Patent ID: 11884321
Assignee: SUBARU CORPORATION
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 12:
13. A vehicular self-diagnosis device comprising:
a first sensor configured to detect a steering angle;
a second sensor configured to detect a behavior of the vehicle;
a third sensor configured to detect a lane curvature and a vehicle-versus-lane yaw angle;
a circuitry electronically coupled to the first, second and third sensors and configured to
estimate a first turn status of the vehicle based on the steering angle,
estimate a second turn status of the vehicle based on the behavior of the vehicle,
estimate a third turn status of the vehicle based on the lane curvature and the vehicle-versus-lane yaw angle of the vehicle relative to the lane curvature,
extract first, second and third offset components respectively from the estimated first, second and third turn statuses of the vehicle,
calculate a maximum divergence amount based on a maximum value and a minimum value of the first, second and third offset components, and
compare the calculated maximum divergence amount with a predetermined threshold value and determine that inconsistency exists among the first, second and third sensors in a case where the maximum divergence amount exceeds the threshold value; and
perform a steering control of the vehicle based on the determination of inconsistency.