A self-position calculating apparatus includes: a light projector 11 configured to project a patterned light beam 32a onto a road surface 31 around a vehicle; and a camera 12 configured to capture an image 38 of the road surface 31 around the vehicle including an area onto which the patterned light beam 32a is projected. The self-position calculating apparatus calculates an orientation angle of the vehicle 10 relative to the road surface 31 from a position of the patterned light beam on the image, and calculate an amount of change in orientation of the vehicle based on temporal changes in multiple feature points on the road surface which are detected from the image. The self-position calculating apparatus calculates current position and orientation angle of the vehicle by adding the amount of change in the orientation to initial position and orientation angle of the vehicle. If a condition under which the multiple feature points are detected does not satisfy a first criterion, the self-position calculating apparatus sets the current position of the vehicle at that time and the orientation angle of the vehicle calculated from the position of the patterned light beam at the initial position and orientation angle of the vehicle, and start to add the amount of change in the orientation to the initial position and orientation angle.
LOCAL LOCATION COMPUTATION DEVICE AND LOCAL LOCATION COMPUTATION METHOD
LOKALE ORTUNGSBERECHNUNGSVORRICHTUNG UND LOKALES ORTUNGSBERECHNUNGSVERFAHREN
DISPOSITIF DE CALCUL D'EMPLACEMENT LOCAL ET PROCÉDÉ DE CALCUL D'EMPLACEMENT LOCAL
2019-11-27
Patent
Elektronische Ressource
Englisch
IPC: | G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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