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 32a on the image 38 obtained by the camera 12, and calculates an amount of change in the orientation of the vehicle based on temporal changes in multiple feature points on the road surface which are detected from the image 38. 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 projects the patterned light beam 32a.


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    Title :

    Self-Position Calculating Apparatus and Self-Position Calculating Method


    Contributors:

    Publication date :

    2017-01-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B60Q ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL , Anordnung von Signal- oder Beleuchtungsvorrichtungen, deren Einbau oder Halterung oder deren Schaltkreise bei Fahrzeugen allgemein / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / 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 / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G06V



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