CN107093180B8 - 使用轮胎向后飞溅的基于视觉的潮湿路面状况检测 - Google Patents
使用轮胎向后飞溅的基于视觉的潮湿路面状况检测 Download PDFInfo
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- H—ELECTRICITY
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- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
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- Computer Vision & Pattern Recognition (AREA)
- Signal Processing (AREA)
- Data Mining & Analysis (AREA)
- Automation & Control Theory (AREA)
- Mathematical Physics (AREA)
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- Transportation (AREA)
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- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Bioinformatics & Computational Biology (AREA)
- Bioinformatics & Cheminformatics (AREA)
- Traffic Control Systems (AREA)
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- Image Analysis (AREA)
Abstract
一种确定道路的潮湿表面状况的方法。由主车辆的图像捕获装置来捕获路面图像。图像捕获装置安装在主车辆的一侧并捕获位于向下方向的图像。在被捕获的图像中通过处理器来识别主车辆车轮后方的关注区域。关注区域代表由车轮产生的向后飞溅发生的地方。通过对图像应用滤波器做出关注区域是否存在降水的判定。根据对关注区域降水的识别来生成潮湿路面信号。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14/957953 | 2015-12-03 | ||
US14/957,953 US9928427B2 (en) | 2015-12-03 | 2015-12-03 | Vision-based wet road surface condition detection using tire rearward splash |
Publications (3)
Publication Number | Publication Date |
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CN107093180A CN107093180A (zh) | 2017-08-25 |
CN107093180B CN107093180B (zh) | 2020-12-08 |
CN107093180B8 true CN107093180B8 (zh) | 2021-01-08 |
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CN201611032026.XA Active CN107093180B8 (zh) | 2015-12-03 | 2016-11-22 | 使用轮胎向后飞溅的基于视觉的潮湿路面状况检测 |
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Country | Link |
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US (1) | US9928427B2 (zh) |
CN (1) | CN107093180B8 (zh) |
DE (1) | DE102016122484A1 (zh) |
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US10082795B2 (en) * | 2016-08-24 | 2018-09-25 | GM Global Technology Operations LLC | Vision-based on-board real-time estimation of water film thickness |
US10814846B2 (en) | 2017-08-11 | 2020-10-27 | Ford Global Technologies, Llc | Traction control based on friction coefficient estimation |
DE102017219048A1 (de) * | 2017-10-25 | 2019-04-25 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Bestimmen eines Zustands einer Fahrbahn eines Fahrzeugs |
DE102018206732A1 (de) * | 2018-05-02 | 2019-11-07 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Erkennen eines Straßenzustands |
DE102018218733A1 (de) * | 2018-10-31 | 2020-04-30 | Robert Bosch Gmbh | Verfahren zur Unterstützung einer kamerabasierten Umfelderkennung eines Fortbewegungsmittels mittels einer Strassennässeinformation eines ersten Ultraschallsensors |
CN111222521B (zh) * | 2018-11-23 | 2023-12-22 | 汕尾比亚迪汽车有限公司 | 汽车及用于其的车轮受困判断方法及装置 |
US11643072B2 (en) * | 2019-09-27 | 2023-05-09 | Zoox, Inc. | Planning accommodations for particulate matter |
US11640170B1 (en) | 2019-10-29 | 2023-05-02 | Zoox, Inc. | Identification of particulate matter in sensor data |
US11521127B2 (en) | 2020-06-05 | 2022-12-06 | Waymo Llc | Road condition deep learning model |
CN112380930B (zh) * | 2020-10-30 | 2022-04-29 | 浙江预策科技有限公司 | 一种雨天识别方法和系统 |
CN112611697B (zh) * | 2020-11-27 | 2022-06-28 | 山东大学 | 一种透水沥青路面渗透性衰减模型试验系统及方法 |
US20220366786A1 (en) * | 2021-05-03 | 2022-11-17 | Here Global B.V. | Method and apparatus for estimating lane pavement conditions based on street parking information |
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CN104050681A (zh) * | 2014-07-04 | 2014-09-17 | 哈尔滨工业大学 | 一种基于视频图像的道路消失点检测方法 |
US8890951B2 (en) * | 2008-04-24 | 2014-11-18 | GM Global Technology Operations LLC | Clear path detection with patch smoothing approach |
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US6807473B1 (en) * | 2003-04-09 | 2004-10-19 | Continental Teves, Inc. | Road recognition system |
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JP5898221B2 (ja) * | 2010-10-19 | 2016-04-06 | スリーエム イノベイティブ プロパティズ カンパニー | 製造されたウェブ製品のデジタルサンプルに対する評価のコンピュータ支援割り当て |
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DE102013223367A1 (de) * | 2013-11-15 | 2015-05-21 | Continental Teves Ag & Co. Ohg | Verfahren und Vorrichtung zur Bestimmung eines Fahrbahnzustands mittels eines Fahrzeugkamerasystems |
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2015
- 2015-12-03 US US14/957,953 patent/US9928427B2/en active Active
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- 2016-11-22 DE DE102016122484.7A patent/DE102016122484A1/de active Pending
- 2016-11-22 CN CN201611032026.XA patent/CN107093180B8/zh active Active
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US8890951B2 (en) * | 2008-04-24 | 2014-11-18 | GM Global Technology Operations LLC | Clear path detection with patch smoothing approach |
CN104050681A (zh) * | 2014-07-04 | 2014-09-17 | 哈尔滨工业大学 | 一种基于视频图像的道路消失点检测方法 |
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Publication number | Publication date |
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CN107093180B (zh) | 2020-12-08 |
DE102016122484A1 (de) | 2017-06-08 |
US20170161570A1 (en) | 2017-06-08 |
US9928427B2 (en) | 2018-03-27 |
CN107093180A (zh) | 2017-08-25 |
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Correction item: Inventor Correct: Zhao Qingrong|Q.Zhang|J.Wang|B.B. Litgauchi False: Q.Zhao|Q.Zhang|J.Wang|B.B. Litgauchi Number: 50-01 Page: The title page Volume: 36 Correction item: Inventor False: Q.Zhao|Q.Zhang|J.Wang|B.B. Litgauchi Number: 50-01 Volume: 36 |