Failure detection device for an external sensor and a failure detection method for an external sensor
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United States of America Patent
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Sep 28, 2021
Grant Date -
Jul 2, 2020
app pub date -
Nov 19, 2019
filing date -
Dec 26, 2018
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Abstract
A failure detection device that detects a failure in a plurality of external sensors onboard a vehicle, the failure detection device comprises: an overlapping region storage unit that stores an overlapping region of detection areas of the external sensors; an environment performance storage unit that stores an environment-dependent performance of sensing of the external sensors; an environment information acquisition unit that acquires environment information about the vehicle; a recognition result comparison unit that compares recognition results of an object in the overlapping region from the external sensors; a failure likelihood computation unit that computes a failure likelihood of each external sensor based on a comparison result of the recognition results, the environment information, and the environment-dependent performance; and a failure determination unit that determines a failure in each external sensor based on the failure likelihood of each of the external sensors.
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