Error diagnosis device and vehicle control device

An error diagnosis device diagnosing if location measurement error has occurred in a location measurement sensor measuring a self-location of a vehicle,

• the error diagnosis device comprising:
• a memory storing map information divided in every road sections;
• and
• a processor, wherein
• the processor is configured to:
• acquire self-location information of the vehicle measured by the location measurement sensor;
• identify road sections on which the vehicle has been driven in the map information, in time series, based on the self-location information of the vehicle;
• and
• judge that there is location measurement error in the location measurement sensor when, a ratio of the number of road sections where each section and a road section identified as having been driven on by the vehicle after that road section is driven on are consecutive, with respect to the number of a plurality of road sections identified as having been driven on by the vehicle, is less than a predetermined reference ratio, and judge that there is no location measurement error in the location measurement sensor when that ratio is equal to or greater than the reference ratio.

An error diagnosis device diagnosing if location measurement error has occurred in a location measurement sensor measuring a self-location of a vehicle,

• the error diagnosis device comprising:
• a memory storing map information divided in every road sections;
• and
• a processor, wherein
• the processor is configured to:
• acquire self-location information of the vehicle measured by the location measurement sensor;
• identify road sections on which the vehicle has been driven in the map information, in time series, based on the self-location information of the vehicle;
• estimate a drive distance over which the vehicle has been driven between a first point of time in the past and a second point of time after the first point of time without using the map information;
• and
• judge that there is location measurement error in the location measurement sensor when a difference in distance between a total distance of a total of the lengths of all road sections identified as having been driven on by the vehicle from the first point of time to the second point of time and the estimated drive distance is equal to or greater than a predetermined reference value, and judge that there is no location measurement error in the location measurement sensor when the difference in distance is less than the predetermined reference value.