The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 23, 2021
Filed:
Sep. 27, 2018
Toyota Jidosha Kabushiki Kaisha, Toyota, JP;
Denso Corporation, Kariya, JP;
Hirotake Ishigami, Okazaki, JP;
Naohide Uchida, Numazu, JP;
Ken Tanabe, Kariya, JP;
Masaki Kuwahara, Nukata-gun, JP;
TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota, JP;
DENSO CORPORATION, Kariya, JP;
Abstract
A road surface detecting apparatus comprises a camera sensorfor taking images of a region in front of a vehicle, and an electronic control unit (ECU) configured to: calculate, based on a taken image, parallax information including a parallax of each pixel composing the taken image; extract a pixel corresponding to a road surface from the taken image; acquire, based on information of the extracted pixel, information-indicating-a-road-surface; calculate, based on the information-indicating-a-road-surface, a road surface gradient formula by approximating a gradient of the road surface by a quadratic function; determine whether or not an absolute value of a coefficient of a quadratic term of this formula is greater than a coefficient threshold; and invalidate the information-indicating-a-road-surface when the absolute value is determined to be greater than the threshold.