Detecting completely unstructured road may improve the adaptability for different environments

which is crucial for intelligent autenomous vehicle driving. In this paper

a road detection algorithm combined with cubic spline curve model and block sub-region growing model (CSCM_BSG) is proposed for true-color information of real-time road images.The algorithm applies the cubic spline interpolation to achieve the pseudo-color mapping at first

and accomplishes road region detection using the sub-region growing method combining the primary and secondary pseudo-hues with textures.The tests and comparative experiments on field images show that the algorithm is not only more accurate and applicable in real-time for road regions

but also has stronger counter-interference capability for shadows

water stains.