Road surface detecting apparatus

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 pix...

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Bibliographische Detailangaben
Hauptverfasser:	Ishigami, Hirotake, Uchida, Naohide, Tanabe, Ken, Kuwahara, Masaki
Format:	Patent
Sprache:	eng
Schlagworte:	CALCULATING COMPUTING CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES COUNTING HANDLING RECORD CARRIERS IMAGE DATA PROCESSING OR GENERATION, IN GENERAL PERFORMING OPERATIONS PHYSICS PRESENTATION OF DATA RECOGNITION OF DATA RECORD CARRIERS ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT TRANSPORTING VEHICLES IN GENERAL
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Beschreibung
Zusammenfassung:	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.