ROAD SURFACE SHAPE RECOGNITION APPARATUS AND AUTONOMOUS MOBILE APPARATUS UTILIZING SAME

WIPO Patent Application WO/2012/086070

A1

Provided is a road surface shape recognition apparatus capable of well recognizing the shape of a road surface or an obstacle thereon even when the road surface is illuminated with extraneous light of a plurality of wavelengths, such as from illuminating lamps, street lamps, or illuminated signboards. The road surface shape recognition apparatus for recognizing the shape of a road surface ahead of a vehicle comprises: a wavelength region calculation means for determining a wavelength region with the weakest intensity of the extraneous light by detecting the extraneous light from a plurality of areas on the road surface; an irradiation means capable of selectively irradiating the plurality of areas on the road surface with light of a plurality of wavelength regions; an irradiation control means for selecting, from the light of the plurality of wavelength regions that the irradiation means is capable of selectively radiating, light having a wavelength corresponding to the weakest wavelength region determined by the wavelength region calculation means, and causing the irradiation means to radiate the selected light; an imaging means capable of imaging the road surface; and a road surface shape calculation means for calculating the shape of the road surface on the basis of a picture obtained by the imaging means when the areas on the road surface are irradiated by the irradiation means with the light of the wavelength selected by the irradiation control means.

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ONO YUKIHIKO (JP)
ICHINOSE RYOKO (JP)
YAMAMOTO KENJIRO (JP)
HARA YOSHITAKA (JP)
OSHIMA AKIRA (JP)

PCT/JP2010/073400

June 28, 2012

December 24, 2010

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HITACHI LTD (JP)
ONO YUKIHIKO (JP)
ICHINOSE RYOKO (JP)
YAMAMOTO KENJIRO (JP)
HARA YOSHITAKA (JP)
OSHIMA AKIRA (JP)

G01C7/04; B60R21/00; G01B11/24; G08G1/16

JPH0384404A	1991-04-10
JPS5729876U	1982-02-17
JP2008008700A	2008-01-17
JPH10260141A	1998-09-29
JPS62215816A	1987-09-22

POLAIRE I. P. C. (JP)
Polaire Intellectual Property Corporation (JP)

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