FIELD: physics.
SUBSTANCE: home position calculating device includes: a light projector 11 configured to project a light beam with a predetermined pattern onto the road surface around the vehicle; An image pickup unit 12 mounted in the vehicle and configured to grip and obtain a road surface image around the vehicle covering the area of the projected light beam with a pre-installed template; An orientation angle calculating unit 22 configured to calculate the attitude angle of the vehicle relative to the road surface from a position of the light beam with a pre-set pattern in the image obtained by the image pickup unit 12; characteristic dot detector 23 configured to define a detection region of characteristic points surrounding a projected light beam region with a pre-installed pattern in the image obtained by the image capturing unit 12 and to detect several characteristic points on the road surface in the detection region of characteristic points; an orientation change value calculation unit 24 configured to calculate a change amount of the vehicle orientation based on temporal changes of several characteristic points on the road surface; and a home position calculation unit 25 configured to calculate the current position and the current vehicle orientation angle by summing the amount of the orientation change with the starting position and the initial attitude angle of the vehicle relative to the road surface.
EFFECT: simple identification of characteristic points with a difference between characteristic points and a light beam with a pre-established template and, therefore, an exact calculation of the vehicle's own position.
6 cl, 23 dwg
