JP6453701B2 - Posture estimation device - Google Patents

Description

  The present invention relates to a posture estimation device that estimates the posture of a host vehicle.

  As the above posture estimation device, a device that irradiates a plurality of laser beams toward a road surface directly below the host vehicle and estimates the posture of the host vehicle based on the distance from the road surface obtained by each reflected light is known. (For example, refer to Patent Document 1).

Special table 2011-511262 gazette

However, since the posture estimation device is a device based on the assumption that the road surface is detected, there is a problem in that an object such as an obstacle cannot be detected.
Therefore, in view of such problems, it is an object of the present invention to enable a posture estimation device that estimates the posture of the host vehicle to also be used as a configuration for detecting an object.

  In the posture estimation apparatus of the present invention, the distance measurement point group acquisition unit irradiates a laser beam for each irradiation region obtained by dividing a detection region for detecting an object in a grid shape in the horizontal direction and the vertical direction in advance, Then, a distance measuring point group including each distance and reflection intensity obtained by receiving the reflected light of the laser light is acquired. The road surface determination means determines whether each distance measuring point is on the road surface based on each distance measuring point. Then, the attitude angle calculation means calculates the attitude angle of the host vehicle based on the distance from the distance measuring point determined to be the road surface.

  According to such a posture estimation device, it is possible to specify a road surface in a configuration for detecting an object, and to estimate the posture of the host vehicle based on the positional relationship with the road surface. Therefore, the configuration for estimating the posture of the host vehicle and the configuration for detecting an object can be combined.

  In addition, description of each claim can be arbitrarily combined as much as possible. At this time, a part of the configuration may be excluded.

It is a block diagram which shows the outline of the system configuration | structure which concerns on this embodiment. It is a side view for demonstrating the irradiation direction of the laser beam which the laser radar 1 irradiates in a perpendicular direction. 3 is a bird's-eye view showing a distance measuring point locus on the road surface of the laser radar 1. FIG. It is a flowchart which shows the attitude | position estimation process which ECU2 performs. It is a conceptual diagram which shows a mode that the distance with a road surface changes with the change of a pitch angle. It is a flowchart which shows a road surface determination process. It is a flowchart which shows the attitude angle calculation process of 1st Embodiment. It is a flowchart which shows the attitude angle calculation process of 2nd Embodiment. It is explanatory drawing which shows the definition of coordinate transformation. It is a flowchart which shows the attitude angle calculation process of 3rd Embodiment. FIG. 3 is a three-dimensional view showing a relationship between a distance measuring point locus drawn on the road surface by the laser radar 1 and a road surface inclination. It is a block diagram which shows the concept of model fitting.

Embodiments according to the present invention will be described below with reference to the drawings.
[First Embodiment]
[Configuration of this embodiment]
Hereinafter, an example of an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows an example of the configuration of an object detection system 100 to which the present invention is applied. An object detection system 100 shown in FIG. 1 is mounted on a vehicle 5 (see FIG. 2) and detects a distance from an object that exists in all directions such as left and right of the vehicle 5. The object detection system 100 includes a laser radar 1 and an ECU (electronic control unit) 2.

  The driving support system 3 in FIG. 1 is an example of a function that uses the detection result of the object detection system 100. The driving support system 3 performs various controls that support driving of the driver based on the detection result of the object detection system 100. However, the detection result of the object detection system 100 can be used not only by the driving support system 3 but also by various systems mounted on the vehicle.

The laser radar 1 includes a rotating mechanism including a motor and the like, and rotates the rotating mechanism to irradiate laser light toward 360 ° around the vehicle (that is, all directions).
Here, before describing the configuration and operation of the laser radar 1, the mounting position and the posture of the laser radar 1 with respect to the road surface 6 (this will be referred to as the mounting posture) will be described using a sensor fixed coordinate system.

  As shown in FIGS. 2 and 3, the sensor fixed coordinate system has the center of the mounting position of the laser radar 1 as the origin and a point orthogonally projected onto the road surface 6, the x axis in the vehicle left-right direction, and y in the vehicle front-rear direction. The axis is provided so that the z axis is perpendicular to the vertical direction. Therefore, the xy plane of the sensor fixed coordinate system is parallel to the road surface 6.

  As shown in FIGS. 2 and 3, the laser radar 1 is installed, for example, on the upper surface of the vehicle roof so as to have a predetermined mounting posture. The mounting posture here refers to the pitch angle α, the roll angle β, the yaw angle γ, and the mounting height H related to the sensor fixed coordinate system of the laser radar 1. The mounting height H indicates the height H from the road surface 6 to the laser radar 1 (strictly, the light emitting unit 11).

The pitch angle refers to a rotation angle about the x axis, and the roll angle refers to a rotation angle about the y axis. The yaw angle refers to a rotation angle around the z axis.
The pitch angle is 0 on the xy plane, the rotation direction from the y-axis direction to the z-axis direction is a positive value, and the roll angle is 0 on the xy plane, and the rotation direction from the z-axis direction to the x-axis direction. To a positive value. The yaw angle is 0 on the yz plane, and the rotation direction from the y-axis direction to the x-axis direction is a positive value. Here, for simplicity, α = β = γ = 0. The road surface 6 in the sensor fixed coordinate system is represented by z = −H.

  Returning to FIG. 1 again, the configuration and operation of the laser radar 1 will be described. The laser radar 1 includes a light emitting unit 11, a light receiving unit 12, and a TOF (Time Of Flight) calculating unit 13.

  The light emitting unit 11 includes a laser diode, and irradiates laser light discontinuously in a range of a predetermined angle in the rotation axis direction (this is an irradiation range in the rotation axis direction) according to a drive signal from the ECU 2. More specifically, pulsed laser light is irradiated for each line formed by dividing the irradiation range in the rotation axis direction into L (L is a positive integer) irradiation directions.

In the present embodiment, the rotation axis direction irradiation range of the light emitting unit 11 is a range of + 10 ° to −30 ° with respect to the direction perpendicular to the rotation axis (that is, the direction of the optical axis), and the rotation axis direction irradiation range is L = Laser light is divided into 32 lines. In other words, the laser light is irradiated at intervals of 1.25 ° in the vertical direction for each line. The numbers of the respective lines are 1, 2,..., 31, 32 in ascending order of the angle θ ⁱ formed with the optical axis in the rotation axis direction.

Note that the angle formed by the laser beam with the optical axis in the rotation axis direction (this is the irradiation elevation angle) represents the rotation angle from the rotation axis direction to the y-axis direction as a positive value. The irradiation elevation angle θ ⁱ is determined for each line. For example, θ ¹ = −10 ° for line 1 (i = 1), and θ ³² = 30 ° for line 32 (i = 32). It is.

  The light emitting unit 11 sequentially irradiates the laser light of each line every time the rotation mechanism rotates by a certain angle (for example, 0.1 °), so that the laser radar 1 is directed toward the vehicle in all directions. The laser beam is swept and irradiated. The concept of the irradiation angle in the rotation axis direction of each line is shown in FIG. 2, and the distance measuring point locus on the road surface 6 of each line when 360 ° scanning is shown in FIG. The distance measuring point is a point where the laser beam is reflected and refers to a point detected by the laser radar 1.

The irradiation angle of the laser beam is represented by an irradiation elevation angle θ ⁱ and an irradiation azimuth angle φ _j . As described above, the irradiation elevation angle θ ⁱ is an angle formed by the laser beam with the optical axis in the rotation axis direction, and is determined for each line. The irradiation azimuth angle φ _j is a rotation angle from the neutral position of the rotation mechanism. As shown in FIG. 3, the irradiation azimuth angle φ _j represents a clockwise angle as a positive value.

  The ECU 2 is mainly configured by a computer including a CPU, ROM, RAM, backup RAM, and the like, and executes various processes by executing various control programs stored in the ROM based on input information. . This ECU 2 corresponds to the object detection device recited in the claims. More specifically, the ECU 2 includes a storage unit 20, a distance calculation unit 21, a position calculation unit 22, a vehicle information acquisition unit 23, and a vehicle posture estimation unit as functional blocks for performing various processes as shown in FIG. 24.

The storage unit 20 is configured by a rewritable nonvolatile storage medium. The storage unit 20 registers the mounting posture of the laser radar 1 and stores various data such as a vehicle posture estimated by a vehicle posture estimation unit 24 described later.
As the mounting height H as the mounting posture, a value designed in advance is used.

  When the TOF signal (that is, the time difference between the emission time of the laser beam and the reception time of the reflected beam) is input from the TOF calculation unit 13, the distance calculation unit 21 is a distance from the reflection point of the laser beam based on the time difference. r (see FIG. 3) is calculated.

  The position calculation unit 22 is a distance measurement point based on the distance r calculated by the distance calculation unit 21, the irradiation angle of the laser beam from which the reflected light is obtained, and the mounting orientation stored in the storage unit 20. The coordinate values (x, y, z) are created. The coordinate values here are expressed in the sensor fixed coordinate system.

  The vehicle information acquisition unit 23 is connected to the vehicle information detection unit 4 including a sensor group that detects information of the host vehicle 5 via an in-vehicle LAN (not shown). The vehicle information detection unit 4 includes, for example, a vehicle speed sensor that detects the traveling speed of the host vehicle, a yaw rate sensor that detects the magnitude of the yaw rate acting on the host vehicle, and a steering angle sensor that detects the steering angle of the steering wheel (all illustrated). Abbreviation). The vehicle information acquisition unit 23 calculates the traveling speed of the host vehicle 5, the magnitude of the yaw rate, the amount of movement, and the like using sensor signals from these sensors.

  The vehicle attitude estimation unit 24 estimates the vehicle attitude from the detection result of the laser radar 1. The operation of the vehicle posture estimation unit 24 will be described later in detail using the flowcharts shown in FIG.

  Based on the detection result of the object detection system 100, the driving support system 3 performs, for example, known ACC (Adaptive Cruise Control), AEB (Autonomous Emergency Braking), LKA (Lane Keeping Assist), and the like. For example, in the case of ACC, the driving system and the braking system are controlled so as to keep the inter-vehicle distance constant based on the distance from the preceding vehicle detected by the object detection system 100.

  In addition to the functions described above, the driving support system 3 in the present embodiment implements an automatic driving function for automatically driving the vehicle 5 and an automatic parking function for automatically parking the vehicle 5 at the parking position.

[Process of this embodiment]
In the object detection system 100 configured as described above, the ECU 2 (vehicle posture estimation unit 24) performs posture estimation processing shown in FIG. The attitude estimation process is a process for estimating the attitude (rotation angle) of the vehicle. In particular, in the present embodiment, an example in which only the pitch angle α is obtained will be described.

  That is, as shown in FIG. 5, when the pitch angle α is 0, the distance from the road surface detected by the laser radar 1 is a predetermined value determined by the line number (see the upper diagram of FIG. 5). . On the other hand, when the pitch angle is not 0, the distance from the road surface takes a value different from the predetermined value. For example, when positive-direction pitching occurs, the distance from the road surface increases (see the lower diagram in FIG. 5).

In this embodiment, the pitch angle α is estimated using this principle. For simplicity of explanation, it is assumed that the roll angle β is zero.
The posture estimation process is, for example, a process that is started when the power of the object detection system 100 is turned on, and then repeatedly executed periodically. In the posture estimation process, as shown in FIG. 4, first, a distance measuring point group is acquired (S110).

  The range-finding point group is a set of range-finding points for one cycle by the laser radar 1. The distance measuring point group is a set of combinations of the distance r and the reflection intensity I by the number of products of the number of lines L and the number of directions B.

  Subsequently, a three-dimensional object is detected from the distance measuring point group (S115). A well-known process is used for detection of a three-dimensional object. For example, for each distance measuring point constituting the distance measuring point group, points having similar distances are clustered, and a shape whose shape is close to a preset model (a model representing a point group of a person or a vehicle) is three-dimensional. Detect as an object. A distance measuring point detected as a three-dimensional object can be identified by a flag or the like.

  Subsequently, a road surface determination process is performed (S120). The road surface determination process is a process of determining a distance measurement point corresponding to the road surface based on the distance measurement point group. In the road surface determination process, as shown in FIG. 6, first, the i = 1st line is selected (S210). Then, the road surface determination flag is initialized (S220).

Here, the flag F for all lines i is set to false.
Subsequently, it is determined whether or not the selected line is a road surface determination line (S230). Here, as the road surface determination line, any one or a plurality of lines including a line downward from the horizontal direction are set.

  If the selected line is not a road surface determination line (S230: NO), the process proceeds to S290 described later. If the selected line is a road surface determination line (S230: YES), a three-dimensional object exclusion point group is generated by excluding a point indicating a three-dimensional object from that of the currently selected line of the distance measurement point group. (S235).

And the dispersion | variation about the distance of each ranging point contained in the produced | generated solid object exclusion point group is calculated | required (S240). In particular, in this embodiment, the variance V _r of distance is calculated. In addition, the average value (average road surface distance) calculated when calculating the variance V _r

Is stored in the storage unit 20.
Then, the dispersion | variation about the reflection intensity of each ranging point contained in a solid object exclusion point group is calculated | required (S250). In particular, in this embodiment, it calculates the variance V _I of the reflected intensity.

Subsequently, the variation of the z coordinate of each ranging point included in the three-dimensional object excluded point group is obtained (S260). In particular, in the present embodiment, the variance V _z of the z coordinate of each ranging point is calculated.
Subsequently, each variance is compared with a preset threshold value (S270). Here, the threshold value is set to an experimentally obtained value for each variance, and each variance is compared with a corresponding threshold value.

  If all of the variances are less than the corresponding threshold values (S270: YES), the road surface determination flag for this line is updated (S280).

  That is, the flag F is set to True. That is, it is estimated that this line indicates a road surface. Further, if any of the variances is equal to or greater than the corresponding threshold value (S270: NO), the process proceeds to S290.

  Subsequently, it is determined whether or not the line number i of the selected line matches the line number L (S290). If the line number i does not match the line number L (S290: NO), the line number i is incremented (S300), and the process returns to S230. If the line number i matches the line number L (S290: YES), the road surface determination process is terminated.

  Subsequently, returning to FIG. 4, the posture angle calculation process is performed (S130). The attitude angle calculation process is a process for calculating the attitude angle of the vehicle based on the distance from the road surface. In the attitude angle calculation process, as shown in FIG. 7, first, a road surface distance is calculated (S410). In this process, the average road surface distance calculated in the line determined as the road surface is used as it is as the road surface distance.

Subsequently, the rotation angle is calculated (S420). In this process, an estimated pitch angle α ⁱ is obtained for each line determined to be a road surface using the following equation.

Subsequently, the representative angle is calculated (S430). In the calculation of the representative angle, the representative angle α is calculated from the estimated pitch angle α ⁱ . For example, the average value of the estimated pitch angle α ⁱ is set as the estimated pitch angle α.

When such processing is completed, the process returns to FIG. 4 and the posture estimation result (rotation angle value) is output to the driving support system 3 or the like (S140), and the posture estimation processing is terminated.
[Effects of this embodiment]
In the object detection system 100 described in detail above, the ECU 2 irradiates a laser beam for each irradiation region obtained by dividing the detection region for detecting an object in a grid shape in the horizontal direction and the vertical direction in advance. A distance measuring point group including each distance and reflection intensity obtained by receiving the reflected light of the laser light is acquired. Moreover, ECU2 determines whether each ranging point is a road surface based on a ranging point group. And ECU2 calculates the attitude angle of the own vehicle based on the distance of the ranging point determined to be a road surface.

  According to such an object detection system 100, it is possible to specify a road surface in a configuration for detecting an object and estimate the posture of the host vehicle based on the positional relationship with the road surface. Therefore, the configuration for estimating the posture of the host vehicle and the configuration for detecting an object can be combined.

  Further, in the object detection system 100, the ECU 2 uses a plurality of distance measuring points arranged in the horizontal direction in the distance measuring point group as a line, and a portion where variations in distance and reflection intensity are less than a reference value in at least one line. Is estimated as the road surface.

  According to such an object detection system 100, since the road surface is determined in view of the characteristics that the distance and the reflection intensity are substantially uniform on the road surface, the road surface can be determined with high accuracy.

In the object detection system 100, the ECU 2 determines road surfaces for a plurality of lines.
According to such an object detection system 100, since the road surface is determined using the road surface determination results for a plurality of lines, the road surface can be determined with higher accuracy.

  In the object detection system 100, the ECU 2 detects a three-dimensional object from the distance measuring point group, and generates a three-dimensional object excluded point group from which the distance measuring point related to the three-dimensional object is excluded from the distance measuring point group. And it is determined whether each ranging point is a thing of a road surface using a solid object exclusion point group.

  According to such an object detection system 100, when a solid object that is not a road surface can be detected, the road surface can be determined using a distance measuring point excluding the solid object. Therefore, the road surface determination accuracy can be improved.

  Further, in the object detection system 100, the ECU 2 detects the distance from the road surface obtained from at least one of the distance measurement points determined as the road surface, the irradiation angle of the laser light irradiated to obtain the distance measurement point, and the laser light. The pitch angle of the host vehicle is estimated using the mounting height of the light emitting unit and the mounting posture.

According to such an object detection system 100, the posture of the host vehicle can be estimated using the fact that the distance from the road surface changes according to the pitch angle of the host vehicle.
[Second Embodiment]
Next, another type of object detection system 100 will be described. In the present embodiment (second embodiment), only the parts different from the object detection system 100 of the first embodiment will be described in detail, and the same parts as those of the object detection system 100 of the first embodiment will be denoted by the same reference numerals. Therefore, the description is omitted.

  In the object detection system 100 of the second embodiment, the pitch angle α is calculated using the rotation matrix in the posture estimation process. Specifically, the attitude angle calculation process shown in FIG. 8 is performed instead of the attitude angle calculation process of FIG.

In the posture angle calculation process of the second embodiment, as shown in FIG. 8, first, a rotation angle is calculated (S510).
First, consider the case of obtaining the pitch angle α. Let R _x (α) be a rotation matrix expressing the pitch angle α rotation.

  Then, the pitch estimation equation for estimating the pitch angle α is as follows.

  The relationship between the polar coordinate system and the orthogonal coordinate system is as shown in FIG. When the pitch angle α can be assumed to be a sufficiently small value, the calculation may be performed by approximating a trigonometric function as a polynomial.

If approximated in this way, the calculation cost can be reduced. The pitch angle α can be estimated by solving the simultaneous equations using the rotation matrix.
Here, when the rotation matrix is used, the roll angle β can be estimated simultaneously in addition to the pitch angle α. A rotation matrix expressing the roll angle β rotation is R _y (β).

The rotation matrix R _{x, y} (α, β) for obtaining the pitch angle α and the roll angle β can be expressed by the product of the rotation matrix R _x (α) and the rotation matrix R _y (β).

When this rotation matrix R _{x, y} (α, β) is replaced with the rotation matrix R _x (α) in the pitch estimation equation shown in [Equation 8], the pitch angle α and the roll angle β can be obtained. When the pitch angle α and the roll angle β are obtained, two or more distance measuring points on the road surface are required.

  Subsequently, the representative angle is calculated (S520). Here, an average is obtained for the obtained pitch angle α. That is, the following equation is used.

When the roll angle β is also obtained, the average value may be obtained similarly for the roll angle β.
In the object detection system 100, the ECU 2 detects the distance from the road surface obtained from at least two of the distance measurement point groups determined as the road surface, the irradiation angle of the laser light irradiated to obtain the distance measurement point group, The pitch angle α and the roll angle β can be estimated using the mounting height of the light emitting part.

According to such an object detection system 100, it is possible to estimate the roll angle β as well as the pitch angle α.
According to such an object detection system 100, the pitch angle α and the roll angle β can be estimated simultaneously.

[Third Embodiment]
Next, the object detection system 100 of 3rd Embodiment is demonstrated.
In the posture estimation process of the third embodiment, the posture of the vehicle is estimated using a model fitting technique. Specifically, as shown in FIG. 10, first, ellipse estimation of a road surface trajectory is performed (S610).

  In this process, for example, a parameter (axis inclination) for determining an ellipse indicated by a point group indicating a road surface (three-dimensional object exclusion point group) using a well-known algorithm that performs robust estimation such as RANSAC (RANdom SAmple Consensus). And the aspect ratio of the ellipse).

  Here, in the figure indicated by the three-dimensional object exclusion point group, when the pitch angle α and the roll angle β are 0, as shown in FIG. 11A, the cone 41A is cut by a plane 43A having no inclination. It becomes a perfect circle 42A. Further, in the figure indicated by the three-dimensional object exclusion point group, when the pitch angle α or the roll angle β is not 0, the cone 41B is inclined according to the pitch angle α and the roll angle β as shown in FIG. It becomes an ellipse 42B cut by the flat surface 43B.

  Therefore, in the present embodiment, the pitch angle α and the roll angle β are calculated inversely using the known laser radar emission model (cone 41A or 41B) and the observed figure (ellipse 42A or 42B). .

  Specifically, as shown in FIG. 12, a known cone parameter that specifies the shape of a cone that is specified from the laser beam emission angle and is drawn by the locus of the laser beam, and an ellipse obtained from the three-dimensional object exclusion point group A plane parameter for specifying the position and inclination of the road surface is obtained from the ellipse parameter for specifying the shape (S620). Then, the pitch angle α and the roll angle β are obtained from the obtained plane parameters (S630). At this time, in order to reduce the amount of calculation, a map in which the pitch angle α and the roll angle β are associated with each other according to the ellipse parameter is prepared in advance, and the pitch angle α and the roll angle β are determined by referring to this map. You may ask for it.

  According to such an object detection system 100, it is possible to estimate a posture angle that is hardly affected by noise by estimating the pitch angle and roll angle of the host vehicle from the observed figure on the road surface.

[Other Embodiments]
The present invention is not construed as being limited by the above embodiment. Further, the reference numerals used in the description of the above embodiments are also used in the claims as appropriate, but they are used for the purpose of facilitating the understanding of the invention according to each claim, and the invention according to each claim. It is not intended to limit the technical scope of The functions of one component in the above embodiment may be distributed as a plurality of components, or the functions of a plurality of components may be integrated into one component. Further, at least a part of the configuration of the above embodiment may be replaced with a known configuration having the same function. Moreover, you may abbreviate | omit a part of structure of the said embodiment as long as a subject can be solved. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified only by the wording described in the claim are embodiment of this invention.

  In addition to the object detection system 100 described above, various forms such as an apparatus that is a component of the object detection system 100, a program for causing a computer to function as the object detection system 100, a medium on which the program is recorded, an object detection method, etc. Thus, the present invention can be realized.

  For example, in the first embodiment, the road surface is estimated when the distance, the reflection intensity, or the z-coordinate variation is small. However, the road marking is detected and the position where the road marking is located is estimated as the road surface. May be.

  Specifically, in the object detection system 100, the ECU 2 detects these edges when at least one line has a small variation in distance and the difference in reflection intensity between adjacent parts is equal to or greater than a determination value. The area specified by the distance measuring point may be estimated as the road surface.

  According to such an object detection system 100, a road marking such as a white line can be detected by detecting an edge having a small distance variation and reflection intensity. Since the road marking is present on the surface of the road surface, the road surface can be determined with higher accuracy if the distance measuring point is determined as the road surface.

[Correspondence between Configuration of Embodiment and Means of Present Invention]
In the above embodiment, the ECU 2 of the object detection system 100 corresponds to the vehicle attitude estimation device referred to in the present invention. In addition, the process of S110 among the processes executed by the ECU 2 corresponds to the distance measurement point group acquisition unit referred to in the present invention, and the process of S120 in the above embodiment corresponds to the road surface determination unit referred to in the present invention.

  Furthermore, the process of S130 in the above embodiment corresponds to the attitude angle calculation means referred to in the present invention, and the process of S115 in the above embodiment corresponds to the three-dimensional object detection means referred to in the present invention. Moreover, the process of S235 in the said embodiment is corresponded to the solid object exclusion point cloud production | generation means said by this invention.

  DESCRIPTION OF SYMBOLS 1 ... Laser radar, 2 ... ECU, 3 ... Driving support system, 4 ... Vehicle information detection part, 5 ... Vehicle, 6 ... Road surface, 11 ... Light emission part, 12 ... Light-receiving part, 13 ... TOF calculation part, 20 ... Memory | storage part , 21 ... distance calculation unit, 22 ... position calculation unit, 23 ... vehicle information acquisition unit, 24 ... vehicle posture estimation unit, 100 ... object detection system.

Claims (6)

A vehicle attitude estimation device (2) mounted on the own vehicle for estimating the attitude of the own vehicle,
Each of the detection areas obtained by detecting the detection area for detecting an object in each of the irradiation areas obtained by previously dividing the detection area into a grid shape in the horizontal direction and the vertical direction, and receiving the reflected light of the laser light in each irradiation area Distance measurement point group acquisition means (S110) for acquiring a distance measurement point group representing a set of a plurality of distance measurement points using information including the distance to the object and the reflection intensity as a distance measurement point;
Three-dimensional object detection means (S115) for detecting a three-dimensional object from the distance measuring point group;
Three-dimensional object excluded point group generation means (S235) for generating a three-dimensional object excluded point group excluding distance measuring points related to a three-dimensional object from the distance measuring point group;
Road surface determination means (S120) for determining whether or not each ranging point is on the road surface using the three-dimensional object exclusion point group ;
Attitude angle calculation means (S130) for calculating the attitude angle of the host vehicle based on the distance of the distance measuring point determined to be the road surface;
Equipped with a,
The road surface judging means has a plurality of distance measuring points arranged in the horizontal direction in the distance measuring point group as a line, and the variation in the distance is small in at least one line and the reflection intensity of an adjacent distance measuring point. A posture estimation device characterized in that when an edge whose difference is equal to or greater than a determination value is detected, a region specified by these distance measurement points is determined as a road surface as a road marking is detected . The posture estimation apparatus according to claim 1 ,
The said road surface determination means estimates a road surface about a some line. The attitude | position estimation apparatus characterized by these. In the posture estimation apparatus according to claim 1 or 2 ,
The attitude angle calculation means includes a distance from at least one of the determined distance measurement points to a road surface, an irradiation angle of laser light irradiated to obtain the distance measurement point, and a laser light emitting unit. A posture angle estimation device that calculates a pitch angle representing an inclination in the front-rear direction of the host vehicle using the mounting height and mounting posture of the vehicle. In the posture estimation apparatus according to any one of claims 1 to 3 ,
The posture angle calculation means includes a distance between at least two distance measuring points determined as the road surface, an irradiation angle of laser light irradiated to obtain the distance measuring points, and a laser light emitting unit. A posture estimation device that calculates a pitch angle that represents a front-rear direction inclination of the host vehicle and a roll angle that represents a left-right direction tilt of the host vehicle using the mounting height and the mounting posture. The posture estimation apparatus according to claim 4 ,
The posture angle calculating means calculates the pitch angle and the roll angle by solving simultaneous equations expressed using a product of a rotation matrix related to the pitch angle and a rotation matrix related to the roll angle. Estimating device. In the posture estimation apparatus according to any one of claims 1 to 3 ,
The attitude angle calculation means obtains a road surface parameter by using a laser emission parameter and a path parameter of a distance measurement point determined to be a road surface, thereby obtaining a pitch angle representing an inclination in the front-rear direction of the host vehicle and a right and left of the host vehicle. A posture estimation device characterized by calculating a roll angle representing a tilt of a direction .