Misrecognition determination device

1. A misrecognition determination device comprising one or more processors configured to:

calculate at least a first traveling parameter that is used for driving control of a vehicle and is based on a first input data, a second traveling parameter that is used for driving control of the vehicle and is based on a second input data, and a third traveling parameter that is used for driving control of the vehicle and is based on a third input data;

calculate at least a first difference that is a difference between the first traveling parameter and the second traveling parameter, a second difference that is a difference between the first traveling parameter and the third traveling parameter, and a third difference that is a difference between the second traveling parameter and the third traveling parameter;

calculate at least a first weighting coefficient, a second weighting coefficient, and a third weighting coefficient, the first weighting coefficient corresponding to an orthogonality between the first input data and the second input data in a traveling situation of the vehicle, the second weighting coefficient corresponding to an orthogonality between the first input data and the third input data in the traveling situation of the vehicle, and the third weighting coefficient corresponding to an orthogonality between the second input data and the third input data in the traveling situation of the vehicle, such that a higher weighting coefficient corresponds to a higher orthogonality;

calculate a first value generated by multiplying the first difference by the first weighting coefficient, a second value generated by multiplying the second difference by the second weighting coefficient, and a third value generated by multiplying the third difference by the third weighting coefficient;

determine whether a misrecognition has occurred in a parameter group that includes at least the first traveling parameter, the second traveling parameter, and the third traveling parameter using the first value, the second value, and the third value;

output a result of the determination; and

continue the driving control of the vehicle based upon the determination that no misrecognition has occurred, and stop the driving control of the vehicle based upon the determination that misrecognition has occurred.

2. The misrecognition determination device according to claim 1 , wherein the one or more processors are further configured to reset at least one of the first weighting coefficient, the second weighting coefficient, and the third weighting coefficient in response to a manual driving switching operation being performed during driving control of the vehicle.

3. The misrecognition determination device according to claim 1 , wherein the one or more processors are further configured to:

determine whether a sum of the first value, the second value, and the third value is less than a predetermined threshold; and

in response to determining that the sum of the first value, the second value, and the third value is less than the predetermined threshold, determine that the misrecognition has occurred in the parameter group that includes at least the first traveling parameter, the second traveling parameter, and the third traveling parameter.

4. The misrecognition determination device according to claim 1 , wherein the one or more processors are further configured to:

calculate a fourth traveling parameter, used for driving control of the vehicle, based on a fourth input data;

calculate at least the first difference, the second difference, the third difference, a fourth difference that is a difference between the first traveling parameter and the fourth traveling parameter, a fifth difference that is a difference between the second traveling parameter and the fourth traveling parameter, and a sixth difference that is a difference between the third traveling parameter and the fourth traveling parameter;

calculate at least the first weighting coefficient, the second weighting coefficient, the third weighting coefficient, a fourth weighting coefficient corresponding to an orthogonality between the first input data and the fourth input data in the traveling situation of the vehicle, a fifth weighting coefficient corresponding to an orthogonality between the second input data and the fourth input data in the traveling situation of the vehicle, and a sixth weighting coefficient corresponding to an orthogonality between the third input data and the fourth input data in the traveling situation of the vehicle;

calculate a fourth value generated by multiplying the fourth difference by the fourth weighting coefficient, a fifth value generated by multiplying the fifth difference by the fifth weighting coefficient, and a sixth value generated by multiplying the sixth difference by the sixth weighting coefficient; and

determine whether the misrecognition has occurred in a parameter group that includes at least the first traveling parameter, the second traveling parameter, the third traveling parameter, and the fourth traveling parameter using the first value, the second value, the third value, the fourth value, the fifth value, and the sixth value.

5. The misrecognition determination device according to claim 4 , wherein the one or more processors are further configured to:

determine whether a sum of the first value, the second value, the third value, the fourth value, the fifth value, and the sixth value is less than a predetermined threshold; and

in response to determining that the sum of the first value, the second value, the third value, the fourth value, the fifth value, and the sixth value is less than the predetermined threshold, determine that the misrecognition has occurred in the parameter group that includes at least the first traveling parameter, the second traveling parameter, the third traveling parameter, and the fourth traveling parameter.

6. A method of identifying a misrecognition event of one or more sensors of a vehicle, the method comprising:

receiving a first input data from a first input sensor, a second input data from a second input sensor, and a third input data from a third input sensor;

calculating a first traveling parameter using the first input data, a second traveling parameter using the second input data, and a third traveling parameter using the third input data, wherein the first, second, and third traveling parameters are used for driving control of the vehicle;

calculating a first difference corresponding to a difference between the first traveling parameter and the second traveling parameter, a second difference corresponding to a difference between the first traveling parameter and the third traveling parameter, and a third difference corresponding to a difference between the second traveling parameter and the third traveling parameter;

calculating a first weighting coefficient corresponding to an orthogonality between the first input data and the second input data in a traveling situation of the vehicle, a second weighting coefficient corresponding to an orthogonality between the first input data and the third input data in the traveling situation of the vehicle, and a third weighting coefficient corresponding to an orthogonality between the second input data and the third input data in the traveling situation of the vehicle;

calculating a first value corresponding to a product of the first difference and the first weighting coefficient, a second value corresponding to a product of the second difference and the second weighting coefficient, and a third value corresponding to a product of the third difference and the third weighting coefficient;

identifying whether a misrecognition event has occurred for one or more of the first input sensor, the second input sensor, and the third input sensor based on a sum of the first value, the second value, and the third value; and

continuing the driving control of the vehicle based upon the identification that the misrecognition event has not occurred, and stopping the driving control of the vehicle based upon the identification that the misrecognition event has occurred.

7. The method of claim 6 , wherein the identifying the misrecognition event comprises:

determining whether the sum of the first value, the second value, and the third value is less than a predetermined threshold; and

in response to determining that the sum of the first value, the second value, and the third value is less than the predetermined threshold, determining that the misrecognition event has occurred.

8. The method of claim 7 , further comprising outputting a signal indicating that the misrecognition event has occurred.

9. The method of claim 8 , wherein the traveling situation of the vehicle is one of: approaching a branch in a roadway, approaching a tunnel exit, traveling in a city area, or traveling behind another vehicle wherein the other vehicle is adjacent to a third vehicle larger than the other vehicle.

10. The method of claim 9 , wherein the receiving the first input data from the first input sensor comprises receiving the first input data from one of a camera, a radar, or a Laser Imaging Detection and Ranging (LIDAR) device.