Patent ID: 8392052

Claim:
A vehicle inspection apparatus, including a processor and a memory storing a program for execution by the processor, for inspecting behavior of at least one control object mounted on a vehicle whose behavior is controlled through behavior control performed by a control section included in a control system mounted on said vehicle in accordance with a behavior request inputted from an external device, the program comprising: an associated inspection processing section set to perform an associated inspecting process associated with said control object; and an independent inspection processing section configured to perform an independent inspecting process not associated with and independent from said control object; wherein said associated inspection processing section includes: a behavior detecting section to detect, as a behavior detection value, behavior of said control object reflecting a control command value outputted from said control section; a behavior estimating section to estimate, as a behavior estimation value, behavior of said control object on the basis of said behavior request; a dimension matching section to match dimensions of physical values of said behavior detection value and said behavior estimation value with each other; and wherein said independent inspection processing section includes a behavior judging section to judge whether or not said control object is abnormal on the basis of a deviation between said behavior detection value and said behavior estimation value as a behavior deviation, whose dimensions have been matched with each other by said dimension matching section; a behavior vector splitting section configured to perform vector splitting on a magnitude and direction of the behavior estimation value of a functional domain for each of the at least one control object; and a correction amount calculating section configured to receive as inputs a behavior correction value of the at least one control object and a corresponding control command value from the control section, and to calculate a correction amount of the control command value outputted from the control section to an abnormal control object in order to improve behavior of the abnormal control object or an abnormal functional domain.