Device for detecting the surface of a traveled road, and method for detecting the surface of a traveled road,

摘要

It is provided a device which, a surface of a road being traveled on the basis of a parallax image detected by a vehicle. The parallax image is taken up in the vehicle by means of a camera. The device comprises the following: a region of determining a unit which, on the basis of parallax information of the parallax image for each unit area of the parallax image is determined if a unit area of a road surfaces region or a not - roads surfaces region; a coordinate transformation unit which each unit area with a grid on a map on the basis of parallax information and coordinate positions of the unit area, wherein a pixel of the card is set so that it is higher than a viewpoint of the parallax image is, wherein the card by dividing an area around the vehicle is in a grid is obtained; and a detection unit, the streets surfaces grid and of each grid, the surfaces between the road surface is arranged screens, than the area of the road being traveled on the card is detected, wherein the grid of the road surface are the grid, which fit to the unit region in the form of the streets surfaces areas are determined.