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ROAD SURFACE SLOPE-IDENTIFYING DEVICE, METHOD OF IDENTIFYING ROAD SURFACE SLOPE, AND COMPUTER PROGRAM FOR CAUSING COMPUTER TO EXECUTE ROAD SURFACE SLOPE IDENTIFICATION
ROAD SURFACE SLOPE-IDENTIFYING DEVICE, METHOD OF IDENTIFYING ROAD SURFACE SLOPE, AND COMPUTER PROGRAM FOR CAUSING COMPUTER TO EXECUTE ROAD SURFACE SLOPE IDENTIFICATION
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机译：道路面坡度识别装置，道路面坡度的识别方法以及使计算机执行道路面坡度识别的计算机程序
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摘要
Disparity information is generated from a plurality of imaged images imaged by a plurality of imagers. Disparity histogram information that shows disparity value frequency distribution in each of line regions obtained by plurally-dividing the plurality of imaged images in a vertical direction is generated. A group of disparity values or disparity value range that is consistent with a feature in which a disparity value becomes smaller as it approaches an upper portion of the imaged image from a disparity value or a disparity value range having frequency that exceeds a predetermined specified value is selected. A slope condition of a road surface in front of a driver's vehicle with respect to a road surface portion on which the driver's vehicle travels is identified in accordance with the selected group of disparity values or disparity value range.
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