Self-location calculating device and self-location calculating method

Patent metadata

Field	Value
Publication number	US-9684837-B2
Application number	US-201415120795-A
Country	US
Kind code	B2
Filing date	Feb 24, 2014
Priority date	Feb 24, 2014
Publication date	Jun 20, 2017
Grant date	Jun 20, 2017

Abstract

A self-location calculating device projects a patterned light onto a road surface around a vehicle, as well as thereby captures and obtains an image of the road surface around the vehicle. Furthermore, the self-location calculating device detects a running condition of the vehicle. When it is determined that the vehicle is a running stable state, the self-location calculating device calculates a current position and a current attitude angle of the vehicle by adding an amount of change in an attitude to a predetermined initial attitude angle of the vehicle.

First claim

The invention claimed is:

1. A self-location calculating device comprising:
a light projector configured to project a patterned light 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 including an area onto which the patterned light is projected;
an attitude angle calculation unit configured to calculate an attitude angle of the vehicle relative to the road surface from a position of the patterned light on the image obtained by the image capturing unit;
an attitude change amount calculation unit configured to calculate an amount of change in an attitude of the vehicle based on temporal changes in a plurality of feature points on the road surface on the image obtained by the image capturing unit;
a self-location calculation unit configured to calculate a current position and a current attitude angle of the vehicle by adding the amount of change in the attitude to an initial position and the attitude angle of the vehicle; and
a running condition determination unit configured to detect a running condition of the vehicle, and to determine whether or not the vehicle is a running stable state, wherein
when the running condition determination unit determines that the vehicle is the running stable state, the self-location calculation unit calculates the current position and the current attitude angle of the vehicle by adding the amount of change in the attitude to a position and a predetermined initial attitude angle of the vehicle which is the running stable state.

2. The self-location calculating device according to claim 1 , wherein when the vehicle is at a stop, the running condition determination unit determines that the vehicle is the running stable state.

3. The self-location calculating device according to claim 1 , wherein when a speed of the vehicle is constant, the running condition determination unit determines that the vehicle is the running stable state.

4. The self-location calculating device according to claim 1 , wherein when the vehicle is running straight, the running condition determination unit determines that the vehicle is the running stable state.

5. The self-location calculating device according to claim 1 , wherein the self-location calculation unit uses the current position and the current attitude angle of the vehicle at a time when an ignition switch of the vehicle is turned on, as the predetermined initial attitude angle.

6. A self-location calculating method comprising:
a procedure of projecting a patterned light onto a road surface around a vehicle from a light projector installed in the vehicle;
a procedure of capturing and obtaining an image of the road surface around the vehicle including an area onto which the patterned light is projected, by an image capturing unit installed in the vehicle;
a procedure of calculating an attitude angle of the vehicle relative to the road surface from a position of the patterned light on the image in a control unit of the vehicle;
a procedure of calculating an amount of change in an attitude of the vehicle based on temporal changes in a plurality of feature points on the road surface on the image in the control unit;
a self-location calculating procedure of calculating a current position and a current attitude angle of the vehicle by adding the amount of change in the attitude to an initial position and the attitude angle of the vehicle in the control unit; and
a running condition determining procedure of detecting a running condition of the vehicle, and determining whether or not the vehicle is a running stable state in the control unit, wherein
when in the running condition determining procedure, it is determined that the vehicle is the running stable state, the current position and the current attitude angle of the vehicle are calculated in the self-location calculating procedure by adding the amount of change in the attitude to a position and a predetermined initial attitude angle of the vehicle which is the running stable state.

Assignees

• Nissan Motor

Inventors

• Yamaguchi Ichiro
• Nishiuchi Hidekazu

Classifications

• B60W40/11 Primary

  Pitch movement · CPC title

• G06V20/588

  Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road · CPC title

• G01C21/1656 Primary

  with passive imaging devices, e.g. cameras · CPC title

• G06K9/2036

  Physics · mapped topic

• B60W40/114

  Yaw movement · CPC title