US 11,941,983 B2
Driving assistance device and driving assistance system
Hideyuki Kume, Tokyo (JP); and Hidehiro Toyoda, Hitachinaka (JP)
Assigned to Hitachi Astemo, Ltd., Hitachinaka (JP)
Appl. No. 17/784,485
Filed by Hitachi Astemo, Ltd., Hitachinaka (JP)
PCT Filed Nov. 20, 2020, PCT No. PCT/JP2020/043337
§ 371(c)(1), (2) Date Jun. 10, 2022,
PCT Pub. No. WO2021/117464, PCT Pub. Date Jun. 17, 2021.
Claims priority of application No. 2019-224342 (JP), filed on Dec. 12, 2019.
Prior Publication US 2023/0035819 A1, Feb. 2, 2023
Int. Cl. G08G 1/16 (2006.01); B60W 40/105 (2012.01); B60W 50/16 (2020.01); B60W 30/12 (2020.01); B60W 50/14 (2020.01); G06V 20/56 (2022.01)
CPC G08G 1/16 (2013.01) [B60W 40/105 (2013.01); B60W 50/16 (2013.01); G08G 1/166 (2013.01); G08G 1/167 (2013.01); B60W 30/12 (2013.01); B60W 2050/143 (2013.01); B60W 2050/146 (2013.01); B60W 2420/42 (2013.01); B60W 2540/215 (2020.02); B60W 2552/53 (2020.02); B60W 2556/10 (2020.02); B60W 2556/40 (2020.02); G06V 20/588 (2022.01)] 16 Claims
OG exemplary drawing
 
1. A driving assistance device comprising:
a recording unit that records a plurality of past traveling positions of a vehicle and position estimation information relating to the past traveling positions;
a relative position estimation unit that estimates a relative position of the vehicle from an output of a sensor that detects a surrounding of the vehicle, adds a history of the relative position to the past traveling position, and adds the output of the sensor, which is used to estimate the relative position, to the position estimation information;
a position estimation unit that estimates a position of the vehicle with respect to the past traveling positions from the output of the sensor and the position estimation information of the recording unit, and adds a history of the estimated position to the past traveling position;
a deviation determination unit that determines deviation from the plurality of past traveling positions by using a distribution of the plurality of past traveling positions, the position of the vehicle with respect to the plurality of past traveling positions, and a predetermined reference value; and
a control unit that controls the vehicle to cancel a warning or deviation, when the deviation is determined.