Honda Motor Co., Ltd.
ABNORMALITY DETERMINATION DEVICE, ABNORMALITY DETERMINATION METHOD, VEHICLE STATE ESTIMATION DEVICE, AND NON-TRANSITORY COMPUTER-READABLE STORAGE MEDIUM

Abstract:

In an abnormality determination device for determining presence or absence of an abnormality of a 6-axis inertial measurement sensor installed in a vehicle to detect a forward-backward acceleration, a lateral acceleration, a vertical acceleration, a roll rate, a pitch rate, and a yaw rate of the vehicle, the abnormality determination device includes: a 3-axis inertial measurement sensor that detects the forward-backward acceleration, the lateral acceleration, and the yaw rate; and an abnormality determination unit that determines presence or absence of an abnormality of the 6-axis inertial measurement sensor, wherein the abnormality determination unit determines the presence or absence of an abnormality of the 6-axis inertial measurement sensor by comparing the forward-backward acceleration, the lateral acceleration, and the yaw rate acquired by the 6-axis inertial measurement sensor with the forward-backward acceleration, the lateral acceleration, and the yaw rate acquired by the 3-axis inertial measurement sensor, respectively.