ROAD SURFACE SLOPE-IDENTIFYING DEVICE, METHOD OF IDENTIFYING ROAD SURFACE SLOPE, AND COMPUTER PROGRAM FOR CAUSING COMPUTER TO EXECUTE ROAD SURFACE SLOPE IDENTIFICATION

摘要

Disparity information is generated from a plurality of imaged images imaged by a plurality of imagers. Disparity histogram information that shows disparity value frequency distribution in each of line regions obtained by plurally-dividing the plurality of imaged images in a vertical direction is generated. A group of disparity values or disparity value range that is consistent with a feature in which a disparity value becomes smaller as it approaches an upper portion of the imaged image from a disparity value or a disparity value range having frequency that exceeds a predetermined specified value is selected. A slope condition of a road surface in front of a driver's vehicle with respect to a road surface portion on which the driver's vehicle travels is identified in accordance with the selected group of disparity values or disparity value range.