ROAD SURFACE GRADIENT ESTIMATING DEVICE

摘要

<P>PROBLEM TO BE SOLVED: To provide a road surface gradient estimating device for accurately estimating a gradient angle of a road surface. Ž<P>SOLUTION: The road surface gradient estimating device 10 for estimating the gradient angle of the road surface positioned by an own vehicle C based on a plurality of camera images due to a camera 1 includes: an extracting part 31 for extracting a static object common in each camera image as a characteristic point; a detecting part 32 for detecting a movement amount moved by the characteristic point extracted with the extracting part 31 over the plurality of the camera images; a calculating part 33 for calculating a pitch angle of the own vehicle C based on the movement amount detected with the detecting part 32; a G sensor 2 for obtaining a sensor value indicating acceleration of a vertical direction of the own vehicle C; and a correcting part 34 for calculating the gradient angle based on the sensor value obtained with the G sensor 2 and the pitch angle calculated with the calculating part 33. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž