Vehicular self-diagnosis device

A vehicular self-diagnosis device comprising:

• a first sensor, a second sensor, and a third sensor configured to detect parameters to be used in steering control of a vehicle;
• one or more processors, electronically coupled to the first, second and third sensors;
• and
• one or more memories storing instructions for causing the one or more processors to:
• estimate a first turn status of the vehicle based on a steering angle detected by the first sensor as one of the parameters;
• estimate a second turn status of the vehicle based on behavior of the vehicle detected by the second sensor as one of the parameters;
• estimate a third turn status of the vehicle based on a lane curvature and a vehicle-versus-lane yaw angle of the vehicle relative to the lane curvature, the lane curvature and the vehicle-versus-lane yaw angle each being detected by the third sensor—as one of the parameters;
• extract first second and third offset components respectively from the estimated first, second, and third turn statuses of the vehicle;
• calculate a maximum divergence amount based on a maximum value of the first, second and third offset components and a minimum value of the first, second and third offset components;
• compare the maximum divergence amount with a predetermined threshold value and determine that inconsistency exists among the first, second and third sensors in a case where the maximum divergence amount exceeds the threshold value;
• and
• intervene in a steering operation to cause the vehicle to travel along boundary lines defining left and right sides of a lane on which the vehicle is traveling in a case where the vehicle is estimated to deviate from the lane, wherein
• in a case where the one or more processors determine that the inconsistency exists among the first, second and third sensors, the one or more processor suppress or prohibit the intervention in the steering operation.

A vehicular self-diagnosis device comprising:

• a first sensor configured to detect a steering angle;
• a second sensor configured to detect a behavior of the vehicle;
• a third sensor configured to detect a lane curvature and a vehicle-versus-lane yaw angle;
• a circuitry electronically coupled to the first, second and third sensors and configured to
• estimate a first turn status of the vehicle based on the steering angle,
• estimate a second turn status of the vehicle based on the behavior of the vehicle,
• estimate a third turn status of the vehicle based on the lane curvature and the vehicle-versus-lane yaw angle of the vehicle relative to the lane curvature,
• extract first, second and third offset components respectively from the estimated first, second and third turn statuses of the vehicle,
• calculate a maximum divergence amount based on a maximum value and a minimum value of the first, second and third offset components, and
• compare the calculated maximum divergence amount with a predetermined threshold value and determine that inconsistency exists among the first, second and third sensors in a case where the maximum divergence amount exceeds the threshold value;
• and
• perform a steering control of the vehicle based on the determination of inconsistency.