A road surface detecting apparatus comprises imaging means 11 for taking an image of a region in front of a vehicle, parallax information calculating means for calculating, based on a taken image, parallax information including a parallax of each pixel composing the taken image, road surface information acquiring means for extracting a pixel corresponding to a road surface from the taken image, and acquiring, based on information of extracted pixel, information-indicating-a-road-surface, road surface gradient formula calculating means for calculating, based on the information-indicating-a-road-surface, a road surface gradient formula by approximating a gradient of the road surface by a quadratic function, gradient change determining means for determining whether or not an absolute value of a coefficient of a quadratic term of this formula is greater than a coefficient threshold, and invalidating means for invalidating the information-indicating-a-road-surface when the absolute value is determined to be greater than the threshold.
ROAD SURFACE DETECTING APPARATUS
04.04.2019
Patent
Elektronische Ressource
Englisch
IPC: | 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 / G06K Erkennen von Daten , RECOGNITION OF DATA / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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