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

Claim 0:
1. 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;
one or more processors, electronically coupled to the first, second and third sensors; and
one or more memories storing instructions for causing the one or more processors to:
estimate a first turn status of the vehicle based on the steering angle detected by the first sensor;
estimate a second turn status of the vehicle based on the behavior of the vehicle detected by the second sensor;
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, each of which being detected by the third sensor;
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 of the first, second and third offset components and a minimum value of the first, second and third offset components;
compare the 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.