US 11,814,056 B2
Travel amount estimation apparatus
Takahiro Sakai, Tokyo (JP); Morihiko Sakano, Tokyo (JP); Daisuke Fukuda, Saitama (JP); and Junya Murayama, Saitama (JP)
Assigned to FAURECIA CLARION ELECTRONICS CO., LTD., Saitama (JP)
Appl. No. 17/418,167
Filed by FAURECIA CLARION ELECTRONICS CO., LTD., Saitama (JP)
PCT Filed Oct. 17, 2019, PCT No. PCT/JP2019/040970
§ 371(c)(1), (2) Date Jun. 24, 2021,
PCT Pub. No. WO2020/137110, PCT Pub. Date Jul. 2, 2020.
Claims priority of application No. 2018-244190 (JP), filed on Dec. 27, 2018.
Prior Publication US 2022/0073084 A1, Mar. 10, 2022
Int. Cl. B60W 40/00 (2006.01); B60W 40/10 (2012.01); G06T 7/20 (2017.01)
CPC B60W 40/10 (2013.01) [G06T 7/20 (2013.01); B60W 2420/42 (2013.01); B60W 2720/106 (2013.01); G06T 2207/10016 (2013.01); G06T 2207/30252 (2013.01)] 11 Claims
OG exemplary drawing
 
4. A travel amount estimation apparatus comprising:
a vehicle travel amount calculation unit configured to acquire vehicle information related to traveling of a vehicle and to calculate a vehicle travel amount indicating a travel amount of the vehicle based on the vehicle information;
a sensor travel amount calculation unit configured to acquire sensor information related to a surrounding environment of the vehicle from an external sensor and to calculate a sensor travel amount indicating the travel amount of the vehicle based on the sensor information;
a vehicle information change point detection unit configured to detect a vehicle information change point corresponding to a situation in which an error in the vehicle travel amount is likely to occur, the vehicle information change point is detected based on the vehicle information;
an error cause determination unit configured to determine an error cause of the vehicle travel amount corresponding to the vehicle information change point, the error cause is determined in response to the vehicle information change point detection unit detecting the vehicle information change point; and
a vehicle travel amount correction unit configured to correct the vehicle travel amount by using the sensor travel amount in accordance with the error cause and to estimate the travel amount of the vehicle based on the corrected vehicle travel amount,
wherein when the error cause determination unit determines that the error cause of the vehicle travel amount is a level difference travel-over, the vehicle travel amount correction unit corrects the travel amount of the vehicle, which is calculated based on the vehicle information, by using the sensor travel amount, and
wherein the travel amount estimation apparatus provides the estimated travel amount of the vehicle to a system that controls movement of the vehicle based on the estimated travel amount of the vehicle.