Importance

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Abstract

A vehicle posture calculation device includes an electronic control unit for a vehicle. The electronic control unit acquires a position and orientation of the vehicle from information of a global positioning system receiver. The electronic control unit extracts, as at least one feature point, a position of a landmark in an image acquired with a camera. The electronic control unit acquires at least one calculated reference point and calculate an inclination angle of the vehicle. The at least one calculated reference point is acquired by calculating a position of the landmark to be captured in the image with the camera. The position of the landmark is calculated from a three-dimensional map and the position and the orientation of the vehicle that are acquired. The inclination angle is calculated from displacement between the at least one feature point and the at least one calculated reference point.

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First Claim