GRADIENT DETECTION BASED ON PERSPECTIVE-TRANSFORMED IMAGE

摘要

The invention relates to a method and a system (100) at a vehicle (105) of determining gradient of a road surface (201) on which the vehicle travels. The invention further relates to a computer program performing the method according to the present invention, and a computer program product comprising computer readable medium having the computer programs embodied therein. A method at a vehicle (105) of determining gradient of a road surface (201) on which the vehicle travels is provided. The method comprises capturing (S101) at least one image (202) of the road surface, transforming (S102) a perspective of the at least one captured image, and detecting (S103) the road surface in the perspective-transformed image (203). Further, the method comprises determining (S104), in the perspective-transformed image (203), a width (B_T) of the road surface (201) distal of the vehicle (105) and a width (A_T) of the road surface (201) proximate to the vehicle (105), comparing the width (B_T) of the road surface (201) distal of the vehicle with the width (A_T) of the road surface (201) proximate to the vehicle (105). From the comparison, the method determines the gradient of the road surface (201).