To provide a posture estimation device capable of suitably estimating attachment posture of a measurement device attached to a moving body to the moving body.SOLUTION: An on-vehicle device 1 acquires a target measurement point group Ptag obtained by measuring a road sign having a vertical surface with respect to a travel direction of a travel road of a vehicle or a vertical surface with respect to a width direction of the travel road by a lidar 2 attached to the vehicle. Then, the on-vehicle device 1 estimates mounting posture of the lidar 2 on the vehicle based on inclination of the road sign in a longitudinal direction with reference to a coordinate system based on installation information of the lidar 2 that is calculated from the target measurement point group Ptag.SELECTED DRAWING: Figure 10
【課題】移動体に取り付けられた計測装置の移動体への取り付け姿勢を好適に推定可能な姿勢推定装置を提供する。【解決手段】車載機1は、車両の走行路の進行方向に対して垂直面又は走行路の幅方向に対して垂直面を有する道路標識を、車両に取り付けられたライダ2により計測した対象計測点群Ptagを取得する。そして、車載機1は、対象計測点群Ptagから算出される、ライダ2の設置情報に基づく座標系を基準とした道路標識の長手方向の傾きに基づいて、ライダ2の車両への取り付け姿勢を推定する。【選択図】図10
POSTURE ESTIMATION DEVICE, CONTROL METHOD, PROGRAM, AND STORAGE MEDIA
姿勢推定装置、制御方法、プログラム及び記憶媒体
2024-10-23
Patent
Electronic Resource
Japanese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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