Estimation device and vehicle control device

Abstract

To provide an estimation device and a vehicle control device capable of estimating at least one of the state of a road surface being the road surface on which a vehicle travels from now on and for which a sensing result by a sensor mounted on the vehicle has not been obtained and the behavior of the vehicle when the vehicle travels on the road surface.SOLUTION: An estimation device includes: an acquisition unit that acquires information according to the travel of a vehicle obtained through sensing of a sensor mounted on the vehicle that travels on the road surface; and an estimation unit that estimates from information, when the information is input thereinto, at least one of the state of the first road surface and the behavior of the vehicle when the vehicle travels on the first road surface by using a learned model that outputs at least one of the state of the first road surface being the road surface in the travel direction of the vehicle relative to the road surface where the result of sensing has been obtained and the behavior of the vehicle when the vehicle travels on the first road.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to an estimation device and a vehicle control device. [Background technology]

[0002] Conventionally, there are techniques for estimating the state of the road surface on which a vehicle runs. For example, the technique of Patent Document 1 estimates the state of the road surface based on the detection results of a vertical acceleration sensor or the like. Also known is a technique for capturing an image of the road surface in the traveling direction of the vehicle by an imaging device, which is a sensor mounted on the vehicle, and estimating the state of the captured road surface using the captured image. The state of the road surface estimated in this way is used, for example, for controlling the vehicle to improve the ride comfort and handling stability of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2008-183971 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, with conventional technology, even when an imaging device capable of capturing an image of the road surface in the direction of vehicle travel was used, the range of the road surface for which the road surface condition could be estimated was limited to the road surface captured by the imaging device, and it was not possible to estimate the road surface condition in the direction of vehicle travel beyond the road surface captured by the imaging device.

[0005] Therefore, one of the objectives of the present invention is to provide an estimation device and a vehicle control device that can estimate at least one of the state of a road surface along which a vehicle will be traveling but for which sensing results have not been obtained from a sensor mounted on the vehicle, and the behavior of the vehicle when the vehicle travels on that road surface. [Means for solving the problem]

[0006] An estimation device according to an embodiment of the present invention includes an acquisition unit that acquires information corresponding to the traveling of the vehicle obtained by sensing with a sensor mounted on the vehicle traveling on a road surface, and an estimation unit that, when the information is input, estimates from the information at least one of the state of the first road surface and the behavior of the vehicle when the vehicle travels on the first road surface using a trained model that outputs at least one of the state of the first road surface, which is the road surface in the traveling direction of the vehicle rather than the road surface on which the sensing results were obtained, and the behavior of the vehicle when the vehicle travels on the first road surface. Effect of the Invention

[0007] According to the estimation device of an embodiment of the present invention, it is possible to estimate at least one of the state of a road surface along which a vehicle will be traveling but for which sensing results have not been obtained from a sensor mounted on the vehicle, and the behavior of the vehicle when traveling on that road surface. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is an exemplary perspective view showing a state in which a part of a vehicle interior of a vehicle according to an embodiment is seen through. [Diagram 2] FIG. 2 is an exemplary plan view of the vehicle according to the embodiment. [Diagram 3] FIG. 3 is an exemplary block diagram of a configuration of a vehicle control system included in the vehicle according to the embodiment. [Figure 4] FIG. 4 is a functional block diagram of an ECU of a vehicle according to the embodiment. [Diagram 5] FIG. 5 is a diagram showing a state in which a vehicle according to the embodiment runs on a road surface. [Figure 6] FIG. 6 is a diagram for explaining a trained model according to an embodiment. [Figure 7] FIG. 7 is a diagram for explaining a trained model according to an embodiment. [Figure 8] FIG. 8 is a flowchart of a vehicle control process executed by the ECU according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Exemplary embodiments of the present invention are disclosed below. The configurations of the embodiments described below, as well as the actions, results, and effects brought about by the configurations, are merely examples. The present invention can be realized with configurations other than those disclosed in the following embodiments, and it is possible to obtain at least one of various effects based on the basic configuration and derivative effects.

[0010] The vehicle 1 of this embodiment may be, for example, an automobile using an internal combustion engine (not shown) as a drive source, i.e., an internal combustion engine automobile, an automobile using an electric motor (not shown) as a drive source, i.e., an electric automobile or a fuel cell automobile, a hybrid automobile using both of them as drive sources, or an automobile equipped with other drive sources. The vehicle 1 may be equipped with various transmissions and various devices, such as systems and parts, required for driving the internal combustion engine or the electric motor. The type, number, layout, etc. of the devices related to driving the wheels 3 of the vehicle 1 may be set in various ways.

[0011] Fig. 1 is an exemplary perspective view showing a state in which a part of a vehicle interior of a vehicle according to an embodiment is seen through. Fig. 2 is an exemplary plan view of the vehicle according to an embodiment. Fig. 3 is an exemplary block diagram of a configuration of a vehicle control system included in the vehicle according to the embodiment.

[0012] First, an example of the configuration of a vehicle 1 according to this embodiment will be described with reference to Figures 1 to 3. As illustrated in Figure 1, a vehicle body 2 configures a vehicle compartment 2a in which an occupant (not shown) rides. In the vehicle compartment 2a, a steering unit 4, an acceleration operation unit 5, a braking operation unit 6, a gear shift operation unit 7, etc. are provided in a state facing a seat 2b for a driver as an occupant.

[0013] The steering unit 4 is, for example, a steering wheel protruding from the dashboard 24. The acceleration operation unit 5 is, for example, an accelerator pedal located under the driver's feet. The braking operation unit 6 is, for example, a brake pedal located under the driver's feet. The gear shift operation unit 7 is, for example, a shift lever protruding from a center console. Note that the steering unit 4, acceleration operation unit 5, braking operation unit 6, gear shift operation unit 7, etc. are not limited to these.

[0014] A display device 8 as a display output unit and an audio output device 9 as an audio output unit are provided in the vehicle interior 2a. The display device 8 is, for example, a liquid crystal display (LCD) or an organic electroluminescent display (OLED). The audio output device 9 is, for example, a speaker. The display device 8 is covered with a transparent operation input unit 10 such as a touch panel. The passenger can visually recognize an image displayed on the display screen of the display device 8 via the operation input unit 10. The passenger can also execute an operation input by touching, pressing, or moving the operation input unit 10 with a finger or the like at a position corresponding to the image displayed on the display screen of the display device 8.

[0015] The display device 8, the audio output device 9, the operation input unit 10, etc. are provided in a monitor device 11 located, for example, in the center of the dashboard 24 in the vehicle width direction, i.e., in the left-right direction. The monitor device 11 may have an operation input unit (not shown) such as a switch, a dial, a joystick, a push button, etc. Also, an audio output device (not shown) may be provided in another position in the vehicle compartment 2a different from the monitor device 11, and audio may be output from the audio output device 9 of the monitor device 11 and another audio output device. The monitor device 11 may be used as, for example, a navigation system or an audio system. Also, a display device 12 separate from the display device 8 is provided in the vehicle compartment 2a.

[0016] 2, the vehicle 1 is, for example, a four-wheeled vehicle, and has two front wheels 3F, one on the left and one on the right, and two rear wheels 3R, one on the left and one on the right. All of these four wheels 3 can be configured to be steerable. As illustrated in FIG. 3, the vehicle 1 has a steering system 13 that steers at least two of the wheels 3.

[0017] As illustrated in FIG. 3, the steering system 13 has an actuator 13a and a torque sensor 13b. The steering system 13 is electrically controlled by an ECU (Electronic Control Unit) 14 or the like to operate the actuator 13a. The steering system 13 is, for example, an electric power steering system or a steer-by-wire (SBW) system. The steering system 13 supplements the steering force by adding torque, i.e., assist torque, to the steering unit 4 by the actuator 13a, or steers the wheels 3 by the actuator 13a. In this case, the actuator 13a may steer one wheel 3 or may steer multiple wheels 3. The torque sensor 13b detects, for example, the torque applied to the steering unit 4 by the driver.

[0018] As illustrated in FIG. 3, the vehicle body 2 is provided with a plurality of imaging units 15, such as four imaging units 15a to 15d. The imaging units 15 are digital cameras incorporating imaging elements such as a CCD (Charge Coupled Device) or a CIS (CMOS Image Sensor). The imaging units 15 can output video data at a predetermined frame rate. The imaging units 15 each have a wide-angle lens or a fisheye lens, and can capture an image in a range of, for example, 140° to 190° in the horizontal direction. The optical axis of the imaging unit 15 is set diagonally downward. Thus, the imaging unit 15 sequentially captures the external environment around the vehicle body 2, including the road surface on which the vehicle 1 can move and the area in which the vehicle 1 can be parked, and outputs the captured image (image data). The imaging unit 15 is an example of an imaging device.

[0019] The imaging unit 15a is located, for example, at the rear end 2e of the vehicle body 2 and is provided on a wall below the door 2h of the rear trunk. The imaging unit 15b is located, for example, at the right end 2f of the vehicle body 2 and is provided on the right door mirror 2g. The imaging unit 15c is located, for example, at the front end 2c of the vehicle body 2, i.e., the front side in the vehicle longitudinal direction, and is provided on the front bumper or the like. The imaging unit 15d is located, for example, at the left end 2d of the vehicle body 2, i.e., the left end in the vehicle width direction, and is provided on the door mirror 2g as a left protrusion. The ECU 14 executes arithmetic processing and image processing based on the image data obtained by the multiple imaging units 15, and can generate an image with a wider viewing angle or generate a virtual overhead image of the vehicle 1 viewed from above. The overhead image can also be called a planar image.

[0020] In this embodiment, an image of the road surface ahead, which is the traveling direction of the vehicle 1, is captured by the imaging unit 15c as an imaging device provided on the front side of the vehicle body 2. When the vehicle 1 moves backward, the direction behind the vehicle 1 becomes the traveling direction, and the imaging unit 15a may be configured to capture an image of the road surface behind the vehicle 1.

[0021] As illustrated in FIG. 2, the vehicle body 2 is provided with a plurality of distance measuring units 16, 17, for example, four distance measuring units 16a-16d and eight distance measuring units 17a-17h. The distance measuring units 16, 17 are, for example, sonars that emit ultrasonic waves and capture the reflected waves. The sonars can also be called sonar sensors or ultrasonic detectors. The ECU 14 can measure the presence or absence of objects such as obstacles located around the vehicle 1 and the distance to the objects based on the detection results of the distance measuring units 16, 17. That is, the distance measuring units 16, 17 are an example of a detection unit that detects objects. The distance measuring unit 17 can be used, for example, to detect objects at a relatively short distance, and the distance measuring unit 16 can be used, for example, to detect objects at a relatively long distance that are farther away than the distance measuring unit 17. The distance measuring unit 17 can be used, for example, to detect objects in front of and behind the vehicle 1, and the distance measuring unit 16 can be used to detect objects on the sides of the vehicle 1.

[0022] 3, in the vehicle control system 100, the ECU 14, the monitor device 11, the steering system 13, the distance measuring units 16 and 17, the brake system 18, the suspension system 30, the steering angle sensor 19, the accelerator sensor 20, the shift sensor 21, the wheel speed sensor 22, the acceleration sensor 25, etc. are electrically connected via an in-vehicle network 23 as an electrical communication line. The in-vehicle network 23 is configured as, for example, a CAN (controller area network). The ECU 14 is an example of an estimation device and a vehicle control device.

[0023] The ECU 14 can control the steering system 13, the brake system 18, the suspension system 30, etc., by sending control signals via the in-vehicle network 23. The ECU 14 can also receive detection results from the torque sensor 13b, the brake sensor 18b, the steering angle sensor 19, the distance measuring unit 16, the distance measuring unit 17, the accelerator sensor 20, the shift sensor 21, the wheel speed sensor 22, etc., operation signals from the operation input unit 10, etc., via the in-vehicle network 23.

[0024] The ECU 14 includes, for example, a CPU 14a (Central Processing Unit), a ROM (Read Only Memory) 14b, a RAM (Random Access Memory) 14c, a display control unit 14d, a sound control unit 14e, and an SSD (Solid State Drive, flash memory) 14f.

[0025] The CPU 14a can execute various types of arithmetic processing and control, such as image processing related to images displayed on the display devices 8 and 12, determination of the target position of the vehicle 1, calculation of the moving path of the vehicle 1, determination of the presence or absence of interference with an object, automatic control of the vehicle 1, release of automatic control, damping control of the suspension system 30, spring constant switching control, steering control, stabilizer control, etc. The CPU 14a can read out a program installed and stored in a non-volatile storage device such as the ROM 14b, and execute arithmetic processing according to the program.

[0026] The RAM 14c temporarily stores various data used in the calculations performed by the CPU 14a. The display control unit 14d mainly performs image processing using image data obtained by the imaging unit 15 and synthesis of image data displayed on the display device 8 among the calculations performed by the ECU 14. The audio control unit 14e mainly performs processing of audio data output by the audio output device 9 among the calculations performed by the ECU 14. The SSD 14f is a rewritable non-volatile storage unit, and can store data even when the power supply of the ECU 14 is turned off. The CPU 14a, the ROM 14b, the RAM 14c, and the like can be integrated in the same package. The ECU 14 may be configured to use other logic calculation processors such as a DSP (Digital Signal Processor) or logic circuits instead of the CPU 14a. A HDD (Hard Disk Drive) may be provided instead of the SSD 14f, and the SSD 14f and the HDD may be provided separately from the ECU 14.

[0027] The brake system 18 is, for example, an anti-lock brake system (ABS) that suppresses locking of the brakes, an electronic stability control (ESC) that suppresses skidding of the vehicle 1 when cornering, an electric brake system that strengthens the braking force (performs brake assist), a brake by wire (BBW), etc. The brake system 18 applies a braking force to the wheels 3 and thus the vehicle 1 via an actuator 18a. The brake system 18 can also detect brake lock, freewheeling of the wheels 3, signs of skidding, etc. from a rotation difference between the left and right wheels 3, and execute various controls. The brake sensor 18b is, for example, a sensor that detects the position of a movable part of the brake operating unit 6. The brake sensor 18b can detect the position of a brake pedal as a movable part. The brake sensor 18b includes a displacement sensor.

[0028] The steering angle sensor 19 is a sensor that detects the amount of steering of the steering unit 4, such as a steering wheel. The steering angle sensor 19 is configured using, for example, a Hall element. The ECU 14 acquires the amount of steering of the steering unit 4 by the driver and the amount of steering of each wheel 3 during automatic steering from the steering angle sensor 19 and executes various controls. The steering angle sensor 19 detects the rotation angle of a rotating part included in the steering unit 4.

[0029] The accelerator sensor 20 is, for example, a sensor that detects the position of a movable part of the acceleration operating unit 5. The accelerator sensor 20 can detect the position of an accelerator pedal as a movable part. The accelerator sensor 20 includes a displacement sensor.

[0030] The shift sensor 21 is, for example, a sensor that detects the position of a movable part of the gear shift operation unit 7. The shift sensor 21 can detect the position of a movable part such as a lever, an arm, a button, etc. The shift sensor 21 may include a displacement sensor, or may be configured as a switch.

[0031] The wheel speed sensor 22 is a sensor that detects the amount of rotation of the wheel 3 and the number of rotations per unit time. The wheel speed sensor 22 outputs the number of wheel speed pulses indicating the detected number of rotations as a sensor value. The wheel speed sensor 22 can be configured using, for example, a Hall element. The ECU 14 calculates the amount of movement of the vehicle 1 and the like based on the sensor value acquired from the wheel speed sensor 22, and executes various controls. Note that the wheel speed sensor 22 may be provided in the brake system 18. In this case, the ECU 14 acquires the detection result of the wheel speed sensor 22 via the brake system 18.

[0032] The suspension system 30 is disposed between the vehicle body 2 and the wheels 3 of the vehicle 1. The suspension system 30 includes a spring that absorbs vibration of the vehicle 1 caused by an impact from the road surface to the vehicle 1, and a variable damping damper that damps the vibration of the spring and can change the damping force of the vibration of the spring. In this embodiment, the suspension system 30 cooperates with the ECU 14 to control a damping force adjusting device such as a solenoid actuator to change the damping force of the variable damping damper. Thus, the suspension system 30 realizes a damping force control system that damps vibration in the vertical, lateral, and longitudinal directions of the vehicle body caused by an impact from the road surface to the vehicle 1.

[0033] Acceleration sensors 25 are provided near a portion of the vehicle 1 on the vehicle body 2 side relative to the suspension system 30 (also referred to as the sprung portion) and a portion of the vehicle 1 on the wheel 3 side relative to the suspension system 30 (also referred to as the unsprung portion). The acceleration sensors 25 include a vertical acceleration sensor that detects and outputs an acceleration in the vertical direction of the vehicle body 2, a longitudinal acceleration sensor that detects and outputs an acceleration in the longitudinal direction of the vehicle body 2 (vehicle 1), and a lateral acceleration sensor that detects and outputs a lateral acceleration, which is the acceleration in the lateral direction (width direction) of the vehicle body 2 (vehicle 1).

[0034] The configurations, arrangements, electrical connection forms, and the like of the various sensors and actuators described above are merely examples, and can be set (changed) in various ways.

[0035] FIG. 4 is a functional block diagram of the ECU 14 of the vehicle according to the embodiment. As shown in FIG. 14, the ECU 14 has, as an example, an acquisition unit 50a, an estimation unit 50b, and a control unit 50c as functional units. These functional units are realized by the CPU 14a reading and executing a program stored in the storage unit 50d. Here, the storage unit 50d includes a ROM 14b, a RAM 14c, and an SSD 14f. That is, the program may include, as an example, a module corresponding to each block except for the storage unit 50d shown in FIG. 4. In addition, the storage unit 10d stores a trained model 101. Details of the trained model 101 will be described later.

[0036] The acquisition unit 50a acquires information corresponding to the traveling of the vehicle 1 obtained by sensing of a sensor mounted on the vehicle 1 traveling on a road surface. In this embodiment, the sensor is, for example, the imaging unit 15c, and the information is a captured image obtained by imaging the imaging unit 15c.

[0037] Here, FIG. 5 is a diagram showing a state in which the vehicle 1 according to the embodiment travels on a road surface D. As shown in FIG. 5, the imaging unit 15c images the periphery of the vehicle 1 including the road surface D in the traveling direction F1 of the vehicle 1. In other words, the imaging unit 15c images the periphery of the vehicle 1 including the road surface D on the traveling direction F1 side with respect to the vehicle 1. FIG. 5 shows an imaged road surface Da, which is the road surface D on which the result of sensing by the imaging unit 15c has been obtained, i.e., which has been imaged, and a first road surface Db, which is the road surface D in the traveling direction of the vehicle 1 from the imaged road surface Da. The first road surface Db is located on the traveling direction side of the imaged road surface Da, and is the road surface D that has not yet been imaged by the imaging unit 15a. The acquisition unit 50a acquires the imaged image captured by the imaging unit 15c. The imaged road surface Da is shown in the imaged image.

[0038] The estimation unit 50b uses the trained model 101 to estimate at least one of (for example, both) the state of a first road surface Db on the road surface D and the behavior of the vehicle 1 when the vehicle 1 travels on the first road surface Db from the captured image. The trained model 101 has been trained so that, when a captured image is input, it outputs at least one of (for example, both) the state of the first road surface Db, which is the road surface D in the traveling direction of the vehicle 1, rather than the road surface D from which the captured image, which is the result of sensing, was obtained (i.e., the captured road surface Da) and the behavior of the vehicle 1 when the vehicle 1 travels on the first road surface Db. The trained model 101 includes, for example, a generative model of natural language processing, but is not limited thereto.

[0039] The state of the first road surface Db includes undulations of the first road surface Db. The behavior of the vehicle 1 includes at least one of (for example, all of) the roll of the vehicle 1, the pitch of the vehicle 1, and the heave of the vehicle 1.

[0040] FIG. 6 is a diagram for explaining the trained model 101 according to the embodiment. FIG. 7 is a diagram for explaining the trained model 101 according to the embodiment. As shown in FIG. 6, during training (reinforcement learning), the trained model 101 receives as input data the captured image of the imaging unit 15c, a road surface condition signal indicating the undulations that are the state of the road surface D, and a vehicle behavior signal indicating the roll, pitch, and heave of the vehicle 1 (vehicle body 2). During training of the trained model 101, a frequency analysis of the road surface condition signal and a quantitative value analysis (quantitative evaluation) of the vehicle behavior signal are performed, and the relationship between the captured image, the road surface condition signal, and the quantitative value signal is analyzed. As a result, for example, the relationship between each signal indicated by the range R in FIG. 6 is grasped. By such an analysis (vehicle motion analysis and ride comfort analysis), for example, the relationship between the road surface undulations and the vehicle behavior can be known. In addition, vehicle motion and ride comfort analysis can be performed using these analysis results. Here, the road surface condition includes, for example, good road, bad road, special road, concrete joint road, stone pavement road, etc. The ride comfort includes whether or not the vehicle is motion sickness, comfortable or uncomfortable, etc.

[0041] 7, in the trained model 101, if captured images up to time point E at which the images were captured are input, the state of the road surface D and the behavior of the vehicle 1 thereafter can be estimated. That is, it is possible to estimate what type of undulations are consecutive and what type of undulation will come next, etc.

[0042] The control unit 50c includes a control unit 50c that controls the vehicle 1 based on the result of the estimation by the estimation unit 50b. For example, the control unit 50c controls the damping force of the suspension system 30. The control of the damping force is executed, for example, by controlling a current value input to a solenoid actuator of a damping force variable damper. Note that the object controlled by the control unit 50c is not limited to the suspension system 30.

[0043] Next, the vehicle control process executed by the ECU 14 will be described with reference to Fig. 8. Fig. 8 is a flowchart of the vehicle control process executed by the ECU according to the embodiment.

[0044] As shown in FIG. 8, the acquisition unit 50a acquires a captured image from the imaging unit 15c (S101).

[0045] Next, the estimation unit 50b estimates the state of the first road surface Db (road surface state) and the behavior of the vehicle 1 (vehicle behavior) when the vehicle 1 travels on the first road surface Db (S102).

[0046] Next, the control unit 50c controls the vehicle 1 based on the estimation result of the estimation unit 50b (S103).

[0047] As described above, in this embodiment, the ECU 14 (estimation device, vehicle control device) includes the acquisition unit 50a and the estimation unit 50b. The acquisition unit 50a acquires a captured image (information) corresponding to the traveling of the vehicle 1 obtained by sensing (capturing) by the imaging unit 15c (sensor, imaging device) mounted on the vehicle 1 traveling on the road surface D. When the captured image is input, the estimation unit 50b estimates at least one of the state of the first road surface Db and the behavior of the vehicle 1 when the vehicle 1 travels on the first road surface Db from the captured image by using the trained model 101 that outputs at least one of the state of the first road surface Db, which is the road surface D in the traveling direction of the vehicle 1, and the behavior of the vehicle 1 when the vehicle 1 travels on the first road surface Db, from the captured image.

[0048] With this configuration, it is possible to estimate at least one of the state of the road surface D along which the vehicle 1 will be traveling but for which sensing results have not been obtained from the sensors mounted on the vehicle 1, and the behavior of the vehicle 1 when the vehicle 1 travels on the road surface D.

[0049] The sensor is an imaging unit 15c (imaging device) that images the surroundings of the vehicle 1 including the road surface D in the traveling direction F1 of the vehicle 1. The information is a captured image obtained by imaging the imaging unit 15c.

[0050] With this configuration, it is possible to estimate from the captured image at least one of the state of the road surface D along which the vehicle 1 is about to travel, but for which no captured image has been obtained as a sensing result of the imaging unit 15c mounted on the vehicle 1, and the behavior of the vehicle 1 when the vehicle 1 travels on the road surface D.

[0051] The condition of the first road surface Db also includes the undulations of the first road surface Db.

[0052] With this configuration, the undulation of the first road surface Db can be estimated.

[0053] The behavior of the vehicle 1 also includes at least one of the roll of the vehicle 1, the pitch of the vehicle 1, and the heave of the vehicle 1.

[0054] With this configuration, at least one of the roll of the vehicle 1, the pitch of the vehicle 1, and the heave of the vehicle 1 can be estimated.

[0055] Moreover, the ECU 14 (vehicle control device) includes a control unit 50c that controls the vehicle 1 based on the result of the estimation by the estimation unit 50b.

[0056] According to this configuration, the vehicle 1 can be controlled based on the result of estimation by the estimation unit 50b.

[0057] Although some embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included in the scope and spirit of the invention, and are included in the scope of the invention and its equivalents described in the claims. [Explanation of symbols]

[0058] 1. Vehicle 14...ECU (Estimation device, vehicle control device) 15, 15c...imaging unit (imaging device, sensor) 50a…Acquisition part 50b…Estimation part 50c...Control section 101…Trained model D...Road surface Db…First surface F1…Travel direction

Claims

1. an acquisition unit that acquires information corresponding to the traveling of a vehicle obtained by sensing a sensor mounted on the vehicle traveling on a road surface; an estimation unit that, when the information is input, estimates, from the information, at least one of a state of the first road surface and a behavior of the vehicle when the vehicle runs on the first road surface, using a trained model that outputs at least one of a state of the first road surface, which is the road surface in the traveling direction of the vehicle rather than the road surface on which the sensing result was obtained, and a behavior of the vehicle when the vehicle runs on the first road surface; An estimation device comprising:

2. The sensor is an imaging device that images the surroundings of the vehicle including the road surface in a traveling direction F1 of the vehicle, The information is a captured image obtained by imaging with the imaging device. The estimation device according to claim 1 .

3. The condition of the first road surface includes an undulation of the first road surface. The estimation device according to claim 1 .

4. The behavior of the vehicle includes at least one of a roll of the vehicle, a pitch of the vehicle, and a heave of the vehicle. The estimation device according to claim 1 .

5. an acquisition unit that acquires information corresponding to the traveling of a vehicle obtained by sensing a sensor mounted on the vehicle traveling on a road surface; an estimation unit that, when the information is input, estimates, from the information, at least one of a state of the first road surface and a behavior of the vehicle when the vehicle runs on the first road surface, using a trained model that outputs at least one of a state of the first road surface, which is the road surface in the traveling direction of the vehicle rather than the road surface on which the sensing result was obtained, and a behavior of the vehicle when the vehicle runs on the first road surface; a control unit that controls the vehicle based on a result of the estimation by the estimation unit; A vehicle control device comprising:

Images