| 摘要 |
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 |
