POSITION SELF-CALCULATION DEVICE AND POSITION SELF-CALCULATION METHOD

Title:

POSITION SELF-CALCULATION DEVICE AND POSITION SELF-CALCULATION METHOD

Document Type and Number:

WIPO Patent Application WO/2016/020970

Kind Code:

A1

Abstract:

Provided is a position self-calculation device capable of accurately detecting patterned light that has been projected onto a road surface, and capable of accurately calculating the position of the vehicle in which the position self-calculation device is mounted. This position self-calculation device is provided with: a projector (11) which projects patterned light onto a road surface; an image capture unit (12) which captures an image of the region illuminated with the projected patterned light; a patterned light extraction unit (21) which obtains the position of the patterned light in the image; an attitude angle calculation unit (22) which calculates, from the position of the patterned light in the image, the attitude angle of the vehicle relative to the road surface; an attitude variation calculation unit (24) which calculates variation in attitude of the vehicle with time on the basis of changes in position of each of a plurality of feature points on the road surface in successive images; and a position self-calculation unit (26) which adds successive variations in attitude of the vehicle to the initial position and the initial attitude angle of the vehicle, thereby calculating the current position and the current attitude angle of the vehicle. When the detected level of the patterned light is equal to or greater than a threshold value, the patterned light extraction unit (21) obtains the position of the patterned light in a composite image that is obtained by superimposing frame images captured by the image capture unit (12).

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Inventors:

YAMAGUCHI ICHIRO (JP)
NISHIUCHI HIDEKAZU (JP)
HIRAIZUMI NORIHISA (JP)
MATSUMOTO JUN (JP)

Application Number:

PCT/JP2014/070480

Publication Date:

February 11, 2016

Filing Date:

August 04, 2014

Export Citation:

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Assignee:

NISSAN MOTOR (JP)

International Classes:

G08G1/16; G01B11/00; G01B11/26; G01C21/28

Domestic Patent References:

WO2012172870A1

2012-12-20

Foreign References:

JP2004177252A	2004-06-24
JP2013187862A	2013-09-19
JP2013147114A	2013-08-01
JP2007256090A	2007-10-04
JPH06325298A	1994-11-25
JP2010101683A	2010-05-06

Other References: