Method and apparatus for determining sensor integrity using signals from an adjacent sensor

1 . An apparatus for determining integrity of a sensor, the apparatus comprising:

a signal transmission unit configured to sequentially operate each of a plurality of ultrasonic sensors mounted on a vehicle to generate respective output signals;

a signal sensing unit configured to acquire a received value of an adjacent ultrasonic sensor adjacent to each of the plurality of ultrasonic sensors that generate the respective output signals;

an anomaly determining unit configured to determine whether the received value is abnormal; and

a determination-result processing unit configured to perform a response for each of the ultrasonic sensors according to a result of determining anomaly,

wherein the determination-result processing unit is configured to reset each reference value for each of the ultrasonic sensors when i) an error equal to or greater than a first threshold value compared to the reference value occurs in the received value of an ultrasonic sensor adjacent to any one of the ultrasonic sensors generating the output signal and ii) a number of received values having an error equal to or greater than a second threshold value compared to the reference value among received values of ultrasonic sensors adjacent to each of the ultrasonic sensors is equal to or greater than a threshold number,

wherein the determination-result processing unit is configured to

calculate, as a variation, an average of errors for each of the received values having an error equal to or greater than the second threshold value compared to the reference value, and

calculate a new reference value for each of the plurality of ultrasonic sensors based on the variation.

2 . The apparatus of claim 1 , wherein the signal transmission unit is configured to sequentially operate each of the ultrasonic sensors while the vehicle is traveling, wherein each of the ultrasonic sensors are sequentially operated when no obstacles are determined to be present around each of the ultrasonic sensors and the vehicle is determined to be in a stopped state.

3 . The apparatus of claim 1 , wherein:

the plurality of ultrasonic sensors is mounted in a row on the vehicle, and

the adjacent ultrasonic sensor is determined as a nearest first direction ultrasonic sensor or a nearest second direction ultrasonic sensor of an ultrasonic sensor generating an output signal based on a structure in which the plurality of ultrasonic sensors is mounted.

4 . The apparatus of claim 1 , wherein the determination-result processing unit is configured to reset a reference value corresponding to each of the plurality of ultrasonic sensors according to a number of received values in which anomaly has occurred, wherein each of the reference values is a value for determining whether the received value corresponding to each of the plurality of ultrasonic sensors is abnormal.

5 . The apparatus of claim 1 , wherein the determination-result processing unit is configured to determine that any one of the ultrasonic sensors is aged when

i) an error equal to or greater than a first threshold value compared to the reference value occurs in the received value of an ultrasonic sensor adjacent to any one of the ultrasonic sensors generating the output signal, and

ii) the number of received values having an error equal to or greater than a second threshold value compared to the reference value among received values of ultrasonic sensors adjacent to each of the ultrasonic sensors is less than a threshold number.

6 . The apparatus of claim 5 , wherein the first threshold value is greater than the second threshold value.

7 . The apparatus of claim 1 , wherein the determination-result processing unit is configured to:

increase a magnitude of the reference value by a magnitude of the variation when the received value of the ultrasonic sensor adjacent to any one of the ultrasonic sensors is greater than the reference value, and

decrease the magnitude of the reference value by the magnitude of the variation when the received value of the ultrasonic sensor adjacent to any one of the ultrasonic sensors is less than the reference value.

8 . The apparatus of claim 1 , wherein the apparatus for determining integrity of the sensor i) is operated when the vehicle is in a stopped state and ii) stops operating and controls the vehicle so that a Parking Distance Warning (PDW) mode is performed when the vehicle is not in the stopped state.

9 . A method of determining integrity of a sensor, the method comprising:

sequentially operating each of a plurality of ultrasonic sensors mounted on a vehicle to generate respective output signals;

acquiring a received value of an ultrasonic sensor adjacent to each of the ultrasonic sensors which generate the output signals;

determining whether the received value is abnormal;

performing a response for each of the ultrasonic sensors according to a result of determining whether the received value is abnormal; and

resetting each reference value for each of the ultrasonic sensors based on determining that i) an error equal to or greater than a first threshold value compared to the reference value occurs in the received value of an ultrasonic sensor adjacent to any one of the ultrasonic sensors generating the output signal and ii) a number of received values having an error equal to or greater than a second threshold value compared to the reference value among received values of ultrasonic sensors adjacent to each of the ultrasonic sensors is equal to or greater than a threshold number,

wherein resetting each reference value for each of the ultrasonic sensors includes

calculating, as a variation, an average of errors for each of the received values having an error equal to or greater than the second threshold value compared to the reference value, and

calculating a new reference value for each of the plurality of ultrasonic sensors based on the variation.