Abnormality determination apparatus, vehicle assistance system, and server

A vehicle assistance system comprising:

• an infrastructure sensor installed in a predetermined place, the infrastructure sensor configured to detect an obstacle;
• an onboard apparatus connected to an onboard sensor mounted on a vehicle, the onboard sensor configured to detect the obstacle;
• and
• a server installed in a place different from the infrastructure sensor,
• wherein the infrastructure sensor includes:
• a sensor unit configured to detect the obstacle;
• an infrastructure-side obstacle notification unit configured to notify the onboard apparatus of a first detection result of the obstacle by the sensor unit;
• an abnormality determination unit configured to perform a comparison of the first detection result of the obstacle by the sensor unit with a second detection result of the obstacle by the onboard sensor notified from the onboard apparatus, the abnormality determination unit configured to determine whether or not the sensor unit or the onboard sensor is abnormal based on a result of the comparison;
• and
• a warning notification unit configured to notify the server of a warning based on a determination result by the abnormality determination unit,
• the onboard apparatus includes:
• a vehicle-side obstacle notification unit configured to notify the infrastructure sensor of the second detection result;
• a sensor fusion unit configured to recognize the obstacle based on the first detection result and the second detection result;
• and
• a vehicle location notification unit configured to notify the server of a location of the vehicle,
• the server includes:
• an infrastructure cooperative vehicle selection unit configured to select the vehicle from among a plurality of vehicles based on the location of the vehicle notified from the onboard apparatus and a predetermined travel plan of the vehicle;
• and
• an infrastructure cooperative vehicle notification unit configured to notify the infrastructure sensor of the vehicle selected by the infrastructure cooperative vehicle selection unit, and
• the abnormality determination unit compares the second detection result with the first detection result.

A vehicle assistance system comprising:

• an infrastructure sensor installed in a predetermined place, the infrastructure sensor configured to detect an obstacle;
• an onboard apparatus connected to an onboard sensor mounted on a vehicle, the onboard sensor configured to detect the obstacle;
• and
• a server installed in a place different from the infrastructure sensor,
• wherein the infrastructure sensor includes:
• a sensor unit configured to detect the obstacle;
• an infrastructure-side obstacle notification unit configured to notify the onboard apparatus and the server of a first detection result of the obstacle by the sensor unit;
• and
• a relay unit configured to notify the server of the first detection result from the onboard apparatus,
• the onboard apparatus includes:
• a vehicle-side obstacle notification unit configured to notify the infrastructure sensor of a second detection result of the obstacle by the onboard sensor;
• a sensor fusion unit configured to recognize the obstacle based on the first detection result and the second detection result;
• and
• a vehicle location notification unit configured to notify the server of a location of the vehicle, and
• the server includes:
• an infrastructure cooperative vehicle selection unit configured to select the vehicle from among a plurality of vehicles based on the location of the vehicle notified from the onboard apparatus and a predetermined travel plan of the vehicle;
• and
• an abnormality determination unit configured to perform a comparison of the first detection result with the second detection result, and determine whether or not the sensor unit or the onboard sensor is abnormal based on a result of the comparison.