To solve the problem that the polarization ratio intensity includes the noise generated due to the outside light varying while travelling and the installation depression angle of an on-vehicle camera.
When calculating the moving average to remove impulse component noise and high frequency noise in calculating the polarization ratio intensity, a moving average parameter N which is the weight of the moving average is treated as the function of a travelling speed V (the function that reduces the moving average parameter N substantially corresponding to an increase in the travelling speed V). This allows detection of the road surface state with a good response when quick determination is required such as during high-speed travelling while enabling stable detection of the road surface state during low-speed travelling. This also improves the calculation accuracy of the polarization ratio intensity and the detection accuracy of the road surface state.
TANIZAKI TETSUYA
NAKAMURA KAORI
UEDA KOJI
HORIBA ISAO
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