Self-position calculating apparatus and self-position calculating method

Patent metadata

Field	Value
Publication number	US-9778029-B2
Application number	US-201415120603-A
Country	US
Kind code	B2
Filing date	Feb 24, 2014
Priority date	Feb 24, 2014
Publication date	Oct 3, 2017
Grant date	Oct 3, 2017

Abstract

A self-position calculating apparatus includes: a light projector configured to project a patterned light beam onto a road surface around a vehicle; an image capturing unit configured to capture and obtain an image of the road surface around the vehicle covering an area of the projected patterned light beam; an orientation angle calculator configured to calculate an orientation angle of the vehicle relative to the road surface from; a feature point detector configured to detect multiple feature points on the road surface; an orientation change amount calculator configured to calculate an amount of change in the orientation of the vehicle; and a self-position calculator configured to calculate a current position and a current orientation angle of the vehicle. The light projector selectively projects the patterned light beam onto a specific patterned light beam-projected region out of the multiple patterned light beam-projected regions.

First claim

The invention claimed is:

1. A self-position calculating apparatus comprising:
a laser pointer and a diffraction grating configured to project a patterned light beam onto a road surface around a vehicle;
a camera installed in the vehicle, and configured to capture and obtain an image of the road surface around the vehicle covering an area of the projected patterned light beam;
an orientation angle calculation processor configured to calculate an orientation angle of the vehicle relative to the road surface from a shape of the patterned light beam on the image obtained with the camera;
a feature point detection processor configured to detect a plurality of feature points on the road surface from the image obtained with the camera;
an orientation change amount calculation processor configured to calculate an amount of change in the orientation of the vehicle based on temporal changes in the plurality of feature points on the road surface detected by the feature point detection processor; and
a self-position calculation processor configured to calculate a current position and a current orientation angle of the vehicle by adding the amount of change in the orientation to an initial position and an initial orientation angle of the vehicle relative to the road surface, wherein
depending on a detection result of the feature points on the road surface detected by the feature point detection processor, the laser pointer and the diffraction grating selectively project the patterned light beam onto a specific patterned light beam-projected region out of a plurality of patterned light beam-projected regions.

2. The self-position calculating apparatus according to claim 1 , wherein
the plurality of patterned light beam-projected regions form groups of regions divided in a longitudinal stripe shape and each extending in a movement direction of the feature points, the groups of regions alternately arranged, and
the laser pointer and the diffraction grating projects the patterned light beam onto one of the groups of the patterned light beam-projected regions where the number of detected feature points is smaller than in any other group.

3. The self-position calculating apparatus according to claim 1 , wherein
the plurality of patterned light beam-projected regions are two regions divided in a vehicle-width direction,
the laser pointer and the diffraction grating project the patterned light beam onto one of the patterned light beam-projected regions where the number of detected feature points is smaller.

4. The self-position calculating apparatus according to claim 1 , wherein the laser pointer and the diffraction grating turn off the patterned light beam onto positions corresponding to positions where the feature points are detected.

5. The self-position calculating apparatus according to claim 1 , wherein the laser pointer and the diffraction grating turn off the patterned light beam onto positions corresponding to the movement direction of the feature points.

6. A self-position calculating method comprising:
a patterned light beam projecting step of causing a laser pointer and a diffraction grating installed in a vehicle to project a patterned light beam onto a road surface around a vehicle;
a step of causing a camera installed in the vehicle to obtain an image of the road surface around the vehicle covering an area of the projected patterned light beam;
a step of causing a controller of the vehicle to calculate an orientation angle of the vehicle relative to the road surface from a position of the patterned light beam on the obtained image;
a step of causing the controller to detect a plurality of feature points on the road surface from the obtained image;
a step of causing the controller to calculate an amount of change in the orientation of the vehicle based on temporal changes in the plurality of detected feature points on the road surface; and
a step of causing the controller to calculate a current position and a current orientation angle of the vehicle by adding the amount of change in the orientation to an initial position and an initial orientation angle of the vehicle relative to the road surface, wherein
the patterned light beam projecting step selectively projects the patterned light beam onto a specific patterned light beam-projected region out of a plurality of patterned light beam-projected regions depending on how the feature points on the road surface are detected.

Assignees

• Nissan Motor

Inventors

• Yamaguchi Ichiro
• Nishiuchi Hidekazu

Classifications

• G06T7/521

  from laser ranging, e.g. using interferometry; from the projection of structured light · CPC title

• G01B11/002

  for measuring two or more coordinates · CPC title

• G06T2207/30252

  Vehicle exterior; Vicinity of vehicle · CPC title

• G06T2207/30244

  Camera pose · CPC title

• G06T2207/10152

  Varying illumination · CPC title