US 12,146,746 B2
Information processing device, control method, program and storage medium
Masahiro Kato, Saitama (JP)
Assigned to PIONEER CORPORATION, Tokyo (JP)
Appl. No. 17/781,333
Filed by PIONEER CORPORATION, Tokyo (JP)
PCT Filed Dec. 1, 2020, PCT No. PCT/JP2020/044656
§ 371(c)(1), (2) Date May 31, 2022,
PCT Pub. No. WO2021/112074, PCT Pub. Date Jun. 10, 2021.
Claims priority of application No. 2019-218074 (JP), filed on Dec. 2, 2019.
Prior Publication US 2023/0010175 A1, Jan. 12, 2023
Int. Cl. G01C 21/30 (2006.01)
CPC G01C 21/30 (2013.01) 10 Claims
OG exemplary drawing
 
1. An information processing device comprising:
an acquisition unit configured to acquire, from map data including position information of one or more features, plural pieces of position information of a feature which is drawn on a road surface and which exists at or around a moving body;
a normal vector calculation unit configured to calculate a normal vector of a plane, which approximates a plane of the road surface, calculated based on the acquired plural pieces of the position information; and
an angle calculation unit configured to calculate at least one of a pitch angle or a roll angle of the moving body, based on a traveling direction vector and a lateral direction vector of the moving body and the normal vector.