# US 11,440,582 B2 · Detection unit > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,440,582 B2 - Document ID: US11440582B2 - Status: Granted - Kind: B2 - Application number: 16/823,745 - Filed: 2020-03-19 - Published: 2020-10-01 - Granted: 2022-09-13 - Earliest claimed: 2019-03-28 - Assignees: Denso Corporation - Applicants: Denso Corporation - Inventors: Nao Uematsu - Web page: https://patentgrep.com/patent/US11440582B2 ## CPC - B62D 5/049: {detecting sensor failures} - B60W 10/20: including control of steering systems - B62D 5/0484: {for reaction to failures, e.g. limp home} - B62D 15/021: {Determination of steering angle} - B60W 2050/0292: {Fail-safe or redundant systems, e.g. limp-home or backup systems} - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract A detection unit has a rotation angle sensor including at least three detection elements detecting a change of physical quantity and outputting angle signals respectively corresponding to detection values of the respective detection elements. The detection unit also has a controller including an abnormality monitor monitoring the angle signals and identifying the respective angle signals either as a normal signal or an abnormal signal. The controller either outputs a value corresponding to at least one of two normal signals when two or more normal signals are identified or stops output regarding the detection signal when two or more normal signals are not identified. ## Claims ### Claim 1 A detection unit comprising: a sensor including at least three detection elements configured to detect a change of physical quantity and outputting detection signals respectively corresponding to detection values from the at least three detection elements; and a controller (i) including an abnormality monitor configured to monitor the detection signal and identify a normal signal and an abnormal signal, the normal signal being a normal detection signal and the abnormal signal being a detection signal having abnormality, and (ii) either (a) outputting a value corresponding to at least one of two normal detection signals when two or more normal detection signals are identified or (b) stopping output regarding the detection signal when two or more normal detection signals are not identified. ### Claim 2 (depends on 1) The detection unit of claim 1, wherein each detection element includes a main detection element and a sub detection element, a combination of the main detection element and the sub detection element is defined as a system, and the sensor is provided with a plurality of systems. ### Claim 3 (depends on 2) The detection unit of claim 2, wherein the main detection element and the sub detection element comprise different configurations. ### Claim 4 (depends on 2) The detection unit of claim 2, wherein the plurality of systems in the sensor are connected to respectively different power sources. ### Claim 5 (depends on 2) The detection unit of claim 2, wherein a main signal from the main detection element is a priority signal having high output priority, and a sub signal from the sub detection element is a monitor signal used for monitoring the main signal, and is output as a replacement signal of the main signal when the main signal has abnormality. ### Claim 6 (depends on 5) The detection unit of claim 5, wherein the abnormality monitor is configured to compare the main signal of a subject system with both of the sub signal of the subject system and the main signal of an other system, and compare the sub signal of the subject system with the main signal of the subject system but not with the detection signal of the other system. ### Claim 7 (depends on 1) The detection unit of claim 1, wherein the abnormality monitor is configured to identify the normal signal by calculating a reference signal by using at least two detection signals and compare the detection signal with the reference signal. ### Claim 8 (depends on 1) The detection unit of claim 1, wherein the abnormality monitor is configured to identify the abnormal signal according to a comparison result of two detection signals, wherein the comparison of the two detection signals is performed for all combinations of the detection signals for an identification of the abnormal signal. ### Claim 9 (depends on 1) The detection unit of claim 1, wherein the abnormality monitor is configured to identify the abnormal signal according to a comparison result of the two detection signals, which is based on a comparison of at least one subject-to-comparison pair of the detection signals set in advance, when the comparison result of the subject-to-comparison pair is normal, the abnormality monitor identifies both of the detection signals of the subject-to-comparison pair as a normal signal, when the comparison result of the subject-to-comparison pair is abnormal, the abnormality monitor searches for a new pair having a normal comparison result, and identifies, if any, both of the detection signals of the new pair having the normal comparison result as a normal signal, and sets the new pair as a subject-to-comparison pair for a next and subsequent comparison. ### Claim 10 (depends on 1) The detection unit of claim 1, wherein the abnormality monitor is configured to identify the normal signal by performing a comparison of the two detection signals and by having a comparison result of being normal or abnormal, and performs a retry when having an abnormal comparison result, with a subject-to-comparison pair set in advance according to a number of retries, and the abnormality monitor identifies the abnormal signal according to the number of retries. ### Claim 11 (depends on 1) The detection unit of claim 1, wherein the controller includes a notification unit configured to notify an external device of abnormality information regarding the abnormality of the detection signal. ### Claim 12 (depends on 11) The detection unit of claim 11, wherein the notification unit is configured to notify the external device of the abnormality information according to a situation of the abnormality, as first abnormality information regarding abnormality of at least one detection signal or as second abnormality information regarding that a number of normal detection signals is one or less. ### Claim 13 (depends on 1) The detection unit of claim 1, wherein identifying the normal detection signal comprises comparing each detection signal to a reference signal, and determining whether a difference between each detection signal and the reference signal is less than a threshold, and identifying the two or more normal detection signals comprises counting a total number of the detection signals that are identified as normal signals, and determining whether the total number is greater than two or more. ### Claim 14 A detection unit comprising: a sensor including at least three detection elements configured to detect a change of physical quantity and outputting detection signals respectively corresponding to detection values from the at least three detection elements; and a controller including an abnormality monitor configured to: compare each detection signal to a reference signal; determine whether each detection signal is a normal signal or an abnormal signal by determining whether a difference between each detection signal and the reference signal is less than an abnormality determination threshold, each normal signal comprising a detection signal in which the difference between a respective detection signal and the reference signal is less than or equal to the abnormality determination threshold, each abnormal signal comprising a detection signal in which the difference between the respective detection signal and the reference signal is greater than the abnormality determination threshold; count a total number of normal signals among the detection signals; determine whether the total number of normal signals is greater than or equal to a predetermined threshold; and output a value corresponding to at least one of the respective detection signals that are determined to be normal signals, in response to the total number of normal signals being greater than or equal to the predetermined threshold.