| 摘要 |
PROBLEM TO BE SOLVED: To accurately calculate the inclination angle of only the road, by obtaining the inclination angle of a vehicle itself. SOLUTION: A navigation apparatus 1 comprises stereo cameras 10, 11 mounted to the front and the rear of a vehicle, and stores reference distances D1, D2 corresponding to calculation distance, by respective stereo cameras 10, 11 in the horizontal attitude and the horizontal distance between the centers of the lenses in respective stereo cameras 10, 11 in a storage section 9, in advance. An image arithmetic processing section 8 obtains the distance up to the surface of the earth, based on image information imaged by respective stereo cameras 10, 11 and calculates the inclination angle (vehicle inclination angle) of the vehicle itself, by using trigonometric functions by means of the difference between the obtained distance and the reference distance, the horizontal distance between the centers of the lenses, and the like. The inclination angle, obtained from the detection result of a 3D gyro sensor 5, is corrected by the calculated vehicle inclination angle, to obtain the inclination angle of the road only. COPYRIGHT: (C)2007,JPO&INPIT |
