ROAD SURFACE DETECTION APPARATUS, IMAGE DISPLAY APPARATUS USING ROAD SURFACE DETECTION APPARATUS, OBSTACLE DETECTION APPARATUS USING ROAD SURFACE DETECTION APPARATUS, ROAD SURFACE DETECTION METHOD, IMAGE DISPLAY METHOD USING ROAD SURFACE DETECTION METHOD, AND OBSTACLE DETECTION METHOD USING ROAD SURFACE DETECTION METHOD

A histogram is calculated based on a road surface image of a portion around a vehicle, and the histogram is separated into a histogram that represents an in-sunlight road surface and includes a first peak value and a histogram that represents a shadow road surface and includes a second peak value to output the histograms, thereby further enhancing the accuracy of road surface detection around the vehicle as compared with conventional art.