| 摘要 |
PROBLEM TO BE SOLVED: To provide a road surface detection apparatus configured to increase a range of detecting a road surface where a vehicle travels, and a road surface detection method.SOLUTION: A road surface detection apparatus for detecting a road surface, on the basis of parallax information obtained from a vehicle-surrounding image captured by an in-vehicle camera includes: a road surface determination section which determines whether each of image areas formed by dividing the captured image is a road surface where a vehicle travels, on the basis of the parallax information of the captured image; and a road surface interpolation section which interpolates a road surface, by use of an image area which has not been determined by the road surface determination section to be a road surface where the vehicle travels, as an interpolation candidate, on the basis of luminance information of the captured image. The image area is formed of a plurality of pixel ranges. The road surface interpolation section interpolates an image area where the number of pixel ranges, in which a luminance difference from an adjacent pixel range is equal to or smaller than a first threshold, is equal to or larger than a second threshold, or an image area where a ratio of pixel ranges, in which a luminance difference from an adjacent pixel range is equal to or smaller than the first threshold, is equal to or larger than a third threshold, as a road surface where the vehicle travels.SELECTED DRAWING: Figure 4 |
