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 even if a behavior amount of a vehicle is large. ! SOLUTION: A self position calculation apparatus comprises: a behavior-amount detection unit 36 detecting a behavior amount of a vehicle 10; an attitude-angle calculation unit 22 calculating an attitude angle of the vehicle 10 with respect to a road surface from a position of pattern light acquired by a camera 12; and an attitude-change-amount calculation unit 24 calculating an attitude change amount of the vehicle 10 on the basis of temporal changes in a plurality of feature points on the road surface. The self position calculation apparatus further comprises a self-position calculation unit 26 calculating a current position and the attitude angle of the vehicle 10 by adding the attitude change amount to an initial position and the attitude angle of the vehicle. A projector 11 pro