发明申请
- 专利标题: Vehicle Attitude Angle Calculating Device, and Lane Departure Warning System Using Same
- 专利标题(中): 车辆姿态角计算装置和车道离场警告系统
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申请号: US13522985申请日: 2011-02-09
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公开(公告)号: US20120327233A1公开(公告)日: 2012-12-27
- 发明人: Masato Imai , Hiroshi Sakamoto , Masao Sakata
- 申请人: Masato Imai , Hiroshi Sakamoto , Masao Sakata
- 优先权: JP2010-060106 20100317
- 国际申请: PCT/JP2011/052695 WO 20110209
- 主分类号: G06F7/00
- IPC分类号: G06F7/00 ; H04N7/18
摘要:
Provided is a vehicle attitude angle calculating device capable of finding a yaw angle of a vehicle with reference to a lane stably without using information on a road vanishing point even in the state where a vehicle pitch angle varies. The vehicle attitude angle calculating device includes: a dividing line detection unit that detects a dividing line from image information received from a vehicle-mounted imaging device having an optical axis, the image information being a captured image of an outside of a vehicle; a distance calculation unit that calculates a distance between the dividing line and the optical axis of the vehicle-mounted imaging device every predetermined processing period; and a vehicle angle calculation unit that calculates a dividing line angle on the basis of the calculated distance between the dividing line and the optical axis of the vehicle-mounted imaging device and a vehicle proceeding distance where the vehicle proceeds during a predetermined processing period.