{
  "$type": "site.standard.document",
  "description": "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…",
  "path": "/patents/993597",
  "publishedAt": "2013-01-23T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W40/10",
    "CLARION CO LTD [JP]"
  ],
  "textContent": "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.",
  "title": "VEHICLE ORIENTATION ANGLE CALCULATING DEVICE, AND LANE DEVIATION WARNING SYSTEM USING SAME"
}