ROAD SURFACE DETECTION DEVICE AND ROAD SURFACE DETECTION SYSTEM
First Claim
1. A road surface detection device that detects a road surface region based on disparity information obtained from a captured image of an area around a vehicle that is captured by an onboard camera, comprising:
- a path estimating portion that estimates a travel path where the vehicle will travel, based on driving information of the vehicle; and
a detecting portion that weights the disparity information, and detects a road surface region in the captured image based on the weighted disparity information, whereinwhen the detecting portion weights the disparity information, the detecting portion gives less weight to the disparity information positioned on a side away from the travel path in the captured image than to the disparity information positioned on a side near the travel path in the captured image.
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Abstract
A road surface detection device that detects a road surface region based on disparity information obtained from a captured image of an area around a vehicle that is captured by an onboard camera, includes a path estimating portion that estimates a travel path where the vehicle will travel, based on driving information of the vehicle; and a detecting portion that weights the disparity information, and detects a road surface region in the captured image based on the weighted disparity information, wherein when the detecting portion weights the disparity information, the detecting portion gives less weight to the disparity information positioned on a side away from the travel path in the captured image than to the disparity information positioned on a side near the travel path in the captured image.
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Citations
5 Claims
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1. A road surface detection device that detects a road surface region based on disparity information obtained from a captured image of an area around a vehicle that is captured by an onboard camera, comprising:
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a path estimating portion that estimates a travel path where the vehicle will travel, based on driving information of the vehicle; and a detecting portion that weights the disparity information, and detects a road surface region in the captured image based on the weighted disparity information, wherein when the detecting portion weights the disparity information, the detecting portion gives less weight to the disparity information positioned on a side away from the travel path in the captured image than to the disparity information positioned on a side near the travel path in the captured image. - View Dependent Claims (2)
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3. A road surface detection device that detects a road surface region based on disparity information obtained from a captured image of an area around a vehicle that is captured by an onboard camera, comprising:
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a path estimating portion that estimates a travel path where the vehicle will travel, based on driving information of the vehicle; and a detecting portion that weights the disparity information, and detects a road surface region in the captured image based on the weighted disparity information, wherein when the detecting portion weights the disparity information, the detecting portion gives less weight to the disparity information positioned outside a predetermined area that is determined in advance from the travel path in the captured image than to the disparity information positioned inside the predetermined area. - View Dependent Claims (4)
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5. A road surface detection system comprising:
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a stereo camera that is mounted to a vehicle and captures an image of an area around the vehicle; and an ECU that estimates a potential road surface points that is a potential road surface in the image captured by the stereo camera, and detects a road surface region in the image based on the potential road surface point, and outputs information about the road surface region, wherein the ECU estimates a travel path where the vehicle will travel, and links the travel path to pixels of the image captured by the stereo camera; the ECU gives a weight to the potential road surface point such that the weight is greater when a distance between the travel path and the potential road surface point in the image is close than when the distance between the travel path and the potential surface point in the image is far; and the ECU determines that the potential road surface point is the road surface region based on the weight given to the potential road surface point.
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Specification