To provide a bank angle calculation device capable of calculating the bank angle in front of a lane in which a vehicle is driving, and a vehicle.SOLUTION: A bank angle calculation device 100 mounted on a vehicle includes: an image acquisition unit 110 that acquires an image in front of a vehicle; a lane boundary line extraction unit 120 that extracts left and right lane boundaries from the images; a vanishing point calculation unit 130 that calculates a first vanishing point and a second vanishing point from the left and right lane boundaries; a vanishing line determination unit 140 that determines a vanishing line from the lane boundaries; and a bank angle calculation unit 170 that calculates the bank angle in front of the vehicle from the vanishing line. The vanishing line determination unit 140 determines the vanishing line from the first vanishing point and the second vanishing point.SELECTED DRAWING: Figure 5

    【課題】車両が走行中の車線の前方のバンク角を算出することができるバンク角算出装置および車両を提供する。【解決手段】車両に搭載されるバンク角算出装置100は、車両の前方の画像を取得する画像取得部110と、画像から左右の車線境界線を抽出する車線境界線抽出部120と、左右の車線境界線から第1消失点と第2消失点と、を算出する消失点算出部130と、車線境界線から消失線を決定する消失線決定部140と、消失線から車両の前方の位置におけるバンク角を算出するバンク角算出部170と、を有する。消失線決定部140は、第1消失点と第2消失点とから消失線を決定する。【選択図】図5


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    Title :

    BANK ANGLE CALCULATION DEVICE AND VEHICLE


    Additional title:

    バンク角算出装置および車両


    Contributors:

    Publication date :

    2022-06-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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