Vehicle control device
The present invention enhances estimation accuracy of a travel distance to estimate a position of a host vehicle. A vehicle control device 1 includes front and rear cameras 7 and 8 and a measurement control unit 23 . The front and rear cameras 7 and 8 are provided at front and rear of a vehicle 10 to acquire information on an external world. The measurement control unit 23 calculate a travel distance of the vehicle 10 during traveling of the vehicle 10 in a predetermined driving state based on the information of an identical characteristic object 30 acquired by the front camera 7 and the rear camera 8 , the rear camera 8 acquiring the information of the identical characteristic object 30 after the front camera 7 acquires the information.
1. A vehicle control device comprising:
a plurality of sensors that are provided at a front of and a rear of a vehicle and acquire information of an external world;
a plurality of wheel speed sensors that detect the wheel speed pulses of the wheels of the vehicle; and
at least one electronic control unit (ECU) which is communicably coupled to the plurality of sensors via an in-vehicle network (CAN), the at least one ECU being configured to acquire information about a feature on a road surface by a rear sensor of the plurality of sensors after a front sensor of the plurality of sensors acquires information about the same feature while the vehicle is traveling in a predetermined driving state, and acquires a wheel speed pulse count value of the vehicle from the plurality of wheel speed sensors when each of the front sensor and the rear sensor acquires the information about the same feature,
wherein the at least one ECU is configured to correct a travel distance per wheel speed pulse count value of the vehicle based on a default measurement length of the vehicle, which is a sum of a measurement length by the front sensor and the measurement length by the rear sensor, and an increment of the wheel speed pulse count value of the vehicle when each of the front sensor and the rear sensor obtains information regarding the same feature.
2. The vehicle control device according to claim 1 , wherein the front sensor is an imaging device that captures an image of the front of the vehicle, and
the rear sensor is an imaging device that captures an image of the rear of the vehicle.
3. The vehicle control device according to claim 1 , wherein the front sensor and the rear sensor are configured to scan unevenness of a road surface or a change in luminous intensity or color during traveling of the vehicle.
4. The vehicle control device according to claim 1 , wherein the predetermined driving state is a state where steering of the vehicle is neutral.
5. The vehicle control device according to claim 1 , wherein
the plurality of wheel speed sensors acquire wheel speed pulses of left and right wheels, and
the travel state detected by the at least one ECU is a state where the wheel speed pulses of the left and right wheels coincide with each other.
6. The vehicle control device according to claim 1 , wherein
the vehicle comprises an acceleration sensor, and
the predetermined driving state is a state where the acceleration sensor does not detect acceleration.
7. The vehicle control device according to claim 1 , wherein
the at least one ECU is configured to estimate a timing for which the rear sensor is to acquire the information of the feature after the front sensor acquires the information of the feature.
8. The vehicle control device according to claim 2 , wherein
an elevation angle of the imaging device is changed before the imaging device images the information of the feature.