Information processing device, control method, program and storage medium

1. An information processing device comprising:

an acquisition unit configured to acquire, from map data including position information of one or more features, plural pieces of position information of a feature which is drawn on a road surface and which exists at or around a moving body;

a normal vector calculation unit configured to calculate a normal vector of a plane, which approximates a plane of the road surface, calculated based on the acquired plural pieces of the position information; and

an angle calculation unit configured to calculate at least one of a pitch angle or a roll angle of the moving body, based on a traveling direction vector and a lateral direction vector of the moving body and the normal vector.

2. The information processing device according to claim 1 ,

wherein the angle calculation unit calculates the pitch angle based on an inner product of

a vector indicative of a traveling direction of the moving body on a horizontal plane and

the normal vector.

3. The information processing device according to claim 1 ,

wherein the angle calculation unit calculates the roll angle based on an inner product of

a vector indicative of a lateral direction of the moving body on a horizontal plane and

the normal vector.

4. The information processing device according to claim 1 , further comprising

a position estimation unit configured to perform position estimation of the moving body through matching between

data obtained by a coordinate transformation of measurement data of a feature based on at least one of the pitch angle or the roll angle, the measurement data being outputted by a measurement unit mounted on the moving body, and

the position information of the feature registered in the map data.

5. The information processing device according to claim 4 ,

wherein position information of plural features is registered in the map data, and

wherein, if a peripheral feature existing around the moving body is included in the plural features,

the position estimation unit

sets, based on the position information of the peripheral feature, a prediction range where the data obtained by the coordinate transformation of the measurement data of the peripheral feature is predicted to be included and

performs the position estimation of the moving body through the matching between the data included in the prediction range and the position information of the peripheral feature.

6. The information processing device according to claim 1 , further comprising

a height calculation unit configured to calculate a height of the moving body from a reference position based on

a height of the plane, which approximates the plane of the road surface, from the reference position calculated based on a plane equation indicative of the approximate plane and

information indicative of a height of the moving body from the road surface.

7. A control method executed by an information processing device, the control method comprising:

acquiring, from map data including position information of one or more features, plural pieces of position information of a feature which is drawn on a road surface and which exists at or around a moving body;

calculating a normal vector of a plane, which approximates a plane of the road surface, calculated based on the acquired plural pieces of the position information; and

calculating at least one of a pitch angle or a roll angle of the moving body, based on a traveling direction vector and a lateral direction vector of the moving body and the normal vector.

8. A non-transitory computer readable medium including instructions executed by a computer, the instructions comprising:

acquiring, from map data including position information of one or more features, plural pieces of position information of a feature which is drawn on a road surface and which exists at or around a moving body;

calculating normal vector of a plane, which approximates a plane of the road surface, calculated based on the acquired plural pieces of the position information; and

calculating at least one of a pitch angle or a roll angle of the moving body, based on a traveling direction vector and a lateral direction vector of the moving body and the normal vector.

9. The information processing device according to claim 1 , wherein the normal vector calculation unit is configured to calculate the normal vector if there are three or more pieces of the position information at or around the moving body.

10. The information processing device according to claim 1 , wherein the normal vector calculation unit is configured to:

calculate, by a least squares method, an equation of the plane, which approximates the plane of the road surface; and

calculate the normal vector from a coefficient vector of the equation.