To provide an on-vehicle steering angle calculating device capable of picking up an image of a wide-field scenery without scaling down a white line to a thin line with a single image pickup element, and of calculating a steering angle more precisely and appropriately.
This on-vehicle steering angle calculating device 1 is provided with a color image pickup element 7, optical systems 9, 11, 15 and 19 superposing incident lights 23L, 23R and 23F from the sceneries in a plurality of directions including each lane and forming them into images on the image pickup element 7, color filters 13 and 17 extracting optical components in colors different one another and forming them into images on the image pickup element 7 being interposed on an optical path of each incident light 23L, 23R or 23F, a white line extracting part 4 distinguishing the image of each scenery in a plurality of directions superposed and formed into the image on the image pickup element 7 depending on an image component of each color and individually extracting a white line part of the lane on the image of each scenery, and a steering angle calculating part 6 detecting a distance between one's own vehicle and the white line based on an extracting result of the white line extracting part 4 and calculating a steering angle of one's own vehicle in accordance with the distance.
SUMITOMO WIRING SYSTEMS
SUMITOMO ELECTRIC INDUSTRIES
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