| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a road gradient estimation apparatus that estimates the gradient of a road ahead of a vehicle, only on the basis of a lane marking on one side. <P>SOLUTION: The road gradient estimation apparatus includes: an end point extraction part 6 that extracts an end point which is a boundary between a painted part and a non-painted part of a lane marking when the lane marking extracted in an image processing part 4 is broken-line; a view-point conversion processing part 7 that performs view-point conversion to determine an apparent position of each end point when the gradient of the road ahead of the vehicle is assumed to be a constant road gradient in a position where the vehicle travels; a gradient acquiring part 9 for acquiring gradient between adjacent end points on the basis of an apparent distance between the end points and an actual distance between the end points acquired in advance; and a road gradient calculation part 10 that adds the road gradient in the position where the vehicle travels to the gradient between the end points acquired by the gradient acquiring part 9 to determine actual road gradient between the end points. <P>COPYRIGHT: (C)2013,JPO&INPIT</p> |
