VEHICLE ORIENTATION ANGLE CALCULATING DEVICE, AND LANE DEVIATION WARNING SYSTEM USING SAME

摘要

Provided is a vehicle orientation angle calculating device wherein it is possible to stably obtain the yaw angle of a vehicle in relation to the traffic lane without using information regarding the road vanishing point even in a situation in which the vehicle pitch angle changes. Specifically, disclosed is a vehicle orientation angle calculating device provided with: a lane line detection unit which detects the lane line from an image information obtained from a vehicle-mounted imaging device by imaging the outside of a vehicle; a distance calculating unit which calculates, per a predetermined processing cycle, the distance between the lane line and the optical axis of the vehicle-mounted imaging device; and a vehicle angle calculating unit which calculates the lane line angle on the basis of the distance between the calculated lane line and the optical axis of the vehicle-mounted imaging device and the vehicle travel distance which is the distance the vehicle travelled during the predetermined processing cycle.