CN-121995080-A - Yaw rate sensor abnormality determination device

CN121995080ACN 121995080 ACN121995080 ACN 121995080ACN-121995080-A

Abstract

The invention provides a yaw rate abnormality determination device with high practicability. A yaw rate sensor abnormality determination device which is mounted on a vehicle and determines abnormality of a yaw rate sensor provided in the vehicle, wherein a determination prohibition unit is provided in addition to an abnormality determination unit that determines abnormality based on detection of the yaw rate sensor by comparing a detected yaw rate detected by the yaw rate sensor with an estimated yaw rate estimated based on behavior or operation of the vehicle, the determination prohibition unit prohibiting determination based on an image of a camera in front of the vehicle when it is determined that abnormality determination based on the abnormality determination unit is inappropriate.

Inventors

WATABE YOSHITOMO

Assignees

丰田自动车株式会社

Dates

Publication Date: 20260508
Application Date: 20251020
Priority Date: 20241107

Claims (5)

1. A yaw rate sensor abnormality determination device that is mounted on a vehicle and determines abnormality of a yaw rate sensor provided in the vehicle, the yaw rate sensor abnormality determination device comprising: An abnormality determination unit that determines an abnormality based on the detection of the yaw rate sensor by comparing the detected yaw rate detected by the yaw rate sensor with an estimated yaw rate estimated based on the behavior or operation of the vehicle, and And a determination prohibition unit that prohibits the determination of the abnormality based on the image of the camera in front of the vehicle when the determination of the abnormality based on the abnormality determination unit is determined to be inappropriate.
2. The yaw rate sensor abnormality determining device according to claim 1, characterized in that, The images of the camera are repeatedly acquired at set time intervals, The determination prohibition unit is configured to prohibit the determination of the abnormality when the number of pixels whose pixel values change is equal to or less than a set number by comparing the previous image with the current image.
3. The yaw rate sensor abnormality determining device according to claim 2, characterized in that, The determination prohibition unit is configured to change the set number according to the level of the yaw rate.
4. The yaw rate sensor abnormality determining device according to claim 1, characterized in that, The determination prohibition unit is configured to exclude a portion of the image of the camera that is not a road surface, and determine whether or not the determination of the abnormality is inappropriate.
5. The yaw rate sensor abnormality determining device according to claim 1, characterized in that, The abnormality determination portion adopts, as the estimated yaw rate, an estimated yaw rate based on a lateral acceleration estimated based on the lateral acceleration generated in the vehicle and an estimated yaw rate based on a wheel speed difference estimated based on a peripheral speed difference of left and right wheels, and is configured to determine that the detection abnormality based on the yaw rate sensor is detected when a difference between the detected yaw rate and any one of the estimated yaw rates based on the lateral acceleration and the estimated yaw rate based on the wheel speed difference is greater than a1 st set difference and a difference between the estimated yaw rates based on the lateral acceleration and the estimated yaw rate based on the wheel speed difference is smaller than a2 nd set difference.

Description

Yaw rate sensor abnormality determination device Technical Field The present invention relates to a yaw rate sensor abnormality determination device that determines abnormality of a yaw rate sensor mounted on a vehicle. Background Regarding the yaw rate of the vehicle, for example, vehicle stabilization control (VSC control), control of the rear-wheel steering of the four-wheel steering vehicle, and the like are used in order to ensure appropriate turning of the vehicle, and therefore, it is desirable to appropriately perform determination of abnormality of the yaw rate sensor that detects the yaw rate. In this regard, for example, there are techniques described in the following patent documents. In this technique, a lower one of a yaw rate estimated from a vehicle speed and a minimum turning radius of the vehicle and a yaw rate estimated from a lateral acceleration generated in the vehicle is determined as a threshold yaw rate for determination, and when the yaw rate detected by the yaw rate sensor exceeds the threshold yaw rate, the yaw rate sensor is determined as abnormal. Patent document 1 Japanese patent laid-open No. 11-83895 Disclosure of Invention According to the technique described in the above patent document, for example, when the vehicle turns on a road surface having an extremely low road surface μ, such as ice, the yaw rate estimated from the lateral acceleration is extremely low, and therefore, the yaw rate is always regarded as the threshold yaw rate. As a result, even if the yaw rate sensor is not abnormal when four-wheel slip revolution is performed on such a road surface, it is determined that the yaw rate sensor is abnormal. The techniques described in the above patent documents have such problems. If the abnormality determination of the yaw rate sensor can be appropriately performed, the practicality of the yaw rate sensor abnormality determination device improves. The present invention has been made in view of such circumstances, and an object thereof is to provide a yaw rate abnormality determination device with high practicality. In order to solve the above-described problems, a yaw rate sensor abnormality determination device according to the present invention is mounted on a vehicle and determines abnormality of a yaw rate sensor provided in the vehicle, the yaw rate sensor abnormality determination device including: An abnormality determination unit that determines an abnormality based on the detection of the yaw rate sensor by comparing the detected yaw rate detected by the yaw rate sensor with an estimated yaw rate estimated based on the behavior or operation of the vehicle, and And a determination prohibition unit that prohibits the determination of the abnormality based on the image of the camera in front of the vehicle when the determination of the abnormality based on the abnormality determination unit is determined to be inappropriate. Effects of the invention According to the yaw rate sensor abnormality determination device (hereinafter, sometimes simply referred to as "the present abnormality determination device") of the present invention, since the abnormality determination of the yaw rate sensor by the abnormality determination unit is prohibited when the vehicle turns on a road surface having an extremely small road surface μ, such as on ice, the erroneous determination that is, the situation in which the yaw rate sensor is not abnormal but is determined to be abnormal can be avoided. Mode for the invention The "estimated yaw rate" used in the "abnormality determination unit" of the abnormality determination device is not particularly limited as long as it is estimated based on the behavior or operation of the vehicle. For example, various estimated yaw rates such as an operation-dependent estimated yaw rate estimated based on an operation amount of an operation member such as a steering wheel and a vehicle speed, an estimated yaw rate based on a lateral acceleration estimated based on a lateral acceleration generated in the vehicle, and an estimated yaw rate based on a wheel speed difference estimated based on circumferential speeds (rotational speeds may be) of left and right wheels can be employed. The estimated yaw rate used in these is not limited to only 1, but may be 2 or more. Specifically, the abnormality determination can be performed as follows, for example. As the estimated yaw rate, the above-described estimated yaw rate based on the lateral acceleration and the above-described estimated yaw rate based on the wheel speed difference are employed, and when the difference between the detected yaw rate and either one of these estimated yaw rates based on the lateral acceleration and the estimated yaw rate based on the wheel speed difference is greater than the 1 st set difference and the difference between these estimated yaw rates based on the lateral acceleration and the estimated yaw rate based on the wheel speed difference is smaller than the 2 nd set d