To provide a road surface detecting device that precisely detects information indicating a road surface present ahead of a vehicle.SOLUTION: A road surface detecting device includes: imaging means for imaging an area ahead of a vehicle using a stereo camera; parallax information calculating means for calculating parallax information including the parallax of each pixel that forms a picked-up image obtained by the imaging means on the basis of the picked-up image; road surface information obtaining means for extracting the pixel corresponding to the road surface on the basis of the parallax information among the pixels of the picked-up image, and obtaining road information that is information indicating the road surface in a three-dimensional coordinate axis on the basis of information possessed by the extracted pixel; road surface gradient equation calculating means for calculating a road surface gradient equation approximating a gradient of the road surface by a quadratic function on the basis of information indicating the road surface; gradient change determining means for determining whether or not the absolute value of a coefficient in a quadratic term in the road surface gradient equation is greater than a predetermined coefficient threshold; and invalidating means for invalidating the information indicating the road surface when the gradient change determining means determines that the absolute value is greater than the coefficient threshold.SELECTED DRAWING: Figure 6
【課題】車両前方に存在する路面を表す情報を精度よく検出する路面検出装置を提供する。【解決手段】路面検出装置は、ステレオカメラを用いて車両前方の領域を撮像する撮像手段と、撮像手段によって撮像された撮像画像に基づいて当該撮像画像を構成する各画素の視差を含む視差情報を算出する視差情報算出手段と、視差情報に基づいて撮像画像の画素のうち路面に対応している画素を抽出し、抽出した画素が有する情報に基いて3次元座標軸において路面を表す情報を路面情報として取得する路面情報取得手段と、路面の勾配を二次関数で近似した路面勾配式を路面を表す情報に基いて算出する路面勾配式算出手段と、路面勾配式の二次の項の係数の絶対値が所定の係数閾値より大きいか否かを判定する勾配変化判定手段と、勾配変化判定手段により絶対値が係数閾値より大きいと判定された場合、路面を表す情報を無効化する無効化手段と、を備える。【選択図】図6
ROAD SURFACE DETECTING DEVICE
路面検出装置
2019-04-25
Patent
Electronic Resource
Japanese
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