120 recognizes the straight line extending in the traveling direction of the vehicle entering the straight lane through the curved lane as the third frame lane 80 in Fig. The image processing unit 120 calculates the angle between the second frame lane 70 and the third frame lane 80. [ The angle between the second frame lane 70 and the third frame lane 80 is? _N. Image processing unit 120 estimates the yaw rate from the rate of change (θ _n -θ _{n -1)} of θ for a specific time interval between each image frame.

In the embodiment of the present invention, the method for estimating the yaw rate is performed in three steps. However, since the image frame of the forward image generally uses 30 frames as a basis, more steps can be performed to estimate the yaw rate. The image processing unit 120 provides the estimated second vehicle speed and the second yaw rate to the control unit 130.

The control unit 130 compares the first vehicle speed acquired from each wheel of the vehicle with the second vehicle speed estimated based on the forward image (S130).

Next, the control unit 130 determines whether the wheel speed sensor is abnormal based on the result of comparing the first vehicle speed and the second vehicle speed (S140).

That is, when the difference between the first vehicle speed and the second vehicle speed does not deviate from the error range, the controller 130 determines that the wheel speed sensor is not abnormal. If the difference between the first vehicle speed and the second vehicle speed exceeds the error range The face wheel speed sensor judges that there is an abnormality. Here, the wheel speed sensor of each wheel is compared with the second vehicle speed, respectively, so as to determine whether or not an abnormality has occurred, so that it is possible to accurately determine which wheel speed sensor is abnormal.

Then, the controller 130 compares the first yaw rate value acquired from the yaw rate sensor with the second yaw rate value estimated based on the forward image (S150). Then, the control unit 130 determines whether the yaw rate sensor is abnormal based on the result of comparison between the first yaw rate and the second yaw rate (S160).

That is, when the difference between the first yaw rate and the second yaw rate does not deviate from the error range, the controller 130 determines that the yaw rate sensor has no abnormality, and if the difference between the first yaw rate and the second yaw rate exceeds the error range The face and yaw rate sensor determines that there is an abnormality.

In the above-described process, the order of S130 and S140 and S150 and S160 may be changed. That is, the step of comparing the first vehicle speed with the second vehicle speed to determine whether or not the wheel speed sensor is abnormal, and the step of comparing the first yaw rate and the second yaw rate to determine whether the yaw rate sensor is abnormal are changed and executed .

As described above, according to the present invention, the abnormality of the wheel speed sensor is detected by comparing the velocity of the vehicle detected by the wheel velocity sensor with the velocity of the vehicle estimated through the front image obtained by photographing the front of the vehicle, It is possible to realize an apparatus and method for detecting a dynamic sensor abnormality of a vehicle that can detect abnormality of the yaw rate sensor by comparing the yaw rate estimated by the image with the yaw rate detected by the yaw rate sensor.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the present invention as defined by the following claims and their equivalents. Only. It is intended that the present invention covers the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents. .

100: Dynamic sensor abnormality detection device
110:
120:
130:
140:
150: Yaw rate detector

Claims (8)

A vehicle speed detecting unit that detects a first vehicle speed using a wheel speed sensor provided on each wheel of the vehicle;
A yaw rate detection unit for detecting a first yaw rate of the vehicle using a yaw rate sensor;
An image acquiring unit for acquiring a forward image by photographing the front of the vehicle through a camera;
An image processor for processing the forward image to estimate a second vehicle speed and a second yaw rate;
A controller for comparing the first vehicle speed with the second vehicle speed to determine whether the wheel speed sensor is abnormal, and comparing the first yaw rate and the second yaw rate to determine whether the yaw rate sensor is abnormal;
And the dynamic sensor abnormality detecting device of the vehicle.
The image processing apparatus according to claim 1,
And estimates a second vehicle speed using a constant time interval between image frames of the front image of the vehicle.
The image processing apparatus according to claim 1,
And extracts a lane from the forward image of the vehicle.
The image processing apparatus according to claim 3,
Recognizing the running direction of the vehicle as a first frame lane in a current frame of the forward image and recognizing the running direction of the vehicle as a second frame lane in a next frame of the forward image, A dynamic sensor abnormality detection device for a vehicle that calculates an angle between frame lanes.
The image processing apparatus according to claim 4,
And estimating a second yaw rate based on a rate of change of an angle between the first frame lane and the second frame lane during a predetermined time interval between image frames of the front image.
The apparatus of claim 1,
When the difference between the first vehicle speed and the second vehicle speed deviates from the error range by comparing the first vehicle speed detected from the wheel speed sensor provided on each wheel of the vehicle with the second vehicle speed, The dynamic sensor abnormality detecting device of the vehicle.
The apparatus of claim 1,
And a controller that compares the first yaw rate detected by the yaw rate sensor installed in the vehicle with a second yaw rate and determines that the yaw rate sensor is abnormal if the difference between the first yaw rate and the second yaw rate deviates from the error range Of the dynamic sensor abnormality detecting device.
(a) detecting a first vehicle speed using a wheel speed sensor provided on a wheel of the vehicle at a vehicle speed detecting portion;
(b) detecting a first yaw rate of the vehicle using a yaw rate sensor in a yaw rate detecting section;
(c) capturing a forward image of the vehicle in an image acquisition unit to acquire a forward image;
(d) estimating a second vehicle speed and a second yaw rate by processing the forward image in an image processing unit;
(e) a control unit for comparing the first vehicle speed with the second vehicle speed to determine whether the wheel speed sensor is abnormal, and comparing the first yaw rate and the second yaw rate to determine whether the yaw rate sensor is abnormal And determining the dynamic sensor abnormality of the vehicle.

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