Fecha de publicación: 10/06/2021 Fuente: Wipo "Sensorization" A sensor controller, which controls a first optical sensor and a second optical sensor respectively having beam irradiation ranges, shifted from each other, for scanning a substantially front direction and a substantially side direction of a vehicle. The sensor controller: determines when an abnormality occurs in either the first optical sensor or the second optical sensor; identifies an abnormal sensor in which abnormality has occurred and a normal sensor that maintains normality; and controls a beam pattern in a beam irradiation range of the normal sensor to have a degeneration pattern with a high density in a region overlapping a beam irradiation range of the abnormal sensor.