Road surface waviness estimator and road surface waviness estimation method

摘要

Provided are a road surface ripple estimation apparatus and a road surface ripple estimation method capable of estimating ripple of a road surface on which a vehicle is running, which are configured to: acquire periodically occurring objects from a vehicle peripheral image taken by a camera; Calculating detection positions of the respective regularly occurring objects by using camera installation information for transforming positions of the respective regularly occurring objects in the vehicle peripheral image into positions in a real space; Calculating detection intervals between adjacent detection positions from the respective detection positions; and estimating from the respective detection positions, the calculated detection intervals and an installation interval of the regularly occurring objects, inclinations of the actual road surface with respect to a road surface obtained by the transformation calculation from the vehicle periphery image to the real space.