PROBLEM TO BE SOLVED: To accurately detect a travel road surface.SOLUTION: An area specification unit 22A specifies a road surface area, a three-dimensional object present area, and an uncertain area other than the road surface area and the three-dimensional object present area on the basis of a parallax image. A parallax height specification unit 22D specifies, out of the uncertain area, an area including a parallax point with the height equal to or higher than a predetermined threshold from a road surface height position, as a parallax height present area. A travel road surface detection unit 22B detects a travel road surface, on a captured image, so as to sequentially extend in a direction separating from a vehicle V. The travel road surface detection unit 22B does not detect the three-dimensional object present area and the uncertain area, and an area on the side of a direction separating from the vehicle V more than the three-dimensional object present area and the uncertain area when seen from the vehicle V, as travel road surfaces.SELECTED DRAWING: Figure 1
【課題】走行路面を精度良く検出する。【解決手段】領域特定部22Aは、視差画像に基づいて、路面領域と、立体物存在領域と、路面領域及び立体物存在領域以外の不確定領域とを特定する。視差高さ特定部22Dは、不確定領域のうち、路面の高さ位置から予め定められた閾値以上の高さを有する視差点を含む領域を視差高さ存在領域として特定する。走行路面検出部22Bは、撮像画像上において、車両Vから離れる方向に向かって順次延長されるように走行路面を検出する。なお、走行路面検出部22Bは、立体物存在領域及び不確定領域と、車両Vから見て立体物存在領域及び不確定領域よりも車両Vから離れる方向側の領域とを走行路面として検出しない。【選択図】図1
TRAVEL ROAD SURFACE DETECTING APPARATUS AND TRAVEL ROAD SURFACE DETECTING METHOD
走行路面検出装置及び走行路面検出方法
2016-12-08
Patent
Elektronische Ressource
Japanisch
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