| CPC B60Q 1/10 (2013.01) [G01S 19/13 (2013.01); B60Q 2300/324 (2013.01)] | 16 Claims |
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1. A vehicle posture calculation device for a vehicle comprising an electronic control unit for the vehicle and a camera configured to capture an image of at least a region in front of the vehicle, the electronic control unit being configured to:
acquire a position and orientation of the vehicle traveling on a road and a three-dimensional map based information from a global positioning system receiver;
extract i) a first feature point from a first landmark identified in an image from the camera and ii) a second feature portion from a second landmark identified in the image from the camera, and obtain positions of the first feature point and the second feature point in two-dimensional coordinates set on the image, the first landmark being different from the second landmark;
calculate, based on the position and orientation of the vehicle and the three-dimensional map including positions of the first landmark and the second landmark, a three-dimensional shape of the first landmark, a three-dimensional shape of the second landmark, an altitude of the road, and road surface information of the road, a first reference point corresponding to the first feature point of the first landmark and a second reference point corresponding to the second feature point of the second landmark as if the first landmark and the second landmark were captured by the camera of the vehicle positioned at the position and orientation on the road and aligned parallel to a road surface of the road in a rolling direction and a pitching direction of the vehicle;
obtain positions of the calculated first reference point and the calculated second reference point in the two-dimensional coordinates set on the image; and
calculate a vehicle inclination angle relative to the road surface based on displacement, in the two-dimensional coordinates set on the image, between the position of the first feature point and the position of the calculated first reference point and between the position of the second feature point and the position of the calculated second reference point,
wherein the vehicle inclination angle comprises a rolling inclination angle in the rolling direction of the vehicle relative to the road surface and a pitching inclination angle in the pitching direction of the vehicle relative to the road surface, and
wherein the electronic control unit is further configured to:
calculate, in the two-dimensional coordinates set on the image, (1) a first perpendicular bisector of a line connecting the first feature point and the first calculated reference point and (2) a second perpendicular bisector of a line connecting the second feature point and the second calculated reference point;
calculate, in the two-dimensional coordinates set on the image, a point of intersection of the first and second perpendicular bisectors;
calculate, in the two-dimensional coordinates set on the image, a first interior angle of lines each connecting the point of intersection of the first and second perpendicular bisectors and a corresponding one of the first feature point and the first calculated reference point;
calculate, in the two-dimensional coordinates set on the image, a second interior angle of lines each connecting the point of intersection of the first and second perpendicular bisectors and a corresponding one of the second feature point and the second calculated reference point;
determine an average of the first and second interior angles as the rolling inclination angle; and
calculate the pitching inclination angle based on coordinates of the point of intersection of the first and second perpendicular bisectors.
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