| 摘要 |
PROBLEM TO BE SOLVED: To provide a road surface detection apparatus and method for improving reduction in accuracy of detecting a road surface where a vehicle travels.SOLUTION: An apparatus for detecting a road surface, on the basis of a parallax image of surroundings of a vehicle obtained by an in-vehicle camera includes: an area determination section which determines whether each of unit areas of the parallax image is a road surface area or a non-road surface area, on the basis of parallax information of the parallax image; a coordinate conversion section which associates the unit areas with grids in a map having a point of sight set higher than that of the parallax image and formed by dividing a surrounding area of the vehicle in the shape of grid, on the basis of the parallax information and a coordinate position of the unit area; and a detection section which detects a road-surface grid which is a grid corresponding to the unit area determined to be a road surface area, and a grid located between road-surface grids on the map, as road surfaces on which the vehicle travels on the map.SELECTED DRAWING: Figure 1 |
