ROAD SURFACE GRADIENT DETECTION DEVICE

A road surface gradient detection device includes an image area setting unit configured to divide a captured image to set a plurality of image areas, a weighting setting unit configured to set the weighting of a pixel range to be great when the luminance difference from an adjacent pixel range is great, or configured, based on the luminance of each of a plurality of pixel ranges and the coordinates of each pixel range, to set the weighting of a pixel range to be greater when the luminance difference from the adjacent pixel range is equal to or greater than a first threshold value than when the luminance difference from the adjacent pixel range is less than the first threshold value, a representative height calculation unit configured to calculate the representative parallax of each image area and the representative height of each image area based on the parallax of each pixel range, the coordinates of each pixel range, and the magnitude of the weighting of each pixel range, and a road surface gradient detection unit configured to detect the road surface gradient from the captured image based on the representative parallax of each image area and the representative height of each image area.