| 摘要 |
Disclosed is a road surface shape recognition system adapted to recognize a shape of a road surface and obstacles present thereupon, even when the road surface is illuminated with extraneous light of a plurality of wavelengths from illumination lamps, street lamps, electric signboards, and the like. The road surface shape recognition system for recognizing the shape of the road surface ahead of a vehicle includes: wavelength region calculation means for detecting the extraneous light from a plurality of areas on the road surface, and thereby determining a wavelength region of the extraneous light having the lowest intensity; irradiation means for irradiating each of the areas on the road surface selectively with light of one of a plurality of wavelength regions; irradiation control means for selecting, from the light of the plurality of wavelength regions that can be selectively irradiated from the irradiation means, light having a wavelength corresponding to the wavelength region of the weakest extraneous light, the wavelength region being determined by the wavelength region calculation means, and makes the irradiation means emit the selected light; imaging means for imaging the road surface; and road surface shape calculation means for calculating the shape of the road surface from an image that the imaging means acquires when the irradiation means is irradiating one of the areas on the road surface with the light of the wavelength selected by the irradiation control means. |
