Body sway correction device, body sway correction method, and program

摘要

PROBLEM TO BE SOLVED: To accurately calculate a roll angle of a vehicle body even when an obstacle such as a weed exists without using many sensors or the like. SOLUTION: A point group coordinate data acquisition unit 91 for acquiring coordinate data of a three-dimensional point group of a track bed portion, and an outer portion of a rail and a track bed portion including a maculagi and a ballast from the coordinate data of the three-dimensional point group. The first point group extraction unit 92 that extracts the coordinate data of the first predetermined region including the one, the median value calculation unit 93 that calculates the median value of the height component of the coordinate data of the first predetermined region, and the first A second point for extracting only the coordinate data of the second predetermined region included in the predetermined width determined by the height of the rail from the central value calculated by the median value calculation unit 93 among the coordinate data of the predetermined region of. A group extraction unit 94 and an approximate straight line calculation unit 95 for calculating an approximate straight line of coordinate data in a second predetermined region are provided, and the calculated approximate straight line is used to correct vehicle body sway included in a three-dimensional point group. .. [Selection diagram] FIG. 18