Vehicle orientation angle calculating device, and lane deviation warning system using same
A technology of vehicle attitude and lane departure, which is applied in the traffic control system, anti-collision system, and vehicle components of road vehicles, and can solve the problems of vehicle yaw angle error and difficulty in finding the vanishing point of the road
Active Publication Date: 2014-12-31
CLARION CO LTD
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Problems solved by technology
[0006] However, in Patent Document 1, when the traveling road is not straight and flat, it is difficult to obtain the vanishing point of the road, and even if the vanishing point of the road is obtained, the change in the pitch angle of the vehicle (the number of passengers) change or fuel consumption, etc.) and the relationship between the vanishing point of the road and the parallel line of the road changes, so there is a problem that an error occurs in the yaw angle of the vehicle relative to the lane
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Embodiment Construction
[0029] Embodiments will be described in detail below using the drawings.
[0030] figure 1 It is a schematic diagram of the vehicle attitude angle calculation device 100 according to the first embodiment.
[0031] First, the configuration and processing contents of the vehicle attitude angle calculation device 100 will be described.
[0032] The vehicle attitude angle calculating device 100 includes a dividing line detection unit 3, a distance calculating unit 4 to the dividing line, a distance storage unit 5, a dividing line angle calculating unit 6, an angle storage unit 7, an angle change rate calculating unit 8, and a dividing line non-detection unit. The frequency measurement unit 9 , the dividing line angle averaging unit 10 , the vehicle yaw angle calculation unit 11 , the yaw angle storage unit 12 , and the yaw angle change rate calculation unit 13 are included in the vehicle attitude angle calculation device 100 (not shown). A program is designed in a computer and e...
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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.
Description
technical field [0001] The present invention relates to a method of calculating an attitude angle of a vehicle with respect to a lane on which the vehicle is traveling using an on-vehicle camera. Background technique [0002] Various methods have been proposed to use in-vehicle cameras to photograph the surroundings of a vehicle and to recognize objects (vehicles, pedestrians, etc.) or road signs and signs (road paint such as dividing lines, stop signs, etc.) in the captured images. technology. For example, if a vehicle-mounted camera can be used to recognize the painted dividing line on the road and obtain the position of the vehicle in the lane, then when the vehicle deviates from the lane, it is possible to issue a warning to the driver, or control the steering and brakes, thereby Inhibit deviation. [0003] As a system that issues a warning when a vehicle deviates from a lane in this way, there is a lane departure warning system (LDWS: Lane Departure Warning Systems) s...
Claims
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IPC IPC(8): G08G1/16G06T1/00
CPCG06T2207/10016G06K9/00798G08G1/167G06T2207/30256G06T7/0042B60Y2400/3015B60W2520/14B60W2420/403G06T7/73G06V20/588B60R11/04H04N7/18B60W40/10B60W40/114
Inventor 今井正人坂本博史坂田雅男
Owner CLARION CO LTD