DE10011219A1 - Road condition inspection method for car, involves comparing intensity of laser beam reflected from road corresponding to laser radiation angle, and its amplitude distribution with reference values - Google Patents

Road condition inspection method for car, involves comparing intensity of laser beam reflected from road corresponding to laser radiation angle, and its amplitude distribution with reference values

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Publication number
DE10011219A1
DE10011219A1 DE10011219A DE10011219A DE10011219A1 DE 10011219 A1 DE10011219 A1 DE 10011219A1 DE 10011219 A DE10011219 A DE 10011219A DE 10011219 A DE10011219 A DE 10011219A DE 10011219 A1 DE10011219 A1 DE 10011219A1
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DE
Germany
Prior art keywords
radiation
road surface
reference values
different
road
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE10011219A
Other languages
German (de)
Inventor
Andreas Bastian
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Volkswagen AG
Original Assignee
Volkswagen AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Volkswagen AG filed Critical Volkswagen AG
Priority to DE10011219A priority Critical patent/DE10011219A1/en
Publication of DE10011219A1 publication Critical patent/DE10011219A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B60R16/0237—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems circuits concerning the atmospheric environment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/17—Systems in which incident light is modified in accordance with the properties of the material investigated
    • G01N21/55—Specular reflectivity
    • G—PHYSICS
    • G08—SIGNALLING
    • G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
    • G08B19/00—Alarms responsive to two or more different undesired or abnormal conditions, e.g. burglary and fire, abnormal temperature and abnormal rate of flow
    • G08B19/02—Alarm responsive to formation or anticipated formation of ice
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
    • B60G2400/80—Exterior conditions
    • B60G2400/82—Ground surface
    • B60G2400/822—Road friction coefficient determination affecting wheel traction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60G2401/21—Laser
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/21—Traction, slip, skid or slide control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
    • B60G2800/70—Estimating or calculating vehicle parameters or state variables
    • B60G2800/702—Improving accuracy of a sensor signal

Abstract

Laser beam (4) is radiated at specific angle on a road surface (3) from a laser source provided at front end of a car (1). Intensity of laser beam reflected from road corresponding to laser radiation angle, and amplitude distribution of reflected beam are compared with reference values corresponding to different road conditions.

Description

Die Erfindung betrifft ein Verfahren zur Erkennung der Fahrbahnbeschaffenheit in Fahrtrichtung vor einem Kraftfahrzeug mittels einer Sensoranordnung gemäß Oberbegriff des Anspruchs 1.The invention relates to a method for detecting the condition of the road in Direction of travel in front of a motor vehicle by means of a sensor arrangement according to the preamble of claim 1.

Es sind Sensoranordnungen bekannt, die mittels eines Laserstrahls die Fahrbahnoberfläche vor oder unter einem Kraftfahrzeug abtasten. Das von der Sensoranordnung abgestrahlte Licht wird von der Fahrbahnoberfläche reflektiert, wobei in Abhängigkeit von der Beschaffenheit der Fahrbahnoberfläche Parameter der reflektierten Rückstrahlung beeinflußt werden. In der Sensoranordnung wird die empfangene Rückstrahlung zur Ermittlung der Fahrbahnbeschaffenheit ausgewertet, um insbesondere Festzustellen, ob Glatteis die Fahrbahnoberfläche bedeckt. Eine Sensoranordnung und ein Verfahren zum Feststellen des Zustandes einer Fahrbahnoberfläche ist aus der internationalen Patentanmeldung WO 96/26430 bekannt.Sensor arrangements are known which use a laser beam Scan the road surface in front of or under a motor vehicle. That from the Light emitted by the sensor arrangement is reflected by the road surface, whereby depending on the nature of the road surface parameters of the reflected reflection can be influenced. In the sensor arrangement, the received retroreflection is evaluated in order to determine the condition of the road in particular to determine whether black ice covers the road surface. A Sensor arrangement and a method for determining the state of a Road surface is known from international patent application WO 96/26430.

In der US 5,790,243 ist ein Meßverfahren zur Bestimmung der Fahrbahnoberfläche beschrieben, bei dem mittels eines Laserstrahls die Fahrbahnoberfläche über einen vorgegebenen Winkelbereich abgetastet wird. Zur Bestimmung der Beschaffenheit der Fahrbahnoberfläche wird die Phasenverschiebung im reflektierten Rückstrahl ausgewertet.No. 5,790,243 describes a measuring method for determining the road surface described, in which by means of a laser beam, the road surface over a predetermined angular range is scanned. To determine the nature of the The road surface becomes the phase shift in the reflected return beam evaluated.

Schließlich ist aus der DE 197 30 414 A1 ein Verfahren zur vorausschauenden Beurteilung der Fahrbahnoberfläche für Kraftfahrzeuge bekannt, bei dem ein Laser- Lichtmuster im Triangulationsverfahren ausgewertet wird. Zur Bestimmung der Beschaffenheit der Fahrbahnoberfläche und des Reibwertes zwischen Fahrbahnoberfläche und den Fahrzeugrädern wird die Lichtintensität des reflektierten Laserlichts im Verhältnis zur Lichtintensität des ausgesendeten Laserlichts ausgewertet.Finally, DE 197 30 414 A1 describes a method for predictive Assessment of the road surface for motor vehicles known, in which a laser Light pattern is evaluated in the triangulation process. To determine the Condition of the road surface and the coefficient of friction between Road surface and the vehicle wheels, the light intensity of the reflected Laser light evaluated in relation to the light intensity of the emitted laser light.

Der Erfindung liegt die Aufgabe zugrunde, ein Verfahren zur Erkennung der Fahrbahnbeschaffenheit zu schaffen, das auf möglichst einfache Weise ausführbar ist. The invention has for its object a method for the detection of To create road surface condition that can be carried out in the simplest possible way.  

Die Lösung dieser Aufgabe wird durch die im Anspruch 1 angegebenen Merkmale erhalten. Bei dem Verfahren ist vorgesehen, dass eine Sensoranordnung einen oder mehrere Laserstrahlen auf die Fahrbahnoberfläche aussendet, wobei die Verteilung der Amplituden der Rückstrahlen über den Abtastbereich und die Intensität der Rückstrahlen in Abhängigkeit vom Abstrahlwinkel der Laserstrahlen mit charakteristischen Referenzwerten zur Ermittlung der Fahrbahnbeschaffenheit verglichen werden. Die charakteristischen Referenzwerte für unterschiedliche Fahrbahnbeschaffenheiten können empirisch ermittelt und in einem Wertespeicher abgelegt sein. Die Messung der Intensität der Rückstrahlen in Abhängigkeit vom Abstrahlwinkel und die sich daraus ergebende charakteristische Amplitudenverteilung lässt sich mit einfachen Lichtsensoren realisieren. Dabei kann die Abtastung der Fahrbahnoberfläche mit einem Laserstrahl in ansich bekannter Weise mittels eines Laser-Scanners erfolgen.This object is achieved by the features specified in claim 1 receive. The method provides that a sensor arrangement has one or emits several laser beams onto the road surface, the distribution of the Amplitudes of the retroreflections over the scanning area and the intensity of the retroreflections depending on the beam angle of the laser beams with characteristic Reference values for determining the condition of the road are compared. The characteristic reference values for different road surface conditions be determined empirically and stored in a value memory. The measurement of Intensity of the retroreflections depending on the beam angle and the resulting The resulting characteristic amplitude distribution can be achieved with simple light sensors realize. The surface of the road surface can be scanned with a laser beam done in a known manner by means of a laser scanner.

Besonders vorteilhaft ist es, die Abstrahlung der Laserstrahlen mit veränderlicher Abstrahlleistung durchzuführen, so dass die Intensität der Rückstrahlen in Abhängigkeit vom Abstrahlwinkel für unterschiedliche Abstrahlleistungen mit Referenzwerten verglichen werden kann. Durch das Abstahlen mit veränderlicher Abstrahlleistung erhält man zusätzliche Messwerte, die eine genauere Bestimmung der Fahrbahnbeschaffenheit zulassen.It is particularly advantageous to vary the radiation of the laser beams Perform radiation power so that the intensity of the retroreflection is dependent of the beam angle for different beam powers with reference values can be compared. By blasting with variable radiation power one additional measured values that allow a more precise determination of the road surface condition allow.

Die Amplitudenverteilung der Rückstrahlen kann ebenfalls für unterschiedliche Abstrahlleistungen ermittelt und mit zu unterschiedlichen Fahrbahnbeschaffenheiten gehörenden charakteristischen Amplitudenverteilungen verglichen werden.The amplitude distribution of the retroreflections can also be different Radiation power determined and with different road surface conditions belonging characteristic amplitude distributions are compared.

Durch den Vergleich mit charakteristischen Referenzwerten kann nicht nur auf den Reibungskoeffizienten der Fahrbahnoberfläche geschlossen werden, sondern es kann auch eine Aussage über die Art des Fahrbahnbelages gemacht werden. Asphalt, Beton oder Kopfsteinpflaster haben andere charakteristische Reflexionseigenschaften, wodurch sich entsprechend unterschiedliche Amplitudenverteilungen bzw. unterschiedliche Intensitäten für die reflektierten Rückstrahlen in Abhängigkeit vom Abtastwinkel ergeben.By comparing with characteristic reference values it is not only possible to determine the Coefficient of friction of the road surface can be closed, but it can a statement about the type of road surface can be made. Asphalt, concrete or cobblestones have other characteristic reflective properties, whereby correspondingly different amplitude distributions or different ones Intensities for the reflected back rays depending on the scanning angle.

Anhand der Zeichnung, die ein Kraftfahrzeug auf einer Fahrbahn zeigt, wird das erfindungsgemäße Verfahren nachfolgend näher erläutert.Based on the drawing, which shows a motor vehicle on a road, the The method according to the invention is explained in more detail below.

Das Kraftfahrzeug 1 hat im vorderen Bereich eine Sensoranordnung 2, die die Fahrbahnoberfläche 3 mit einem Laserstrahl 4 abtastet. Die Abstrahlung des Laserstrahls 4 erfolgt über einen Winkelbereich α von 80°, wobei ein Abstrahlwinkel von 0° eine vertikale Abstrahlung senkrecht auf die Fahrbahnoberfläche 3 bedeutet. Ein Abstrahlwinkel von 80° liegt dagegen dann vor, wenn der Laserstrahl 4 in dem dargestellten spitzen Winkel zur Fahrbahnoberfläche 3 ausgerichtet ist.The motor vehicle 1 has a sensor arrangement 2 in the front area, which scans the road surface 3 with a laser beam 4 . The radiation of the laser beam 4 takes place over an angular range α of 80 °, a radiation angle of 0 ° meaning a vertical radiation perpendicular to the road surface 3 . A radiation angle of 80 °, on the other hand, is present when the laser beam 4 is oriented at the acute angle shown to the road surface 3 .

Je nach gewähltem Abstrahlwinkel ergeben sich unterschiedliche Reflexionsfaktoren, die außerdem von der Beschaffenheit der Fahrbahnoberfläche 3 abhängig sind. Dadurch erhält man beispielsweise bei einer mit Glatteis überzogenen Fahrbahnoberfläche eine hierfür charakteristische Amplitudenverteilung in Abhängigkeit vom Abstrahlwinkel. Wird also mit der Sensoranordnung 2 beim Abtastvorgang eine derartige charakteristische Amplitudenverteilung festgestellt, so kann daraus auf das Vorhandensein von Glatteis geschlossen werden.Depending on the selected radiation angle, different reflection factors result, which are also dependent on the nature of the road surface 3 . This gives, for example, a characteristic amplitude distribution for a road surface covered with black ice, depending on the radiation angle. If such a characteristic amplitude distribution is determined with the sensor arrangement 2 during the scanning process, the presence of black ice can be concluded from this.

Für unterschiedliche Fahrbahnarten, wie Kopfsteinpflaster oder Asphalt, ergeben sich bei Glatteis unterschiedliche charakteristische Amplitudenverteilungen, so dass mit dem erfindungsgemäßen Verfahren nicht nur die Erkennung von Glatteis möglich ist, sondern zusätzlich auch die Fahrbahnart erkannt werden kann. For different types of lanes, such as cobblestones or asphalt, Black ice different characteristic amplitude distributions, so that with the The inventive method is not only possible to detect black ice, but the type of lane can also be recognized.  

BEZUGSZEICHENLISTEREFERENCE SIGN LIST

11

Kraftfahrzeug
Motor vehicle

22

Sensoranordnung
Sensor arrangement

33rd

Fahrbahnoberfläche
Road surface

44

Laserstrahl
α Winkelbereich
laser beam
α angular range

Claims (6)

1. Verfahren zur vorausschauenden Erkennung der Fahrbahnbeschaffenheit in Fahrtrichtung eines Kraftfahrzeugs (1) mittels einer Sensoranordnung (2), die wenigstens einen Laserstrahl (4) auf die in Fahrtrichtung vor dem Kraftfahrzeug (1) befindliche Fahrbahnoberfläche (3) aussendet und anhand der Charakteristika der von der Fahrbahnoberfläche (3) reflektierten Rückstahlen die Fahrbahnbeschaffenheit ermittelt, dadurch gekennzeichnet, dass die Intensität der Rückstrahlen in Abhängigkeit vom Abstrahlwinkel und die Verteilung der Amplituden der Rückstrahlen über den Abtastbereich mit charakteristischen Referenzwerten für unterschiedliche Fahrbahnbeschaffenheiten verglichen werden, und dass aus diesem Vergleich auf die aktuell vorliegende Fahrbahnbeschaffenheit geschlossen wird.1. Method for predictive detection of the road surface in the direction of travel of a motor vehicle ( 1 ) by means of a sensor arrangement ( 2 ) which emits at least one laser beam ( 4 ) onto the road surface ( 3 ) located in front of the motor vehicle ( 1 ) and based on the characteristics of the Reverse rays reflected from the road surface ( 3 ) determine the condition of the road, characterized in that the intensity of the return rays as a function of the radiation angle and the distribution of the amplitudes of the return rays over the scanning area are compared with characteristic reference values for different road conditions, and from this comparison to the current road surface condition is closed. 2. Verfahren nach Anspruch 1, dadurch gekennzeichnet, dass die Abstrahlung der Laserstrahlen (4) mit veränderliche Abstrahlleistung erfolgt, und dass die Intensität der Rückstrahlen in Abhängigkeit vom Abstrahlwinkel für unterschiedliche Abstrahlleistungen mit zu unterschiedlichen Fahrbahnbeschaffenheiten gehörenden charakteristischen Referenzwerten verglichen wird.2. The method according to claim 1, characterized in that the radiation of the laser beams ( 4 ) takes place with variable radiation power, and that the intensity of the return beams is compared as a function of the radiation angle for different radiation powers with characteristic reference values belonging to different road surface conditions. 3. Verfahren nach einem der Ansprüche 1 oder 2, dadurch gekennzeichnet, dass die Verteilung der Amplitude der Rückstrahlen bei verschiedenen Abstrahlleistungen mit zu unterschiedlichen Fahrbahnbeschaffenheiten gehörenden charakteristischen Amplitudenverteilungen verglichen wird.3. The method according to any one of claims 1 or 2, characterized in that the Distribution of the amplitude of the retroreflections with different radiation powers with characteristic features belonging to different road conditions Amplitude distributions is compared. 4. Verfahren nach einem der vorhergehenden Ansprüchen, dadurch gekennzeichnet, dass anhand des Vergleichs der gemessenen Werte mit charakteristischen Referenzwerten dar Reibungswert und/oder die Art der Fahrbahnoberfläche (3) ermittelt und angezeigt werden.4. The method according to any one of the preceding claims, characterized in that on the basis of the comparison of the measured values with characteristic reference values, the friction value and / or the type of road surface ( 3 ) are determined and displayed. 5. Verfahren nach Anspruch 4, dadurch gekennzeichnet, dass die für unterschiedliche Fahrbahnbeschaffenheiten charakteristischen Referenzwerte für die Amplitudenverteilung und die Intensität der Rückstrahlen für unterschiedliche Abstrahlwinkel und/oder Abstrahlleistungen empirisch ermittelt und in einem Wertespeicher abgelegt werden.5. The method according to claim 4, characterized in that the for different road surface characteristics characteristic reference values for the  Amplitude distribution and the intensity of the reflections for different Beam angle and / or radiation power determined empirically and in one Value storage are stored. 6. Verfahren nach einem der vorhergehenden Ansprüche, dadurch gekennzeichnet, dass die Abstrahlung der Laserstrahlen über einen Winkelbereich (α) von 80° erfolgt, wobei ein Abstrahlwinkel von 0° eine vertikale Abstrahlung nach unten und ein Abstrahlwinkel von 80° eine in spitzem Winkel zur Fahrbahnoberfläche (3) in Fahrtrichtung ausgerichtete Abstrahlung darstellen.6. The method according to any one of the preceding claims, characterized in that the radiation of the laser beams takes place over an angular range (α) of 80 °, with a radiation angle of 0 ° a vertical radiation downwards and a radiation angle of 80 ° one at an acute angle Show road surface ( 3 ) radiation oriented in the direction of travel.
DE10011219A 2000-03-08 2000-03-08 Road condition inspection method for car, involves comparing intensity of laser beam reflected from road corresponding to laser radiation angle, and its amplitude distribution with reference values Withdrawn DE10011219A1 (en)

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Application Number Priority Date Filing Date Title
DE10011219A DE10011219A1 (en) 2000-03-08 2000-03-08 Road condition inspection method for car, involves comparing intensity of laser beam reflected from road corresponding to laser radiation angle, and its amplitude distribution with reference values

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Application Number Priority Date Filing Date Title
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011007015A1 (en) * 2009-07-17 2011-01-20 Continental Teves Ag & Co. Ohg Laser-based method for the friction coefficient classification of motor vehicles
CN102114840A (en) * 2011-01-20 2011-07-06 浙江吉利汽车研究院有限公司 Driving safety control device on road surface change
WO2012000603A1 (en) * 2010-06-30 2012-01-05 Wabco Gmbh Method and apparatus for detecting a vehicle movement
WO2014124895A1 (en) * 2013-02-12 2014-08-21 Continental Teves Ag & Co. Ohg Method and beam sensor module for determining the condition of the road ahead in a vehicle
CN104477090A (en) * 2014-11-19 2015-04-01 柳州航盛科技有限公司 Traffic safety system for vehicle under complex road condition
DE102014100416A1 (en) * 2014-01-15 2015-07-16 Hella Kgaa Hueck & Co. Device and method for the dynamic measurement of the reflection properties of road surfaces
CN105388129A (en) * 2015-10-16 2016-03-09 深圳大学 Road surface relative reflectivity testing device
DE102017001363A1 (en) 2017-02-14 2017-10-19 Daimler Ag Method for determining a surface condition of a roadway of a motor vehicle and measuring device for a motor vehicle
CN108195291A (en) * 2018-01-03 2018-06-22 中山大学 A kind of moving vehicle 3 D detection method and detection device based on difference hot spot

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DE3816416A1 (en) * 1988-05-13 1989-11-16 Bayerische Motoren Werke Ag Method and device for detecting the weather-dependent state of smoothness of a road surface
DE4235104A1 (en) * 1992-10-17 1994-04-21 Sel Alcatel Ag Road condition detecting unit identifying state of road surface lying before moving motor vehicle - uses two adjustable light transmitting and receiving systems at different angles of elevation and supplying evaluation circuit correlating receiver signals
DE19608535A1 (en) * 1996-03-06 1997-09-11 Tobias Kippenberg Apparatus for identifying ice on road
DE19824625A1 (en) * 1997-09-30 1999-04-01 Univ Ilmenau Tech Device to detect condition of surfaces, e.g. road surfaces
DE19736138A1 (en) * 1997-08-20 1999-04-08 Daimler Chrysler Ag Method for determining the condition of a road surface

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3816416A1 (en) * 1988-05-13 1989-11-16 Bayerische Motoren Werke Ag Method and device for detecting the weather-dependent state of smoothness of a road surface
DE4235104A1 (en) * 1992-10-17 1994-04-21 Sel Alcatel Ag Road condition detecting unit identifying state of road surface lying before moving motor vehicle - uses two adjustable light transmitting and receiving systems at different angles of elevation and supplying evaluation circuit correlating receiver signals
DE19608535A1 (en) * 1996-03-06 1997-09-11 Tobias Kippenberg Apparatus for identifying ice on road
DE19736138A1 (en) * 1997-08-20 1999-04-08 Daimler Chrysler Ag Method for determining the condition of a road surface
DE19824625A1 (en) * 1997-09-30 1999-04-01 Univ Ilmenau Tech Device to detect condition of surfaces, e.g. road surfaces

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2011007015A1 (en) * 2009-07-17 2011-01-20 Continental Teves Ag & Co. Ohg Laser-based method for the friction coefficient classification of motor vehicles
CN102481935A (en) * 2009-07-17 2012-05-30 大陆-特韦斯贸易合伙股份公司及两合公司 Laser-based method for the friction coefficient classification of motor vehicles
CN102481935B (en) * 2009-07-17 2016-01-20 大陆-特韦斯贸易合伙股份公司及两合公司 For carrying out the method based on laser of friction coefficient classification in a motor vehicle
WO2012000603A1 (en) * 2010-06-30 2012-01-05 Wabco Gmbh Method and apparatus for detecting a vehicle movement
CN102114840A (en) * 2011-01-20 2011-07-06 浙江吉利汽车研究院有限公司 Driving safety control device on road surface change
WO2014124895A1 (en) * 2013-02-12 2014-08-21 Continental Teves Ag & Co. Ohg Method and beam sensor module for determining the condition of the road ahead in a vehicle
CN104995070A (en) * 2013-02-12 2015-10-21 大陆-特韦斯贸易合伙股份公司及两合公司 Method and beam sensor module for determining the condition of the road ahead in a vehicle
DE102014100416A1 (en) * 2014-01-15 2015-07-16 Hella Kgaa Hueck & Co. Device and method for the dynamic measurement of the reflection properties of road surfaces
CN104477090A (en) * 2014-11-19 2015-04-01 柳州航盛科技有限公司 Traffic safety system for vehicle under complex road condition
CN105388129A (en) * 2015-10-16 2016-03-09 深圳大学 Road surface relative reflectivity testing device
DE102017001363A1 (en) 2017-02-14 2017-10-19 Daimler Ag Method for determining a surface condition of a roadway of a motor vehicle and measuring device for a motor vehicle
CN108195291A (en) * 2018-01-03 2018-06-22 中山大学 A kind of moving vehicle 3 D detection method and detection device based on difference hot spot

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