Movement amount estimation device

Abstract

To suppress the influence of an instantaneous error when estimating the movement amount of a vehicle.SOLUTION: A movement amount estimation device 100 being an external sensor 224 prepared in a movable body, includes: an external movement amount acquisition part 114 for acquiring an external movement amount CD using external information on a target OB on the outside of the movable body, detected by the external sensor capable of detecting the external information; an internal movement amount acquisition part 116 for acquiring an internal movement amount using internal information on the movement of the movable body, detected by at least one internal sensor 222 provided in the movable body and capable of detecting the internal information; and a movement amount estimation part 120 for estimating the movement amount of the movable body using at least one of the external movement amount and the internal movement amount. The movement amount estimation part acquires the difference between the external movement amount and the inner movement amount, and determines whether the movement amount is estimated using one of the external movement amount and the inner movement amount on the basis of whether a difference acquired between the external movement amount and the internal movement amount is equal to or less than a predetermined threshold value.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a movement amount estimation device. [Background technology]

[0002] For example, Patent Document 1 discloses a vehicle position estimation device that includes a radio position estimation unit that calculates the amount of movement of the vehicle based on the relative positional relationship between a radio device outside the vehicle and a vehicle-side radio device, and a vehicle position estimation unit that calculates the amount of movement of the vehicle using information from a sensor that detects the wheel speed, etc. This vehicle position estimation device compares the amount of movement calculated by the radio position estimation unit with the amount of movement calculated by the vehicle position estimation unit, and corrects the amount of movement of the vehicle so that the difference between the two becomes smaller. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2022-182862 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the conventional technology, a wireless device installed outside the vehicle is used to correct the amount of movement of the vehicle. Therefore, it is required to estimate the amount of movement of the vehicle only by a device installed in the vehicle. In this case, it is desirable to suppress the influence of noise on the detection result from the viewpoint of improving the detection accuracy of the amount of movement. [Means for solving the problem]

[0005] The present disclosure can be realized in the following forms.

[0006] According to one embodiment of the present disclosure, there is provided a movement amount estimation device (100) for estimating a movement amount of a moving body. The movement amount estimation device includes: an external movement amount acquisition unit (114) for acquiring an external movement amount (CD) as a movement amount of the moving body, using external information detected by at least one external sensor (224) provided on the moving body, the external sensor being capable of detecting external information related to an object (OB) outside the moving body; an internal movement amount acquisition unit (116) for acquiring an internal movement amount as a movement amount of the moving body, using internal information detected by at least one internal sensor (222) provided on the moving body, the internal sensor being capable of detecting internal information related to the movement of the moving body; and a movement amount estimation unit (120) for estimating the movement amount of the moving body, using at least one of the external movement amount and the internal movement amount. The movement amount estimation unit acquires a difference between the external movement amount and the internal movement amount, and determines whether the acquired difference is equal to or less than a predetermined threshold value, to use to estimate the movement amount, the acquired external movement amount or the acquired internal movement amount.

[0007] According to the movement amount estimation device of this embodiment, it is possible to determine whether the acquired external movement amount or internal movement amount includes an instantaneous error, depending on whether the difference between the external movement amount and the internal movement amount is equal to or less than a threshold value. Therefore, by using either the external movement amount or the internal movement amount in which no instantaneous error occurs, it is possible to suppress the influence of the instantaneous error in estimating the movement amount. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is an explanatory diagram showing the configuration of a movement amount estimation device according to a first embodiment. [Diagram 2] FIG. 2 is a block diagram showing the internal functional configuration of the movement amount estimation device. [Diagram 3] 11 is a graph showing a change in an error in an external movement amount with respect to a movement distance. [Figure 4] 5 is a flowchart showing a processing routine in a process for estimating a movement amount of a vehicle. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] A. First embodiment: FIG. 1 is an explanatory diagram showing a configuration of a movement amount estimation device 100 according to a first embodiment of the present disclosure. The movement amount estimation device 100 estimates the movement amount of a vehicle 200. The movement amount of the vehicle 200 is, for example, a translational rotational movement amount including a rotation matrix and a translation matrix. In this embodiment, the movement amount estimation device 100 is an ECU (Electronic Control Unit) mounted on the vehicle 200, and is also capable of executing various controls of the vehicle 200, such as driving control. The movement amount estimation device 100 may be provided in the vehicle 200 as a separate entity from the ECU, or may be realized by a device external to the vehicle 200, such as an external server.

[0010] The result of estimating the amount of movement of the vehicle 200 by the movement amount estimation device 100 is used for driving control of the vehicle 200. "Driving control of the vehicle 200" refers to, for example, automatic driving control for controlling automatic driving of the vehicle 200, driving assistance control, and the like. Driving assistance control refers to lane keeping control for driving the vehicle 200 along the driving lane, and risk avoidance control, and the like. "Risk avoidance control" refers to control for performing at least one of steering control and braking control for reducing the risk of collision between the vehicle 200 and an object. Information regarding the position of the vehicle 200 is used in the driving control of the vehicle 200. The position of the vehicle 200 is estimated using the amount of movement of the vehicle 200 estimated by the movement amount estimation device 100.

[0011] The vehicle 200 is, for example, a passenger car, a truck, a bus, a construction vehicle, etc. In this embodiment, the vehicle 200 is an electric vehicle (BEV: Battery Electric Vehicle). The vehicle 200 is not limited to an electric vehicle, and may be, for example, a gasoline vehicle, a hybrid vehicle, or a fuel cell vehicle. The vehicle 200 includes an internal sensor 222, an external sensor 224, and a movement amount estimation device 100.

[0012] The internal sensor 222 detects internal information, which is data related to the traveling of the vehicle 200. The amount of movement of the vehicle 200 can be acquired by the internal information or its analysis, etc. The internal information may be, for example, the amount of movement of the vehicle 200, or may be the position of the vehicle 200 or various data related to the traveling of the vehicle 200 that can acquire such data. The amount of movement of the vehicle 200 acquired using the internal information is also referred to as the "internal movement amount."

[0013] In this embodiment, the internal sensor 222 is a wheel speed sensor provided on the wheel 212, and the internal information is the amount of rotation of the wheel 212 or the rotation speed of the wheel 212. For example, the amount of movement of the vehicle 200 as the amount of internal movement can be acquired by multiplying the amount of rotation obtained by the internal sensor 222 by the circumference of the wheel 212. The internal sensor 222 is not limited to a wheel speed sensor, and may be a steering angle sensor, a yaw rate sensor, an IMU (Inertial Measurement Unit), a GNSS (Global Navigation Satellite System) receiver, or any combination of these. The amount of internal movement may be a scalar value indicating the distance traveled by the vehicle 200, or a vector value including the distance traveled by the vehicle 200 and the turning angle of the vehicle 200.

[0014] FIG. 1 conceptually illustrates the inner field movement amount SD(n). The inner field movement amount SD(n) is the movement amount of the vehicle 200 obtained from the detection result of the inner field sensor 222. The inner field movement amount SD(n) can be calculated, for example, based on the history of the wheel speed and steering angle detected during the period from the previous processing routine to the current processing routine. If the position of the vehicle 200 at the time of a specific processing routine is the vehicle position P(n) and the position of the vehicle 200 at the time of the previous processing routine or an earlier time is the vehicle position P(n-1), the movement amount from the previous vehicle position P(n-1) to the current vehicle position P(n) is the current inner field movement amount SD(n). FIG. 1 also illustrates the previous inner field movement amount SD(n-1) and the next inner field movement amount SD(n+1).

[0015] The external sensor 224 detects external information, which is data related to an object OB outside the vehicle 200. The object OB is, for example, a stationary object such as a white line, a pole, a telephone pole, a sign, a billboard, or a building. The amount of movement of the vehicle 200 can be acquired by the external information or an analysis thereof. The external information may be the amount of movement of the object OB, or may be various data related to the position of the object OB or the movement of the object OB that can acquire the position of the object OB. The amount of movement of the vehicle 200 acquired by using the external information is also called the "external movement amount."

[0016] In this embodiment, the external sensor 224 is a multi-camera including four fisheye cameras provided on the front, rear, left and right sides of the vehicle 200, and the external information is image data of the target OB. The fisheye camera is a camera using a fisheye lens. However, the external sensor 224 may be a multi-camera including a pinhole camera instead of or together with the fisheye camera. By using the pinhole camera, the external sensor 224 having a simple configuration can detect an object outside the vehicle 200. The external sensor 224 is not limited to a camera, and may be a LiDAR (Laser Imaging Detection and Ranging) or a radar device. When the external sensor 224 is a LiDAR, the external information is three-dimensional point cloud data. The three-dimensional point cloud data is data indicating the three-dimensional position of the point cloud. The external movement amount may be a scalar value indicating the movement distance of the vehicle 200, or a vector value including the movement distance of the vehicle 200 and the turning angle of the vehicle 200.

[0017] FIG. 1 conceptually illustrates an external movement amount CD(n). The external movement amount CD(n) is the movement amount of the vehicle 200 obtained from the detection result of the external sensor 224. The absolute position of the target OB in the absolute coordinate system is known. The relative position FP(n) of the target OB with respect to the external sensor 224 is calculated based on the detection result by the external sensor 224. The external movement amount CD(n) is, for example, the movement amount from the relative position FP(n-1) calculated in the previous processing routine to the relative position FP(n) calculated in the current processing routine. When the position of the target OB at the time of a predetermined processing routine is the relative position FP(n), and the position of the target OB at the time of the previous processing routine or an earlier time is the relative position FP(n-1), the movement amount from the previous relative position FP(n-1) to the current relative position FP(n) is the current external movement amount CD(n). FIG. 1 also shows the previous external movement amount CD(n-1) and the next external movement amount CD(n+1).

[0018] 2 is a block diagram showing an internal functional configuration of the movement amount estimation device 100. The movement amount estimation device 100 includes a CPU 110 as a central processing unit, a storage device 130, and an interface circuit 150. The CPU 110, the storage device 130, and the interface circuit 150 are connected to each other via an internal bus so as to be able to communicate in both directions. The interface circuit 150 is connected to an actuator group 210 and sensors 220. When the movement amount estimation device 100 is provided outside the vehicle 200, a communication device for communicating with the vehicle 200 via a network or the like may be further connected to the interface circuit 150.

[0019] The storage device 130 is, for example, an HDD (hard disk drive), an SSD (solid state drive), an optical recording medium, a semiconductor memory, etc. An external movement amount CD, an internal movement amount SD, and a correction value CV are stored in a readable / writable area of ​​the storage device 130. The correction value CV is used to calculate the movement amount of the vehicle 200, as described below. In this embodiment, the correction value CV is corrected so that the internal movement amount SD matches the external movement amount CD. The correction value CV can be obtained, for example, by calculating the difference between the external movement amount CD and the internal movement amount SD.

[0020] A computer program for realizing at least a part of the functions provided in this embodiment is stored in the storage device 130. When the computer program stored in the storage device 130 is executed by the CPU 110, the CPU 110 functions as a driving control unit 112, an external movement amount acquisition unit 114, an internal movement amount acquisition unit 116, a correction value determination unit 118, and a movement amount estimation unit 120. However, some or all of these functions may be configured by hardware circuits.

[0021] The traveling control unit 112 executes traveling control of the vehicle 200 and driving control of the vehicle 200. The "driving control" refers to various controls for driving the actuator group 210 that exerts the functions of "running," "turning," and "stopping" of the vehicle 200, such as adjusting the acceleration, speed, and steering angle. The actuator group 210 includes actuators of a drive device for accelerating the vehicle 200, actuators of a braking device for decelerating the vehicle 200, and actuators of a steering device for changing the traveling direction of the vehicle 200.

[0022] The external movement amount acquisition unit 114 acquires an external movement amount CD using external information detected by the external sensor 224. The acquired external movement amount CD is stored in the storage device 130. The internal movement amount acquisition unit 116 acquires an internal movement amount SD using internal information detected by the internal sensor 222. The acquired internal movement amount SD is stored in the storage device 130.

[0023] The correction value determination unit 118 determines the correction value CV. In this embodiment, the correction value determination unit 118 determines the correction value CV corresponding to the determination result of whether or not a gradual error occurs in the internal movement amount SD, or an instantaneous error occurs in the internal movement amount SD or the external movement amount CD. The determined correction value CV is stored in the storage device 130.

[0024] The internal movement amount SD and the external movement amount CD during a given period may not coincide with each other. For example, the internal movement amount SD may have an error (hereinafter also referred to as "gradual error") that can gradually accumulate due to variations or changes in the diameter of the wheels 212, a decrease in the air pressure of the wheels 212, etc. The gradual error generally increases with an increase in the travel distance of the vehicle 200. By correcting the acquired internal movement amount SD using the correction value CV, the detected value of the internal movement amount SD is matched with the external movement amount CD. As a result, the influence of the gradual error can be reduced, and the estimation accuracy of the movement amount of the vehicle 200 can be improved.

[0025] FIG. 3 is a graph showing the change in the error of the external movement amount with respect to the moving distance. The horizontal axis indicates the moving distance of the vehicle 200, and the vertical axis indicates the magnitude of the detection error of the external movement amount. For example, when the external sensor 224 is a camera, a detection error of the characteristic point of the target OB may occur due to poor visibility outside the vehicle 200. In this case, as shown by the error P1 in FIG. 3, a temporary error due to the detection error may occur in the external movement amount CD. The temporarily occurring error is also called an "instantaneous error." In the internal sensor 222, for example, when the wheels 212 slip or spin during driving, an instantaneous error due to these may occur in the internal movement amount SD. If the movement amount of the vehicle 200 is calculated in a state including the instantaneous error, the estimation accuracy of the movement amount of the vehicle 200 decreases. Therefore, it is desirable to detect whether the acquired external movement amount CD and internal movement amount SD include an instantaneous error, and calculate the movement amount of the vehicle 200 using a calculation method or a correction value CV corresponding to the detection result.

[0026] Whether or not the external movement amount CD and the internal movement amount SD include an instantaneous error is determined by checking the deviation between the external movement amount CD and the internal movement amount SD. For example, the difference between the external movement amount CD and the internal movement amount SD is calculated, and whether or not the difference exceeds a predetermined threshold value can be determined. In this embodiment, the threshold value is set to a correction value CV (also called "previous correction value") determined in the previous processing routine. Specifically, when the current difference, which is the difference between the external movement amount CD in the current processing routine and the current internal movement amount SD, is larger than the previous difference, which is the difference between the external movement amount CD in the previous processing routine and the previous internal movement amount SD, it is estimated that an instantaneous error has occurred. Note that the current difference is equal to the correction value CV (also called "current correction value") determined in the current processing routine, and the previous difference is equal to the correction value CV determined in the previous processing routine. The threshold value may be set to a correction value CV determined in the previous processing routine or before, such as the time before last. The threshold value may be set to a fixed value, or may be set arbitrarily using a past correction value CV, such as an average value of the correction values ​​CV from the previous time onward.

[0027] Returning to Fig. 2, the movement amount estimation unit 120 estimates the movement amount of the vehicle 200. The movement amount estimation unit 120 estimates the movement amount using at least one of the currently acquired internal movement amount SD, external movement amount CD, and correction value CV, or the internal movement amount SD, external movement amount CD, and correction value CV stored in the storage device 130. In this embodiment, the movement amount estimation unit 120 estimates the movement amount of the vehicle 200 using a different calculation method depending on the determination result of whether or not an instantaneous error has occurred in the internal movement amount SD or the external movement amount CD, as will be described later.

[0028] 4 is a flowchart showing a processing routine in a process for estimating the movement amount of the vehicle 200. This flow is started, for example, by starting the vehicle 200 or the movement amount estimation device 100. This flow can be repeatedly executed at predetermined time intervals, for example, every 1 second or 0.1 second.

[0029] In step S10, the external world movement amount acquisition unit 114 acquires the detection result of the external world sensor 224 and calculates the current external world movement amount. The calculated current external world movement amount is also called the "external world movement amount CD(n)." The external world movement amount CD stored in the storage device 130 is also called the "previous external world movement amount" or the "external world movement amount CD(n-1)."

[0030] In step S20, the internal movement amount acquisition unit 116 acquires the detection result of the internal sensor 222 and calculates the current internal movement amount. The calculated current internal movement amount is also called the "internal movement amount SD(n)." The internal movement amount SD stored in the storage device 130 is also called the "previous internal movement amount" or the "internal movement amount SD(n-1)."

[0031] In step S30, the movement amount estimation unit 120 checks whether the difference between the external movement amount CD(n) and the internal movement amount SD(n) is equal to or less than a correction value CV as a threshold value. The correction value CV is the correction value CV stored in the storage device 130. The correction value CV stored in the storage device 130 is also called the "previous correction value" or the "correction value CV(n-1)".

[0032] In this embodiment, the movement amount estimation unit 120 checks whether the absolute value of the difference between the external movement amount CD(n) and the internal movement amount SD(n) is equal to or less than the absolute value of the correction value CV. Specifically, the movement amount estimation unit 120 checks whether the following formula (1) is satisfied. By using formula (1), it is possible to determine whether an instantaneous error has occurred in either the external movement amount CD(n) or the internal movement amount SD(n).

[0033] |External movement amount CD(n) - Internal movement amount SD(n)| ≦ |Correction value CV(n-1)| ...Equation (1)

[0034] If formula (1) is satisfied (S30: YES), that is, if it is determined that no instantaneous error has occurred, the movement amount estimation unit 120 proceeds to step S40. In step S40, the correction value determination unit 118 determines the correction value CV(n) to be the calculated value of "external movement amount CD(n)-internal movement amount SD(n)". The determined correction value CV(n) is stored in the storage device 130 and updated.

[0035] In step S50, the movement amount estimation unit 120 overwrites and updates the external movement amount CD of the storage device 130 with the acquired external movement amount CD(n). In step S60, the movement amount estimation unit 120 overwrites and updates the internal movement amount SD of the storage device 130 with the acquired internal movement amount SD(n).

[0036] In step S70, the movement amount estimation unit 120 acquires a value obtained by adding the correction value CV(n) determined in step S40 to the current internal movement amount SD(n) as the movement amount of the vehicle 200. The movement amount estimation unit 120 outputs the acquired movement amount of the vehicle 200 to the driving control unit 112, and ends this flow.

[0037] In step S30, if formula (1) is not satisfied (S30: NO), the movement amount estimation unit 120 moves the process to step S32. In step S32, the movement amount estimation unit 120 compares the difference between the external movement amount CD(n) and the external movement amount CD(n-1) (hereinafter also referred to as the "external movement amount difference") with the difference between the internal movement amount SD(n) and the internal movement amount SD(n-1) (hereinafter also referred to as the "internal movement amount difference"). Specifically, the movement amount estimation unit 120 checks whether the following formula (2) is satisfied. By using formula (2), it is possible to determine whether the instantaneous error has occurred in the internal movement amount SD or the external movement amount CD.

[0038] |External world movement amount CD(n)-External world movement amount CD(n-1)|≧|Inner world movement amount SD(n)-Inner world movement amount SD(n-1)| · · · Formula (2)

[0039] If formula (2) is satisfied (S32: YES), the movement amount estimation unit 120 shifts the process to step S100. The case where formula (2) is satisfied is a case where it is determined that an instantaneous error has occurred in the external movement amount CD(n). In step S100, the correction value determination unit 118 determines the previous correction value CV(n-1) stored in the storage device 130 as the current correction value CV(n). That is, the correction value determination unit 118 does not update the correction value CV stored in the storage device 130. This makes it possible to prevent the movement amount of the vehicle 200 from being estimated by a correction value calculated using the external movement amount CD(n) in which an instantaneous error has occurred. Note that step S100 may be omitted.

[0040] In step S110, the movement amount estimation unit 120 updates the external movement amount CD stored in the storage device 130 by overwriting it with a calculated value obtained by adding the internal movement amount SD(n) and the correction value CV(n). By updating the external movement amount CD with the calculation result using the internal movement amount SD, it is possible to prevent the movement amount of the vehicle 200 from being estimated using the external movement amount CD(n) in which it is estimated that an instantaneous error has occurred. In step S120, the movement amount estimation unit 120 overwrites the acquired internal movement amount SD(n) over the internal movement amount SD in the storage device 130 to update it, similar to step S60.

[0041] In step S130, the movement amount estimation unit 120 acquires a value obtained by adding the correction value CV(n) determined in step S100, i.e., the correction value CV(n-1), to the acquired current internal movement amount SD(n) as the movement amount of the vehicle 200. The movement amount estimation unit 120 outputs the acquired movement amount of the vehicle 200 to the driving control unit 112, and ends this flow.

[0042] In step S32, if formula (2) is not satisfied (S32: NO), the movement amount estimation unit 120 shifts the process to step S200. If formula (2) is not satisfied, it is determined that an instantaneous error has occurred in the internal movement amount SD(n). In step S200, the correction value determination unit 118 determines the previous correction value CV(n-1) stored in the storage device 130 as the current correction value CV(n). That is, the correction value determination unit 118 does not update the correction value CV stored in the storage device 130. This makes it possible to prevent the movement amount of the vehicle 200 from being estimated by a correction value calculated using the internal movement amount SD(n) in which an instantaneous error has occurred. Note that step S200 may be omitted.

[0043] In step S210, the movement amount estimation unit 120 overwrites the acquired external movement amount CD(n) onto the external movement amount CD stored in the storage device 130 to update it. In step S220, the movement amount estimation unit 120 overwrites the acquired external movement amount CD(n) onto the internal movement amount SD stored in the storage device 130 to update it. By updating the internal movement amount SD using the external movement amount CD(n), it is possible to prevent the movement amount of the vehicle 200 from being estimated using the internal movement amount SD(n) in which it is estimated that an instantaneous error has occurred.

[0044] In step S230, the movement amount estimation unit 120 acquires a value obtained by adding the correction value CV(n) determined in step S200, i.e., the correction value CV(n-1), to the acquired current external movement amount CD(n) as the movement amount of the vehicle 200. The movement amount estimation unit 120 outputs the acquired movement amount of the vehicle 200 to the driving control unit 112, and ends this flow.

[0045] As described above, according to the movement amount estimation device 100 of this embodiment, the movement amount estimation unit 120 determines whether to use the acquired external movement amount CD(n) or internal movement amount SD(n) to estimate the movement amount of the vehicle 200 based on whether the difference between the external movement amount CD and the internal movement amount SD is equal to or less than a predetermined threshold. It is possible to determine whether the acquired external movement amount CD(n) or internal movement amount SD(n) contains an instantaneous error depending on whether the difference between the external movement amount CD and the internal movement amount SD is equal to or less than a threshold. Therefore, by using either the external movement amount CD(n) or the internal movement amount SD(n) in which no instantaneous error occurs, the influence of the instantaneous error can be suppressed in the estimation of the next movement amount of the vehicle 200.

[0046] The movement amount estimation device 100 of this embodiment further includes a correction value determination unit 118 that determines a correction value CV based on whether or not the difference between the acquired external movement amount CD(n) and internal movement amount SD(n) is equal to or less than a threshold value. Since the correction value CV is determined based on whether or not an instantaneous error is included in either the acquired external movement amount CD(n) or internal movement amount SD(n), it is possible to prevent the correction value CV from being used to calculate the movement amount when an instantaneous error occurs. Therefore, it is possible to suppress the influence of the instantaneous error in estimating the movement amount of the vehicle 200.

[0047] According to the movement amount estimation device 100 of this embodiment, the threshold is determined using the previous correction value CV(n-1) determined last or before. The correction value determination unit 118 determines the correction value CV(n) based on whether or not the current difference, which is the difference between the currently acquired external movement amount CD(n) and the currently acquired internal movement amount SD(n), is equal to or smaller than the previous correction value CV(n-1). By using a correction value determined in the past and having a track record as the threshold, it is possible to increase the probability of detecting an instantaneous error using the threshold.

[0048] According to the movement amount estimation device 100 of this embodiment, when the current difference is equal to or smaller than the previous correction value CV(n-1), the correction value determination unit 118 determines the correction value CV by setting the current difference as the current correction value CV(n). The movement amount estimation unit 120 estimates the movement amount of the vehicle 200 using the currently acquired internal movement amount SD(n) and the determined correction value CV. When it is estimated that no instantaneous error has occurred, the internal movement amount SD(n) is corrected to match the external movement amount CD(n), thereby improving the estimation accuracy of the movement amount of the vehicle 200.

[0049] According to the movement amount estimation device 100 of this embodiment, when the current difference is larger than the previous correction value CV(n-1), the correction value determination unit 118 determines the correction value CV by using the previous correction value CV(n-1) as the current correction value CV(n). When it is estimated that an instantaneous error has occurred, the correction value is not updated, so that the effect of the instantaneous error can be suppressed in estimating the next movement amount of the vehicle 200.

[0050] According to the movement amount estimation device 100 of this embodiment, the movement amount estimation unit 120 acquires the external movement amount difference and the internal movement amount difference when the current difference is greater than the previous correction value CV(n-1). The movement amount estimation unit 120 determines which of the acquired external movement amount CD and the internal movement amount SD to use to estimate the movement amount based on whether the acquired external movement amount difference is equal to or greater than the internal movement amount difference. It is possible to determine whether an instantaneous error has occurred in the external movement amount CD(n) or the internal movement amount SD(n) depending on whether the external movement amount difference is equal to or greater than the internal movement amount difference. Therefore, by using the acquired external movement amount CD or the internal movement amount SD in which no instantaneous error has occurred, the estimation accuracy of the movement amount of the vehicle 200 can be improved.

[0051] According to the movement amount estimation device 100 of this embodiment, when the external movement amount difference is equal to or greater than the internal movement amount difference, the correction value determination unit 118 determines the correction value CV by setting the previous correction value CV(n-1) as the current correction value CV(n). The movement amount estimation unit 120 estimates the movement amount of the vehicle 200 using the currently acquired internal movement amount SD(n) and the determined correction value CV. When it is estimated that an instantaneous error has occurred in the external movement amount CD(n), the correction value CV is not updated, and the previous correction value CV(n-1) and the internal movement amount SD(n) are used, thereby reducing the influence of the instantaneous error.

[0052] According to the movement amount estimation device 100 of this embodiment, when the external movement amount difference is less than the internal movement amount difference, the correction value determination unit 118 determines the correction value CV as the previous correction value CV(n-1) as the current correction value CV(n). The movement amount estimation unit 120 estimates the movement amount of the vehicle 200 using the currently acquired external movement amount CD(n). When it is estimated that an instantaneous error has occurred in the internal movement amount SD(n), the correction value CV is not updated, and the external movement amount CD(n) is used instead of the internal movement amount SD(n), thereby reducing the influence of the instantaneous error.

[0053] B. Other embodiments: (B1) In the above first embodiment, examples were given in which the vehicle 200 was a passenger car, a truck, a bus, a construction vehicle, and the like. However, the vehicle 200 is not limited to these, and may include various automobiles such as two-wheeled vehicles and four-wheeled vehicles, trains, and the like. In addition, the vehicle 200 may be various moving bodies other than the vehicle 200. "Moving body" means an object that can move. Moving bodies include, for example, electric vertical take-off and landing aircraft (so-called flying cars), ships, aircraft, robots, linear motor cars, and the like. In this case, the expressions "vehicle" and "car" in this disclosure can be appropriately replaced with "moving body", and the expression "running" can be appropriately replaced with "moving".

[0054] The control unit and the method described in the present disclosure may be realized by a special-purpose computer provided by configuring a processor and a memory programmed to execute one or more functions embodied in a computer program. Alternatively, the control unit and the method described in the present disclosure may be realized by a special-purpose computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit and the method described in the present disclosure may be realized by one or more special-purpose computers configured by a combination of a processor and a memory programmed to execute one or more functions and a processor configured with one or more hardware logic circuits. In addition, the computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executed by a computer.

[0055] The present disclosure is not limited to the above-mentioned embodiment, and can be realized in various configurations without departing from the spirit of the present disclosure. For example, the technical features in the embodiments corresponding to the technical features in each aspect described in the Summary of the Invention column can be appropriately replaced or combined to solve some or all of the above-mentioned problems or to achieve some or all of the above-mentioned effects. Furthermore, if the technical feature is not described as essential in this specification, it can be appropriately deleted. [Explanation of symbols]

[0056] 100...movement amount estimation device, 114...external movement amount acquisition unit, 116...internal movement amount acquisition unit, 118...correction value determination unit, 120...movement amount estimation unit, 222...internal sensor, 224...external sensor, CD...external movement amount, OB...target, SD...internal movement amount

Claims

1. A movement amount estimation device (100) for estimating a movement amount of a moving body, comprising: an external environment movement amount acquisition unit (114) that acquires an external environment movement amount (CD) as a movement amount of the moving body by using external environment information detected by at least one external environment sensor (224) provided on the moving body, the external environment sensor being capable of detecting external environment information related to a target (OB) outside the moving body; an internal field movement amount acquisition unit (116) that acquires an internal field movement amount as a movement amount of the moving body by using internal field information detected by at least one internal field sensor (222) provided on the moving body, the internal field information being capable of detecting internal field information related to the movement of the moving body; a movement amount estimation unit (120) that estimates a movement amount of the moving body using at least one of the external movement amount and the internal movement amount, The movement amount estimation unit A difference between the external movement amount and the internal movement amount is obtained; determining whether to use the acquired external movement amount or the acquired internal movement amount to estimate the movement amount based on whether the acquired difference is equal to or smaller than a predetermined threshold value; Movement amount estimation device.

2. The movement amount estimation device according to claim 1 , Further, a correction value determination unit (118) is provided which determines a correction value (CV) for correcting the movement amount depending on whether the acquired difference is equal to or smaller than the threshold value, The movement amount estimation unit estimates the movement amount by using the internal boundary movement amount and the determined correction value. Movement amount estimation device.

3. The movement amount estimation device according to claim 2, The threshold value is set using a previous correction value (CV(n-1)) determined using at least the correction value determined previously; the correction value determination unit determines the different correction value based on whether a current difference, which is a difference between the currently acquired external movement amount and the currently acquired internal movement amount, is equal to or less than the previous correction value. Movement amount estimation device.

4. The movement amount estimation device according to claim 3, the correction value determination unit determines the current difference as a current correction value when the current difference is equal to or smaller than the previous correction value, The movement amount estimation unit estimates the movement amount by using the internal boundary movement amount currently acquired and the determined correction value. Movement amount estimation device.

5. The movement amount estimation device according to claim 3, When the current difference is greater than the previous correction value, the correction value determination unit determines the previous correction value as the current correction value. Movement amount estimation device.

6. The movement amount estimation device according to claim 5, The movement amount estimation unit When the current difference is greater than the previous correction value, an outside movement amount difference, which is a difference between the outside movement amount acquired this time and the outside movement amount acquired last time, and an inside movement amount difference, which is a difference between the inside movement amount acquired this time and the inside movement amount acquired last time, are acquired; determining whether to use the acquired external movement amount or the acquired internal movement amount to estimate the movement amount based on whether the acquired external movement amount difference is equal to or greater than the internal movement amount difference; Movement amount estimation device.

7. The movement amount estimation device according to claim 6, when the acquired external movement amount difference is equal to or greater than the internal movement amount difference, the correction value determination unit determines the correction value as the previous correction value as the current correction value; The movement amount estimation unit estimates the movement amount by using the internal boundary movement amount currently acquired and the determined correction value. Movement amount estimation device.

8. The movement amount estimation device according to claim 6, when the acquired external movement amount difference is less than the internal movement amount difference, the correction value determination unit determines the correction value as the previous correction value as the current correction value; The movement amount estimation unit estimates the movement amount by using the currently acquired external movement amount. Movement amount estimation device.

9. The movement amount estimation device according to claim 1 , wherein the external sensor is a multi-camera including a plurality of fisheye cameras.

10. The movement amount estimation device according to claim 1 , wherein the external sensor is a multi-camera including a plurality of pinhole cameras.

11. The movement amount estimating device according to claim 1 , wherein the internal sensor is a wheel speed sensor.

12. 2 . The movement amount estimation device according to claim 1 , wherein the estimated movement amount is a scalar value indicating a movement distance of the moving body, or a vector value including a movement distance of the moving body and a turning angle of the moving body.

Images