PROBLEM TO BE SOLVED: To provide a self-position calculation device and a self-position calculation method capable of accurately, stably calculating a vehicle travel amount.SOLUTION: A self-position calculation device comprises: a pattern-light control unit 27 controlling pattern light emitted from a projector 11 so that a luminance of the pattern light periodically changes; a pattern-light extraction unit 21 extracting the pattern light from an image picked up by a camera 12; and an attitude-angle calculation unit 22 calculating an attitude angle of a vehicle with respect to a road surface from a position of the pattern light extracted by the pattern-light extraction unit 21. The self-position calculation device also comprises: an attitude-change-amount calculation unit 24 detecting a plurality of feature points on the road surface from the image picked up by the camera 12, and calculating an attitude change amount of the vehicle based on changes in the respective feature points over time; and a self-position calculation unit 26 calculating a current position and a current attitude angle of the vehicle by adding the attitude change amount to an initial position and the attitude angle of the vehicle. Furthermore, the attitude-change-amount calculation unit 24 detects the feature points when the luminance of the pattern light is equal to or lower than a threshold luminance.

    【課題】車両の移動量を精度良く且つ安定して算出することができる自己位置算出装置及び自己位置算出方法を提供する。【解決手段】投光器11より投光するパターン光の輝度が周期的に変化するように制御するパターン光制御部27と、カメラ12で撮像された画像からパターン光を抽出するパターン光抽出部21と、パターン光抽出部21にて抽出されたパターン光の位置から、路面に対する車両の姿勢角を算出する姿勢角算出部22を有する。また、カメラ12にて撮像された画像から路面上の複数の特徴点を検出し、各特徴点の時間変化に基づいて、車両の姿勢変化量を算出する姿勢変化量算出部24と、車両の初期位置及び前記姿勢角に姿勢変化量を加算することで、車両の現在位置及び姿勢角を算出する自己位置算出部26を有する。そして、姿勢変化量算出部24は、パターン光の輝度が閾値輝度以下のときに、特徴点を検出する。【選択図】図1


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    SELF-POSITION CALCULATION DEVICE AND SELF-POSITION CALCULATION METHOD


    Weitere Titelangaben:

    自己位置算出装置及び自己位置算出方法


    Beteiligte:

    Erscheinungsdatum :

    2015-10-22


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Japanisch


    Klassifikation :

    IPC:    G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen



    SELF POSITION CALCULATION DEVICE AND SELF POSITION CALCULATION METHOD

    YAMAGUCHI ICHIRO | Europäisches Patentamt | 2016

    Freier Zugriff

    POSITION SELF-CALCULATION DEVICE AND POSITION SELF-CALCULATION METHOD

    YAMAGUCHI ICHIRO / NISHIUCHI HIDEKAZU / HIRAIZUMI NORIHISA et al. | Europäisches Patentamt | 2016

    Freier Zugriff

    POSITION CALCULATION DEVICE AND POSITION CALCULATION METHOD

    SATO HISATSUGU | Europäisches Patentamt | 2023

    Freier Zugriff

    VEHICLE POSITION CALCULATION DEVICE AND VEHICLE POSITION CALCULATION METHOD

    AMARI HARUO / HANAMAKI YASUHIKO / TAO KENICHI et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Position information calculation device and position information calculation method

    MAJIMA YOSHIKI / KOBAYASHI HIROYUKI / OTAKE TATSUYA et al. | Europäisches Patentamt | 2022

    Freier Zugriff