PROBLEM TO BE SOLVED: To suppress an error in the distance and attitude angle of a vehicle to a road surface and suppress an error in movement distance estimation when a pattern light is radiated onto the road surface.SOLUTION: A self position calculation device of the present invention comprises: a projector 11 for projecting a pattern light to a road surface around a vehicle; a camera 12 for image-capturing the road surface around the vehicle including an area to which the pattern light is projected and acquiring an image; a road surface paint detection unit 20 for detecting a paint area on the road surface from the image; an attitude angle calculation unit 22 for calculating the attitude angle of the vehicle to the road surface on the basis of the position of the pattern light present in the paint area; a feature point detection unit 23 for detecting a plurality of feature points on the road surface from the image; an attitude change among calculation unit 24 for calculating an attitude change amount of the vehicle on the basis of the temporal change of the plurality of feature points on the road surface; and a self position calculation unit 26 for adding up attitude change amounts to the initial position and attitude angle of the vehicle to the road surface, and thereby calculating the current position and attitude angle of the vehicle.SELECTED DRAWING: Figure 1

    【課題】路面上にパターン光を照射する場合、路面に対する車両の距離及び姿勢角の誤差を抑制し、移動量推定の誤差を抑制する。【解決手段】本発明の自己位置算出装置は、車両周囲の路面にパターン光を投光する投光器11と、パターン光が投光された領域を含む車両周囲の路面を撮像して画像を取得するカメラ12と、画像から路面のペイント領域を検出する路面ペイント検出部20と、ペイント領域上にあるパターン光の位置に基づいて路面に対する車両の姿勢角を算出する姿勢角算出部22と、画像から路面上の複数の特徴点を検出する特徴点検出部23と、路面上の複数の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、路面に対する車両の初期位置及び姿勢角に姿勢変化量を加算してゆくことによって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とを備える。【選択図】図1


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    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 :

    2016-12-28


    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS



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