Vehicle Attitude Angle Calculation Without Road Vanishing Point
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Solution Overview
Problem
Existing vehicle attitude angle calculation methods face challenges in accurately determining the yaw angle with respect to a lane, especially when the road is non-linear or non-flat, and when the vehicle pitch angle varies, leading to errors in yaw angle calculation.
Innovation Solution
A vehicle attitude angle calculating device that detects dividing lines, calculates distances and angles, and uses these to determine the yaw angle without relying on the road vanishing point, incorporating a dividing line detection unit, distance calculation unit, and vehicle angle calculation unit to stabilize yaw angle determination.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If road vanishing point information is used to calculate vehicle yaw angle, then calculation can be performed on linear and flat roads, but calculation becomes inaccurate or impossible on non-linear or non-flat roads
Solution Approach 1:
The invention extracts and removes the dependency on road vanishing point information from the yaw angle calculation process. By using only dividing line position and vehicle movement data, the system eliminates the problematic element (vanishing point) that causes failures on non-linear or non-flat roads, while maintaining calculation capability across all road conditions.
Solution Approach 2:
The invention changes the calculation parameters from relying on vanishing point coordinates to using dividing line position coordinates and vehicle proceeding distance. This parameter substitution transforms the calculation method to be independent of road geometry assumptions, enabling accurate yaw angle calculation on any road type including curves and slopes.
2Device complexity
If road vanishing point method is used, then system complexity is reduced, but measurement precision of yaw angle deteriorates when pitch angle varies
Solution Approach 1:
The invention introduces vehicle proceeding distance as an intermediary parameter that connects dividing line position changes to yaw angle calculation. This intermediary element compensates for pitch angle variations by providing temporal context for position changes, thereby maintaining measurement precision without significantly increasing system complexity.
3Ease of operation
If dividing line detection is performed using traditional vanishing point method, then processing is simple, but accuracy deteriorates when vehicle pitch angle changes due to passengers or fuel consumption
Solution Approach 1:
The invention performs preliminary detection of dividing line positions at multiple time points before calculating yaw angle. By capturing position data at different moments and incorporating vehicle movement information, the system pre-compensates for pitch angle changes, maintaining accuracy while keeping processing straightforward.
Data Source
AI summary
A vehicle attitude angle calculating device finds 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, 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 based on 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.