# US 10,871,380 B2 · Vehicle control device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,871,380 B2 - Document ID: US10871380B2 - Status: Granted - Kind: B2 - Application number: 16/465,117 - Filed: 2018-03-15 - Published: 2019-09-19 - Granted: 2020-12-22 - Earliest claimed: 2017-03-23 - Assignees: Hitachi Automotive Systems, Ltd. - Applicants: Hitachi Automotive Systems, Ltd. - Inventors: Tomoyasu Sakaguchi; Masashi Seimiya; Yoshiyuki Yoshida - Web page: https://patentgrep.com/patent/US10871380B2 ## CPC - G01C 22/00: Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers - G06T 7/20: Analysis of motion (motion estimation for coding, decoding, compressing or decompressing digital video signals H04N19/43, H04N19/51) - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - G07C 5/06: in graphical form - H04N 23/90: Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums - G06T 2207/30252: Vehicle exterior; Vicinity of vehicle - G07C 5/08: Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time - G07C 5/0866: {the electronic data carrier being a digital video recorder in combination with video camera} - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G07C: TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract 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. ## Claims ### Claim 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. ### Claim 2 (depends on 1) 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. ### Claim 3 (depends on 1) 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. ### Claim 4 (depends on 1) The vehicle control device according to claim 1, wherein the predetermined driving state is a state where steering of the vehicle is neutral. ### Claim 5 (depends on 1) 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. ### Claim 6 (depends on 1) 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. ### Claim 7 (depends on 1) 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. ### Claim 8 (depends on 2) 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.