| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide a front image pickup device for vehicle capable of deter mining a pan angle accurately regardless of the traveling direction of vehicle. SOLUTION: This front image pickup device for vehicle for picking up an image in front of a vehicle by using an on-vehicle camera 5, and extracting a white line for showing a traveling road from the picked-up image to determine the relative position between the line and the vehicle is equipped with a first means (equivalent to a part of an image processing operation part 6) for operating the angle of the direction of a spot 2 viewed from a spot 1 to the optical axis direction of the camera by the coordinates of the image at the spot 1 when traveling from the optional spot 1 to the spot 2, a second means (equivalent to a part of the image processing operation part 6) for determining the angle formed between the direction of the spot 2 viewed from the spot 1 and the traveling direction of the vehicle, and a means for operating the pan angle by adding the angles determined by the first means and the second means. Even if the road white line is not a straight line or the vehicle is not traveling straight, the true pan angleϕcan be calculated.</p> |
