TRAVEL ROAD SURFACE DETECTING APPARATUS FOR VEHICLE

摘要

PROBLEM TO BE SOLVED: To provide a travel road surface detecting apparatus for vehicles capable of accurately detecting road surfaces by simple processing. SOLUTION: The travel road surface detection apparatus for vehicles for detecting a road slope in a prescribed wide road surface region on the basis of road surface images includes a first imaging means; a second imaging means; a road surface dividing means for dividing a road surface into a plurality of planes on the basis of taken road surface images; a divided plane specifying means for specifying any divided plane as a specific plane from among these divided planes; a specific plane constant computing means for detecting corresponding points retrieved from road surface images taken by the first imaging means and the second imaging means and computing plane constants which specify a specific plane by projection transformation; and an adjacent plane constant estimating means for estimating the plane constants of planes adjacent to the specific plane on the basis of changes in the slopes of boundary parts between the specific plane and its adjacent planes. COPYRIGHT: (C)2009,JPO&INPIT