ROAD SURFACE DETECTOR, IMAGE DISPLAY DEVICE USING ROAD SURFACE DETECTOR, OBSTACLE DETECTOR USING ROAD SURFACE DETECTOR, IMAGE DISPLAY METHOD USING ROAD SURFACE DETECTION METHOD, AND OBSTACLE DETECTION METHOD USING ROAD SURFACE DETECTION METHOD

摘要

The present invention computes a histogram on the basis of a road surface image around a vehicle and outputs this histogram separately as a histogram (18a) indicating a sunny road surface including a first peak value and a histogram (18b) indicating a shadow road surface including a second peak value, and thereby further improves the accuracy of detecting a road surface around the vehicle as compared with the conventional one.