| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle position calculation device capable of appropriately calculating an actual vehicle position of a vehicle.SOLUTION: A vehicle position calculation device compares an edge image which is obtained from a display image including a road surface display around a vehicle by detecting an edge corresponding to the road surface display, with an evaluation point projection image which is obtained by projecting, from a predicted vehicle position, an evaluation point being on the edge corresponding to the road surface display included in a three-dimentional map. Accordingly, in order to calculate an actual vehicle position, when an optical axis of an imaging apparatus on the assumption that the imaging apparatus takes an image from the predicted vehicle position, and the edge are viewed from directly above the predicted vehicle position, the vehicle position calculation device sets the more evaluation points to the edge having the larger angle between the optical axis of the imaging apparatus and the edge, and deletes the evaluation points included in the evaluation point projection image in accordance with a distance from the predicted vehicle position. |
