	US 12,215,976 B2
	Estimation device, estimation method, program product for estimation
Yuuichi Minamiguchi, Kariya (JP)
Assigned to DENSO CORPORATION, Kariya (JP)
Filed by DENSO CORPORATION, Kariya (JP)
Filed on May 17, 2022, as Appl. No. 17/663,810.
Application 17/663,810 is a continuation of application No. PCT/JP2020/036370, filed on Sep. 25, 2020.
Claims priority of application No. 2019-210764 (JP), filed on Nov. 21, 2019.
Prior Publication US 2022/0276054 A1, Sep. 1, 2022
Int. Cl. G01C 21/16 (2006.01); B60W 40/068 (2012.01); B60W 40/103 (2012.01); G01C 21/32 (2006.01)

CPC G01C 21/188 (2020.08) [B60W 40/068 (2013.01); B60W 40/103 (2013.01); G01C 21/32 (2013.01); B60W 2520/20 (2013.01); B60W 2552/40 (2020.02); B60W 2556/40 (2020.02)]

16 Claims

1. An estimation device configured to estimate a state quantity including a position of a vehicle, the estimation device comprising:

a dead reckoning unit configured to estimate the state quantity by dead reckoning based on (i) a dynamics model including a parameter that causes a change in a behavior of the vehicle and (ii) internal information acquired from an inside of the vehicle;

a map matching unit configured to observe the state quantity by map matching based on (i) map information indicative of a traveling environment of the vehicle and (ii) external information acquired from an outside of the vehicle; and

a parameter correction unit configured to correct the parameter, which is to be fed back for the dead reckoning, based on an offset amount that is a difference between the state quantity observed by the map matching and the state quantity estimated by the dead reckoning; and

an error compensation unit configured to compensate for an error in the state quantity estimated by the dead reckoning by filtering based on the state quantity observed by the map matching,

wherein

the dead reckoning unit is further configured to estimate the state quantity based on the parameter fed back after correction by the parameter correction unit, and

the map matching unit is further configured to perform map matching based on the parameter fed back after the correction,

wherein the map matching unit is further configured to acquire the map information, the external information, and the state quantity which has been estimated by the dead reckoning unit, and observe the state quantity by map matching,

wherein the dead reckoning unit is further configured to acquire the parameter which has been corrected by the parameter correction unit, cause the dynamics model to contain the parameter corrected as a parameter that causes the change in the behavior of the vehicle, acquire the dynamics model containing the corrected parameter and the internal information, and estimate the state quantity by the dead reckoning based on the internal information,

wherein the parameter correction unit is configured to:

predict a deviation that is contained in the offset amount and is a difference, caused by a change amount of the parameter, between the state quantity observed by the map matching and the state quantity estimated by the dead reckoning; and

correct the parameter using the change amount corresponding to the predicted deviation,

wherein the parameter correction unit predicts, as a change amount function δz_p, the deviation which is the difference caused by the change amount of the parameter based on at least one of the following formulas:

δz_p=ΔZ(p_t)−ΔZ(p_t-1);

δz_p=ΔZ(p_t-1+δp)−ΔZ(p_t-1); and

δz_p=ΔZ(δp), and

wherein:

pt represents a dynamic parameter at a time t;

pt−1 represent a dynamic parameter at a time t−1, which is previous time of the time t; and

δp represents the change amount from the dynamic parameter pt−1 at the time t−1 to the dynamic parameter pt at the time t, and

wherein:

the state quantity of which the error has been compensated by the error compensation unit is output to an electronic control device configured to execute an advanced driver assistance or an automated driving of the vehicle; and

the electronic control device controls the vehicle to execute the advanced driver assistance or the automated driving.