Patent ID: 9123110
Filing Date: 2015-09-01
Classification: B60R,B60W,B60Y,G06K,G06T,G08G,H04N

Abstract:
1. A vehicle attitude angle calculating device, comprising: 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, wherein the vehicle angle calculation unit includes: a dividing line angle calculation unit that calculates the 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 the vehicle proceeding distance where the vehicle proceeds during a predetermined processing period; and a vehicle yaw angle calculation unit that calculates a yaw angle of the vehicle with reference to the dividing line on the basis of the calculated dividing line angle, wherein the dividing line angle calculation unit determines whether, among distances between the dividing line and the optical axis of the vehicle-mounted imaging device calculated by the distance calculation unit, a latest distance has been calculated or not, when it is determined that the latest distance has been calculated, the dividing line angle calculation unit determines whether, among a plurality of distances between the dividing line and the optical axis of the vehicle-mounted imaging device calculated by the distance calculation unit, a predetermined first number of distances or more have been calculated or not, and when it is determined that the predetermined first number of distances or more have been calculated, the dividing line angle calculation unit calculates the dividing line angle on the basis of the calculated plurality of distances.