PROBLEM TO BE SOLVED: To provide a road surface detection apparatus configured to increase a range of detecting a road surface where a vehicle travels, and a road surface detection method.SOLUTION: A road surface detection apparatus for detecting a road surface, on the basis of parallax information obtained from a vehicle-surrounding image captured by an in-vehicle camera includes: a road surface determination section which determines whether each of image areas formed by dividing the captured image is a road surface where a vehicle travels, on the basis of the parallax information of the captured image; and a road surface interpolation section which interpolates a road surface, by use of an image area which has not been determined by the road surface determination section to be a road surface where the vehicle travels, as an interpolation candidate, on the basis of luminance information of the captured image. The image area is formed of a plurality of pixel ranges. The road surface interpolation section interpolates an image area where the number of pixel ranges, in which a luminance difference from an adjacent pixel range is equal to or smaller than a first threshold, is equal to or larger than a second threshold, or an image area where a ratio of pixel ranges, in which a luminance difference from an adjacent pixel range is equal to or smaller than the first threshold, is equal to or larger than a third threshold, as a road surface where the vehicle travels.SELECTED DRAWING: Figure 4
【課題】走行路面の検出範囲を向上させる走行路面検出装置及び走行路面検出方法を提供する。【解決手段】車載カメラの撮像した車両の周囲の撮像画像から得られた視差情報に基づいて走行路面を検出する走行路面検出装置であって、撮像画像の視差情報に基づいて、撮像画像を分割して形成された画像領域毎に走行路面であるか否かを判定する走行路面判定部と、撮像画像の輝度情報に基づいて、走行路面判定部により走行路面であると判定されなかった画像領域を補間候補として走行路面の補間を行う走行路面補間部と、を備え、画像領域は複数の画素範囲から構成され、走行路面補間部は、補間候補の画像領域のうち、隣り合う画素範囲との輝度差が第1の閾値以下である画素範囲の数が第2の閾値以上である画像領域、又は、隣り合う画素範囲との輝度差が第1の閾値以下である画素範囲の割合が第3の閾値以上である画像領域を走行路面として補間する。【選択図】図4
ROAD SURFACE DETECTION APPARATUS AND ROAD SURFACE DETECTION METHOD
走行路面検出装置及び走行路面検出方法
2016-08-12
Patent
Electronic Resource
Japanese
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