A diagnostic method is provided for a vision sensor of a vehicle. The diagnostic method includes the steps of: determining a first position and a direction of movement of the vehicle; selecting a stationary landmark suitable for being detected by the vision sensor from a landmark database, wherein the landmark is located in front of the vehicle in the direction of movement of the vehicle, wherein a distance from the first position of the vehicle to the landmark is greater than the target range of the vision sensor; detecting the landmark via the vision sensor and, in response to a successful detection of the landmark by the vision sensor; determining a second position of the vehicle; determining an actual range of the vision sensor as the distance between the second position of the vehicle and the landmark.

The invention relates to a method for detecting a blocked state of an ultrasonic sensor (3) of a motor vehicle (1), in which at least one oscillation parameter of the ultrasonic sensor (3) is recorded and an evaluation device (4) of the motor vehicle (1) carries out a detection algorithm which is used to evaluate the at least one oscillation parameter for the purpose of detecting the blocked state. An object (9) in an area surrounding the motor vehicle (1) is detected by the evaluation device (4) on the basis of sensor data from at least one sensor (3, 8) of the motor vehicle (1), in which case, when a distance (D) between the object (9) and the ultrasonic sensor (3) falls below a predefined threshold value (G), the detection algorithm is not carried out by the evaluation device (4) or a blocked state of the ultrasonic sensor (3), as detected using the detection algorithm, is ignored by the evaluation device (4).

The invention relates to a method for detecting a blocked state of an ultrasonic sensor (3) of a motor vehicle (1), wherein an actual value of at least one oscillation parameter (fR) of the ultrasonic sensor (3) is sensed and is compared with a reference value by means of an evaluation unit (4) in order to detect a blocked state, wherein a current temperature (T) to which the ultrasonic sensor (3) is exposed is detected by means of a temperature detecting device (8), and the reference value is determined as a function of the current temperature (T) by means of the evaluation unit (4).

A method determines a blockage of a sensor of a plurality of sensors of an ego vehicle. The method determines a prior blockage probability of the sensor of the plurality of sensors; receives sensor data of the sensor of the plurality of sensors; determines a performance of the sensor based on the received sensor data; calculates a posterior blockage probability based on the prior blockage probability of the sensor and the performance of the sensor; and determines the blockage of the sensors using the calculated posterior blockage probability.

Technologies for steering sensors in a sensor carrier structure on an autonomous vehicle (AV) are described herein. In some examples, a sensor positioning platform on an AV can include an actuator system including a motor configured to move and reposition a sensor carrier structure having a plurality of sensors; a motor controller configured to receive instructions for controlling the motor to reposition the sensor carrier structure and, based on the instructions, send to the motor control signals configured to control the motor to reposition the sensor carrier structure; one or more hoses arranged within tubes mounted to a portion of the actuator system and configured to output sensor cleaning substances through a thru-bore on the actuator system; and one or more cleaning systems configured to receive the sensor cleaning substances and spray the sensor cleaning substances on one or more sensors on the sensor carrier structure.

An ultrasonic apparatus includes an ultrasonic transducer, a transmitting circuit, a receiving circuit, a Q-factor measuring circuit, and a frequency measuring circuit. The ultrasonic transducer is a three-terminal ultrasonic transducer that includes a transmitting electrode, a receiving electrode, and a common electrode. The transmitting circuit outputs a driving signal to the transmitting electrode to cause the ultrasonic transducer to transmit ultrasonic waves. The receiving circuit receives a receive signal from the receiving electrode. The frequency measuring circuit measures a resonant frequency of the ultrasonic transducer from a reverberation signal in the receive signal. The Q-factor measuring circuit measures a Q factor of the ultrasonic transducer from the reverberation signal in the receive signal.

An ultrasonic apparatus includes an ultrasonic transducer, a driving circuit, a receiving circuit, a frequency detector, a frequency storage, a temperature detector, and an anomaly determiner. The frequency detector detects a resonant frequency of the ultrasonic transducer. The frequency storage stores a resonant frequency of the ultrasonic transducer at a predetermined temperature. The anomaly determiner determines an anomaly of the ultrasonic transducer based on a temperature detected by the temperature detector, a resonant frequency stored in the frequency storage, and a resonant frequency detected by the frequency detector.

A control device includes: an object detector to output a signal for causing a transmitter to transmit an object detection ultrasonic wave, obtain an output signal from a receiver, and detect an object; an abnormality detector to perform, as an abnormality detection process, outputting a signal for causing the transmitter to transmit an abnormality detection ultrasonic wave whose transmission time is longer than that of the object detection ultrasonic wave, obtaining, from the receiver, an output signal in a period in which the abnormality detection ultrasonic wave is to be received as a direct wave, and detecting an abnormality in the transmitter or receiver when no signal of the direct wave is included; and a determiner to obtain a speed of a vehicle including the transmitter and receiver, and when the speed is not greater than a threshold, cause the abnormality detector to start the abnormality detection process.

An ultrasonic sensor, that transmits probe waves which are ultrasonic waves and acquires detection waves including reflected waves which have been reflected from surrounding objects, includes a transmitter/receiver that transmits the probe waves and acquires the detection waves, a detection wave processing section that executes processing for passing a predetermined frequency band which includes the frequency of the probe waves, an amplitude measurement section which measures the amplitude of the detection waves, and a judgement section which judges whether there is adherence of foreign matter on the transmitter/receiver, based on a relationship between a time axis and values of the amplitude of the detection waves during a reverberation interval following the termination of transmitting the probe waves.

An object detection apparatus is applied to a movable body including an object detection sensor which transmits a search wave and receives a reflected wave of the search wave as detection information of an object, and detects the object present around the movable body based on the detection information. The apparatus includes a frequency detection section which detects an occurrence frequency of a disturbance signal at the same time within a predetermined transmission time period determined with reference to a transmission period of the search wave, and a disturbance determination section which determines presence or absence of occurrence of disturbance based on the occurrence frequency detected by the frequency detection section.