SELF POSITION CALCULATION APPARATUS AND SELF POSITION CALCULATION METHOD

摘要

PROBLEM TO BE SOLVED: To provide a self position calculation apparatus and a self position calculation method capable of accurately and stably estimating a vehicle moving amount irrespective of a road surface gradient. ! SOLUTION: A self position calculation apparatus comprises: a gradient-change calculation unit 36 calculating a change in a gradient of a road surface; an attitude-angle calculation unit 22 calculating an attitude angle of a vehicle with respect to the road surface from a position of pattern light acquired by a camera 12; an attitude-change-amount calculation unit 24 calculating an attitude change amount of the vehicle on the basis of temporal changes in a plurality of feature points on the road surface; and a self-position calculation unit 26 calculating a current position and the attitude angle of the vehicle by adding the attitude change amount to an initial position and the attitude angle of the vehicle. The self-position calculation unit 26 starts adding the attitude change amount to