Distance estimation device, distance estimation method and program

Patent metadata

Field	Value
Publication number	US-2019011282-A1
Application number	US-201516066006-A
Country	US
Kind code	A1
Filing date	Dec 25, 2015
Priority date	Dec 25, 2015
Publication date	Jan 10, 2019
Grant date	—

Abstract

The distance estimation device acquires distances from a movable body at a first time and a second time to two ground objects, respectively, and acquires a distance between the two ground objects. Then, the distance estimation device calculates a moving distance of the movable body from the first time to the second time based on the acquired results. Thus, the distance estimation device calculates the moving distance of the movable body by using arbitrary ground objects measurable from the movable body.

First claim

1 . A distance estimation device comprising:
a first acquiring unit configured to acquire distances from a movable body at a first time and a second time to two ground objects, respectively; a second acquiring unit configured to acquire a distance between the two ground objects; and a calculating unit configured to calculate a moving distance of the movable body from the first time to the second time based on results acquired by the first acquiring unit and the second acquiring unit.

2 . A distance estimation device comprising:
a first acquiring unit configured to acquire distances from a movable body at a first time and a second time to at least three ground objects, respectively; a second acquiring unit configured to acquire distances between the at least three ground objects, respectively; and a calculating unit configured to calculate a moving distance of the movable body from the first time to the second time based on results acquired by the first acquiring unit and the second acquiring unit.

3 . The distance estimation device according to claim 1 , wherein the calculating unit calculates the moving distance per one pulse of a vehicle speed pulse signal based on the moving distance from the first time to the second time and an average pulse width of the vehicle speed pulse signal.

4 . The distance estimation device according to claim 1 , wherein the calculating unit calculates the moving distance when an angular velocity in a yaw direction or a steering angle of the movable body is smaller than a predetermined threshold value.

5 . The distance estimation device according to claim 1 , wherein the second acquiring unit acquires the distance between the two ground objects based on the distances to the two ground objects acquired by the first acquiring unit and angles formed by a traveling direction of the movable body and respective directions of the two ground objects.

6 . The distance estimation device according to claim 1 , wherein the second acquiring unit acquires the distance between the two ground objects based on map information.

7 . The distance estimation device according to claim 1 , wherein the calculating unit changes a time interval from the first time to the second time in accordance with a traveling speed of the movable body.

8 . The distance estimation device according to claim 7 , wherein the calculating unit makes the time interval shorter as the traveling speed of the movable body becomes higher.

9 . A distance estimation method executed by a distance estimation device comprising:
a first acquiring process configured to acquire distances from a movable body at a first time and a second time to two ground objects, respectively; a second acquiring process configured to acquire a distance between the two ground objects; and a calculating process configured to calculate a moving distance of the movable body from the first time to the second time based on results acquired by the first acquiring process and the second acquiring process.

10 . A distance estimation method executed by a distance estimation device comprising:
a first acquiring process configured to acquire distances from a movable body at a first time and a second time to at least three ground objects, respectively; a second acquiring process configured to acquire distances between the at least three ground objects, respectively; and a calculating process configured to calculate a moving distance of the movable body from the first time to the second time based on results acquired by the first acquiring process and the second acquiring process.

11 . A non-transitory computer-readable medium storing a program executed by a distance estimation device comprising a computer, the program causing the computer to function as:
a first acquiring unit configured to acquire distances from a movable body at a first time and a second time to two ground objects, respectively; a second acquiring unit configured to acquire a distance between the two ground objects; and a calculating unit configured to calculate a moving distance of the movable body from the first time to the second time based on results acquired by the first acquiring unit and the second acquiring unit.

12 . A non-transitory computer-readable medium storing a program executed by a distance estimation device comprising a computer, the program causing the computer to function as:
a first acquiring unit configured to acquire distances from a movable body at a first time and a second time to at least three ground objects, respectively; a second acquiring unit configured to acquire distances between the at least three ground objects, respectively; and a calculating unit configured to calculate a moving distance of the movable body from the first time to the second time based on results acquired by the first acquiring unit and the second acquiring unit.

13 . (canceled)

Assignees

• Pioneer Corp

Inventors

• Niihara Ryoko
• Kato Masahiro
• Kaneko Hitoshi

Classifications

• G01S17/58

  Velocity or trajectory determination systems; Sense-of-movement determination systems · CPC title

• G01S5/16

  using electromagnetic waves other than radio waves · CPC title

• G01S17/86

  Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders · CPC title

• G01S7/4808

  Evaluating distance, position or velocity data · CPC title

• G01C22/00

  Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers · CPC title