FIELD: transportation.
SUBSTANCE: device sets the current particle distribution range as a predetermined range using a filter. And it also dissipates particles in the given current distribution range to estimate the vehicle attitude angle and position by means of an image. The camera is mounted on the vehicle. The vehicle has front wheels and rear wheels, moves in front to rear direction and performs a turn in the vehicle width direction. The device also comprises a vehicle speed determination module and a particle distribution current range assignment module. The particle distribution current range assignment module is configured to expand the current distribution range when the vehicle speed becomes high.
EFFECT: higher accuracy of evaluation of vehicle attitude angle and position.
6 cl, 20 dwg
