A road surface detecting apparatus comprises a camera sensor 11 for taking images of a region in front of a vehicle, and an electronic control unit (ECU) configured to: calculate, based on a taken image, parallax information including a parallax of each pixel composing the taken image; extract a pixel corresponding to a road surface from the taken image; acquire, based on information of the extracted pixel, information-indicating-a-road-surface; calculate, 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; determine whether or not an absolute value of a coefficient of a quadratic term of this formula is greater than a coefficient threshold; and invalidate the information-indicating-a-road-surface when the absolute value is determined to be greater than the threshold.


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    Title :

    Road surface detecting apparatus


    Contributors:

    Publication date :

    2021-03-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    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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