Granted Patent B2

US 12,344,250 · App. 18/150,104 · Granted Jul 1, 2025

Inventor: Tomohito Terazawa (Kariya, JP)

Assignee: DENSO CORPORATION

B60W30/18163B60W60/001G06V20/56B60W2420/403B60W2555/20

Abstract

Claims (101)

1. A vehicle position estimation device mounted on a vehicle and estimating a current vehicle position, the vehicle position estimation device comprising

a control unit comprising at least one processor,

wherein

the control unit includes:

a localization unit performing a process for specifying a position of the vehicle on a map based on (i) position information of a landmark detected based on an image frame captured by a front camera and (ii) position information of the landmark registered in the map; and

an adverse environment determination unit determining whether a surrounding environment of the vehicle is an adverse environment based on at least one of (i) information output from a sensor equipped to the vehicle or (ii) information output from a communication device equipped to the vehicle, the adverse environment causing a deterioration in an accuracy of object recognition that is performed using the image frame,

when it is determined that the surrounding environment is an adverse environment, the control unit generates a deceleration request signal to restrict the traveling speed of the vehicle,

when the vehicle does not travel in an overtaking lane or an acceleration lane, the control unit outputs, to a vehicle control module that automatically controls a traveling speed of the vehicle, the deceleration request signal to restrict the traveling speed of the vehicle in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment, and

when the vehicle travels in an overtaking lane or an acceleration lane, the control unit cancels output of the deceleration request signal in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment,

wherein

the control unit controls the vehicle to decelerate the vehicle and restrict the traveling speed of the vehicle.

2. The vehicle position estimation device according to claim 1 , wherein

the control unit further includes a recognition accuracy evaluation unit that evaluates a recognition accuracy of the landmark based on the image frame, and

in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment, the control unit repeatedly outputs, to the vehicle control module, a signal that requests a decrease of target speed set value used for speed control by a predetermined amount, as the deceleration request signal, when the recognition accuracy is below a predetermined allowable level in subsequent image frames captured by the front camera.

3. The vehicle position estimation device according to claim 1 , wherein,

when the vehicle travels in the overtaking lane, the control unit outputs, to the vehicle control module, a signal that requests the vehicle to move from the overtaking lane to a traveling lane in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment.

4. The vehicle position estimation device according to claim 1 , wherein

the localization unit changes a determination whether to use detection results from a millimeter wave radar in the process for specifying the position of the vehicle in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment.

5. The vehicle position estimation device according to claim 4 , wherein

the localization unit changes the image frame used in the process for specifying the position of the vehicle in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment.

6. The vehicle position estimation device according to claim 5 , wherein

the front camera includes multiple different types of camera elements, which are equipped to the vehicle and have different view angles from one another, and

in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment, the localization unit changes a combination of the camera elements, each of which corresponds to a generation source of the image frame used in the process for specifying the position of the vehicle.

7. The vehicle position estimation device according to claim 5 , wherein

the front camera sequentially generates multiple types of image frames, which include a landmark detection purpose frame and a different use purpose frame,

the landmark detection purpose frame is an image frame in which the landmark is captured with an exposure time suitable for detection of the landmark,

the different use purpose frame is an image frame in which a different object is captured with an exposure time suitable for detection of the different object, and

the localization unit:

executes the process for specifying the position of the vehicle using the landmark detection purpose frame when the adverse environment determination unit determines that the surrounding environment of the vehicle is not the adverse environment; and

executes the process for specifying the position of the vehicle using the landmark detection purpose frame and the different use purpose frame when the adverse environment determination unit determines that the surrounding environment of the vehicle is the adverse environment.

8. The vehicle position estimation device according to claim 1 , wherein

the adverse environment determination unit determines a level of the adverse environment,

the control unit changes a content of a process to be executed corresponding to the level of the adverse environment determined by the adverse environment determination unit,

wherein

changing of the content of the process to be executed comprises the control unit outputting, to a vehicle control module that automatically controls a traveling speed of the vehicle, a deceleration request signal to restrict the traveling speed of the vehicle in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment, and

a deceleration amount requested by the deceleration request signal is set to be increased with an increase in the level of the adverse environment.

9. The vehicle position estimation device according to claim 1 , wherein

the adverse environment determination unit determines a type of the adverse environment, and

the control unit changes a content of a process to be executed corresponding to the type of the adverse environment determined by the adverse environment determination unit,

wherein

changing of the content of the process to be executed comprises the control unit outputting, to a vehicle control module that automatically controls a traveling speed of the vehicle, a deceleration request signal to restrict the traveling speed of the vehicle in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment,

the adverse environment determination unit determines the type of the adverse environment as one of fog, afternoon sun, or heavy rain, and

when the type of the adverse environment is determined as the heavy rain, the control unit increases a deceleration amount requested by the deceleration request signal compared with a deceleration amount requested by the deceleration request signal when the type of the adverse environment is determined as the afternoon sun.

10. The vehicle position estimation device according to claim 1 , wherein

the control unit calculates an effective recognition distance indicating a distance range within which the landmark is actually recognized in the image frame, and

the adverse environment determination unit determines that the surrounding environment of the vehicle is the adverse environment in response to the effective recognition distance decreasing to a value equal to or less than a predetermined threshold.

11. A vehicle position estimation device mounted on a vehicle and estimating a current vehicle position, the vehicle position estimation device comprising:

a control unit comprising at least one processor,

wherein

the control unit includes:

a localization unit performing a process for specifying a position of the vehicle on a map based on (i) position information of a landmark detected based on an image frame captured by a front camera and (ii) position information of the landmark registered in the map; and

an adverse environment determination unit determining whether a surrounding environment of the vehicle is an adverse environment based on at least one of (i) information output from a sensor equipped to the vehicle or (ii) information output from a communication device equipped to the vehicle, the adverse environment causing a deterioration in an accuracy of object recognition that is performed using the image frame,

when the vehicle travels in an overtaking lane, the control unit outputs, to a vehicle control module that automatically controls a traveling speed of the vehicle, a signal that requests the vehicle to move from the overtaking lane to a traveling lane in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment,

wherein

the control unit controls the vehicle to decelerate the vehicle and restrict the traveling speed of the vehicle.

12. The vehicle position estimation device according to claim 11 , wherein,

when the vehicle travels in an overtaking lane, in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment, the control unit displays, on a display device, an overtake stop notification image, which notifies a movement of the vehicle from the overtaking lane to the traveling lane, and then outputs, to the vehicle control module, the signal that requests the vehicle to move from the overtaking lane to the traveling lane, and

when an operation is made by a user on the overtake stop notification image within a predetermined period from a display start time of the overtake stop notification image, the control unit determines whether to output, to the vehicle control module, the signal that requests the vehicle to move from the overtaking lane to the traveling lane.

13. The vehicle position estimation device according to claim 1 , wherein,

in a state where the vehicle control module restricts the traveling speed of the vehicle, in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment, the control unit outputs, to the vehicle control module, a speed recovery permission signal that permits cancellation of traveling speed restriction in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is no longer the adverse environment.

14. The vehicle position estimation device according to claim 13 , wherein

the control unit determines whether an acceleration suspension factor exists in front of the vehicle based on (i) a signal output from the front camera and (ii) information about a traveling environment in front of the vehicle indicated by the map, and

the control unit cancels output of the speed recovery permission signal when determining that the acceleration suspension factor exists in front of the vehicle.

15. A vehicle position estimation device mounted on a vehicle and estimating a current vehicle position, the vehicle position estimation device comprising:

a control unit comprising at least one processor,

wherein

the control unit includes:

a localization unit performing a process for specifying a position of the vehicle on a map based on (i) position information of a landmark detected based on an image frame captured by a front camera and (ii) position information of the landmark registered in the map; and

an adverse environment determination unit determining whether a surrounding environment of the vehicle is an adverse environment based on at least one of (i) information output from a sensor equipped to the vehicle or (ii) information output from a communication device equipped to the vehicle, the adverse environment causing a deterioration in an accuracy of object recognition that is performed using the image frame,

the control unit outputs, to a vehicle control module that automatically controls a traveling speed of the vehicle, a deceleration request signal to restrict the traveling speed of the vehicle in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment,

the control unit determines whether an acceleration suspension factor exists in front of the vehicle based on (i) a signal output from the front camera and (ii) information about a traveling environment in front of the vehicle indicated by the map,

in a state where the vehicle control module restricts the traveling speed of the vehicle in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment, the control unit outputs, to the vehicle control module, a speed recovery permission signal that permits cancellation of traveling speed restriction in response to (i) the adverse environment determination unit determining that the surrounding environment of the vehicle is no longer the adverse environment and (ii) the control unit determining no acceleration suspension factor exists in front of the vehicle, and

in a state where the vehicle control module restricts the traveling speed of the vehicle in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment, the control unit does not output, to the vehicle control module, the speed recovery permission signal that permits cancellation of traveling speed restriction in response to (i) the adverse environment determination unit determining that the surrounding environment of the vehicle is no longer the adverse environment but (ii) the control unit determining the acceleration suspension factor exists in front of the vehicle,

wherein

the control unit further includes a notification processing unit that performs, via a notification device, a notification about restriction of the traveling speed of the vehicle when the traveling speed of the vehicle is restricted in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment, and

wherein

the control unit controls the vehicle to decelerate the vehicle and restrict the traveling speed of the vehicle.

16. A vehicle position estimation device mounted on a vehicle and estimating a current vehicle position, the vehicle position estimation device comprising:

a control unit comprising at least one processor,

wherein

the control unit includes:

a localization unit performing a process for specifying a position of the vehicle on a map based on (i) position information of a landmark detected based on an image frame captured by a front camera and (ii) position information of the landmark registered in the map;

an adverse environment determination unit determining whether a surrounding environment of the vehicle is an adverse environment based on at least one of (i) information output from a sensor equipped to the vehicle or (ii) information output from a communication device equipped to the vehicle, the adverse environment causing a deterioration in an accuracy of object recognition that is performed using the image frame; and

a notification processing unit that performs, via a notification device, a notification to a user,

the control unit outputs, to a vehicle control module that automatically controls a traveling speed of the vehicle, a deceleration request signal to restrict the traveling speed of the vehicle in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment, and

the notification processing unit performs the notification about restriction of the traveling speed of the vehicle when the traveling speed of the vehicle is restricted in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment, wherein

the localization unit shortens an execution interval of the process for specifying the position of the vehicle in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment, and

wherein

the control unit controls the vehicle to decelerate the vehicle and restrict the traveling speed of the vehicle.

17. The vehicle position estimation device according to claim 16 , wherein

the notification about restriction of the traveling speed of the vehicle includes display of a deceleration notification image on a display device, and

the deceleration notification image includes at least one of a deceleration amount, a deceleration reason, or an estimated period for maintaining a deceleration state.

18. A traveling control device mounted on a vehicle and automatically performing a speed control of the vehicle, the traveling control device comprising

a control unit comprising at least one processor,

wherein

the control unit includes:

a speed control unit outputting, to a traveling actuator of the vehicle, a control signal that controls a traveling speed of the vehicle;

a localization unit specifying a position of the vehicle on a map based on (i) position information of a landmark specified based on an image frame generated by a front camera and (ii) position information of the landmark registered in the map; and

an adverse environment determination unit determining whether a surrounding environment of the vehicle is an adverse environment based on at least one of (i) information output from a sensor equipped to the vehicle or (ii) information output from a communication device equipped to the vehicle, the adverse environment causing a deterioration in an accuracy of object recognition that is performed using the image frame,

when the vehicle does not travel in an overtaking lane, the control unit executes a process to restrict a traveling speed of the vehicle in response to the adverse environment determination unit determining that the surrounding environment of the vehicle is the adverse environment, and

when the vehicle travels in the overtaking lane, the control unit starts a process that controls the vehicle to cancel overtaking and move from the overtaking lane to a traveling lane.

Assignments (1)

Priority Claims (1)

Continuity (2)

References Cited (20)