To provide a road recognition device which determines a change in gradient of a road by utilizing a position of a preceding vehicle in a captured image.SOLUTION: In a step S102, a road recognition device 2 detects a lower end position of a preceding vehicle in a captured image. In a step S103, the road recognition device 2 calculates a predictive position in which a lower end of the preceding vehicle is to be located on the assumption that a gradient of a road is constant. In a step S104, the road recognition device 2 determines whether a difference in a vertical direction between the lower end position of the preceding vehicle detected in the step S102 and the predictive position calculated in the step S103, in the captured image exceeds a threshold or not. In response to determining that the difference exceeds the threshold, the road recognition device 2 determines that a gradient change point of the road exists, in a step S105.SELECTED DRAWING: Figure 3

    【課題】撮像画像における前方車両の位置を利用して道路の勾配変化を判定する道路認識装置を提供する。【解決手段】S102で、道路認識装置2は、撮像画像における前方車両の下端位置を検出する。S103で、道路認識装置2は、道路の勾配が一定であると仮定した場合に前方車両の下端が位置すると予測される予測位置を算出する。S104で、道路認識装置2は、撮像画像における、S102で検出した前方車両の下端位置とS103で算出した予測位置との上下方向における差が、しきい値を超えるか否かを判定する。しきい値を超えると判定した場合、道路認識装置2は、S105で道路の勾配変化点が存在すると判定する。【選択図】図3


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    Title :

    ROAD RECOGNITION DEVICE


    Additional title:

    道路認識装置


    Contributors:

    Publication date :

    2019-05-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS



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