Self-Position Calculating Apparatus and Self-Position Calculating Method

摘要

A self-position calculating apparatus includes: a light projector configured to project a patterned light beam onto a road surface around a vehicle; an image capturing unit configured to capture and obtain an image of the road surface around the vehicle covering an area of the projected patterned light beam; an orientation angle calculator configured to calculate an orientation angle of the vehicle relative to the road surface from a position of the patterned light beam on the image obtained by the image capturing unit; a feature point detector configured to detect multiple feature points on the road surface within the feature-point detection region; an orientation change amount calculator configured to calculate an amount of change in the orientation of the vehicle; and a self-position calculator configured to calculate a current position and a current orientation angle of the vehicle.

主权项

1. A self-position calculating apparatus comprising:
a light projector configured to project a patterned light beam onto a road surface around a vehicle; an image capturing unit installed in the vehicle, and configured to capture and obtain an image of the road surface around the vehicle covering an area of the projected patterned light beam; an orientation angle calculator configured to calculate an orientation angle of the vehicle relative to the road surface from a position of the patterned light beam on the image obtained by the image capturing unit; a feature point detector configured to set a feature-point detection region surrounding the area of the projected patterned light beam on the image obtained by the image capturing unit, and to detect a plurality of feature points on the road surface within the feature-point detection region; an orientation change amount calculator configured to calculate an amount of change in the orientation of the vehicle based on temporal changes in the plurality of feature points on the road surface; and a self-position calculator configured to calculate a current position and a current orientation angle of the vehicle by adding the amount of change in the orientation to an initial position and an initial orientation angle of the vehicle relative to the road surface.