GB2488019A - Measuring the condition of a carriageway - Google Patents

Measuring the condition of a carriageway Download PDF

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Publication number
GB2488019A
GB2488019A GB1201445.2A GB201201445A GB2488019A GB 2488019 A GB2488019 A GB 2488019A GB 201201445 A GB201201445 A GB 201201445A GB 2488019 A GB2488019 A GB 2488019A
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United Kingdom
Prior art keywords
carriageway
acoustic
electromagnetic
wave
condition
Prior art date
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Granted
Application number
GB1201445.2A
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GB201201445D0 (en
GB2488019B (en
Inventor
Anja Neubert
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Robert Bosch GmbH
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Robert Bosch GmbH
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Filing date
Publication date
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Publication of GB201201445D0 publication Critical patent/GB201201445D0/en
Publication of GB2488019A publication Critical patent/GB2488019A/en
Application granted granted Critical
Publication of GB2488019B publication Critical patent/GB2488019B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60W40/064—Degree of grip
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B15/00—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons
    • G01B15/08—Measuring arrangements characterised by the use of electromagnetic waves or particle radiation, e.g. by the use of microwaves, X-rays, gamma rays or electrons for measuring roughness or irregularity of surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • B60W40/068—Road friction coefficient
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
    • G01B17/08—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations for measuring roughness or irregularity of surfaces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/07—Analysing solids by measuring propagation velocity or propagation time of acoustic waves
    • G01N29/075—Analysing solids by measuring propagation velocity or propagation time of acoustic waves by measuring or comparing phase angle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N29/00—Investigating or analysing materials by the use of ultrasonic, sonic or infrasonic waves; Visualisation of the interior of objects by transmitting ultrasonic or sonic waves through the object
    • G01N29/04—Analysing solids
    • G01N29/11—Analysing solids by measuring attenuation of acoustic waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/003—Bistatic radar systems; Multistatic radar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G01S13/862—Combination of radar systems with sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87—Combinations of radar systems, e.g. primary radar and secondary radar
    • G01S13/878—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/003—Bistatic sonar systems; Multistatic sonar systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87—Combinations of sonar systems
    • G01S15/876—Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
    • G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/50—Magnetic or electromagnetic sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/54—Audio sensitive means, e.g. ultrasound
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/60—Doppler effect

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • General Health & Medical Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Biochemistry (AREA)
  • Acoustics & Sound (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Health & Medical Sciences (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electromagnetism (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Traffic Control Systems (AREA)
  • Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
  • Investigating Or Analyzing Materials By The Use Of Ultrasonic Waves (AREA)

Abstract

The present invention relates to a device for measuring the condition of a carriageway (4), comprising an acoustic measuring means (6, 8) for determining at least one acoustic reflection coefficient (13) from an amplitude relationship and/or phase relationship of an acoustic wave (10) emitted by the acoustic measuring means (6, 8) and of the acoustic wave (12) reflected by the carriageway (4),and comprising an electromagnetic measuring means (14, 16) for determining at least one electromagnetic reflection coefficient (22) from an amplitude relationship and/or phase relationship from an electromagnetic wave (18) emitted by the electromagnetic measuring means (14, 16) and from the electromagnetic wave (20) reflected by the carriageway (4). The device (2) is designed to determine the condition (26) of the carriageway (4) on the basis of the at least one acoustic and the at least one electromagnetic reflection coefficient (13, 22).

Description

Description Title
Method and device for determinin9 the c.ondition of the carriageway surface by means of combined acoustic and electrornasnetic wide-angle sensor_technology
Prior artS
The present invention relates to a device for measuring the condition of a carriageway, according to Claim 1, to a safety and/or driver assistance system, according to Claim 8, to a vehicle, according to Claim 9, and to a method for measuring the condition of a carriageway, according to Claim 10.
Safety and driver assistance systems serve, during travel, even in poor road conditions, to hold. a vehicle in a course defined by the driver. As is known, they react to the torques and forces that are applied to the wheels, these torques and forces being measured, for example, by means of acceleration sensors, and they thereby identify deviations from the desired course of the vehicle and, if necessary, guide it back onto this course.
-
In order to improve the regulation behaviour of the safety and driver assistance systems, it has been proposed to determine the surface characteristic of the carriageway, enabling the safety and driver assistance systems to intervene preventively in the drive behaviour of the vehicle. For example, if glazed frost is detected in front.
of the wheels of a vehicle, the acceleration on the wheels can be reduced, thereby ensuring the drive stability.
Known for the purpose of measuring the surface -characteristic of the carriageway is the practice of analysing the backscatter of a forwardly directed radar sensor. DE102006032735A1 discloses the practice of measuring the reflection amplitude and reflection phase of a radar wave irradiated perpendicularly onto the carriageway, and of deducing therefrom -the surface characteristic of the carriageway.
All of these systems, however, determine the characteristics of the carriageway surface only to a limited extent by means of active sensors, since, hitherto, * the parameters measured by the systems, and consequently the boundary conditions available, are not sufficient to describe the carriageway surface in an unambiguous manner, such that ambiguities can occur in respect of the condition * of the carriageway.
Disclosure of the invention
The device according to the invention for measuring the condition of a carriageway has the advantage that it provides for more reliable determination of the carriageway characteristics. It comprises an acoustic measuring means * for determining at least one acoustic reflection coefficient from an amplitude relationship and/or phase relationship of an acoustic wave emitted by the acoustic measuring means and of the acoustic wave reflected by the carriageway. The acoustic measuring means allows determination of the mechanical-elastic characteristics of the carriageway such as, for example, its elasticity and its surface characteristics. In this way, it is possible to characterize the material of the carriageway. For example, an asphalt carriageway can thus be distinguished from a concrete or cobblestone carriageway, because of the softer and smoother.characteristics of the asphalt. The device according to the invention further comprises an electromagnetic measuring means for determining at least one electromagnetic reflection coefficient from an amplitude relationship and/Or phase relationship from an electromagnetic wave emitted by the second measuring means and from the electromagnetic wave reflected by the carriageway. In addition to the mechanical-elastic characteristics, the electromagnetic measuring means makes it possible to determine also the dielectric characteristics of the carriageway, and thus to draw further inferences concerning the surface of the carriageway. Owing to the high relative dielectric permittivity of water, the measurement result of the electromagnetic measuring means obtained from wet cobblestone differs from that obtained from dry cobblestone that is, for example, soiled with a particular solid material. According to the invention, the device is designed to determine the condition of the carriageway on the basis of the at least one acoustic and the at least one electromagnetic reflection coefficient, since, because, of the synergy of the acoustic and the electromagnetic measuring means, the parameter space necessary for determining the surface characteristic of the carriageway is limited considerably, which results in a considerable reduction in the risk of ambiguities in determining its condition. The measurement results are thus more reliable.
The dependent claims disclose preferred developments of the invention. -4.-
In one development of the invention, the acoustic and the electromagnetic measuring means are designed to determine, respectively, at least two acoustic and electromagnetic reflection coefficients on the basis of differing angles of incidence of the waves onto the carriageway. From the analysis of the angle dependences of the backscatter of acoustic and electromagnetic waves, a further boundary condition is introduced into the measurement method, this further limiting the possible parameter space that describes the condition of the carriageway surface and enabling the condition of the carriageway to be correctly determined in a yet more reliable manner. Methods having, for example, only perpendicular angles of incidence can be subject to ambiguities in these cases.
In a further embodiment of the invention, the electromagnetic wave is a radar wave and/or the acoustic wave is an ultrasound wave. Such waves can be easily generated by means of inexpensive, space-saving signal generators.
In another advantageous realization of the invention, the electromagnetic measuring means comprises a first sensor and a second sensor that is disposed at a distance from the first sensor. In this case, the first sensor is designed to receive the electromagnetic wave emitted by the second sensor, and the second sensor is designed to receive the electromagnetic wave emitted by the first sensor. In this way, the angle dependence described above can be achieved in a simple manner. In addition, in this way it is possible to determine the spatial variation of the electromagnetic reflection coefficient, this again providing for more reliable inferences concerning the condition of the carriageway.
In one development, both sensors are wide-angle sensors, S such that the latter can be disposed at a large distance from one another on the vehicle. This makes it possible to attach a multiplicity of sensors to the vehicle, and to use a single emitted electromagnetic wave to analyse a multiplicity of reflected waves having differing angles of incidence.
In one modification of the invention, the device is designed to determine the condition of the carriageway from extreme values of the acoustic and electromagnetic reflection coefficients in dependence on the angle of incidence. Depending on the under-surface, the acoustic reflection coefficients, whichcan be determined, for example, using the Zoeppritz equations, have maximum or minimum values at a particular angle. This applies, correspondingly, to the electromagnetic reflection coefficients, which can be determined, for example, using the Fresnel equations, even if the maxima and minima are less distinct in the case of these coefficients.
In an additional development of the invention, the device is designed to determine the sequence of two layers on the carriageway on the basis of the sign of the electromagnetic reflection coefficient. Thus, for example, it is possible to determine whether the carriageway is wet or dry.
The device according to the invention emits the electromagnetic wave preferably at a frequency in the gigahertz range. . The invention also specifies a safety and/or driver assistance system for a vehicle having a device according to the invention. The device according to the invention in the safety and/or driver assistance system provides for active regulation of the drive behaviour of a vehicle and thus ensures safer travel.
The invention also specifies vehicle having a safety and/or driver assistance system according to the invention, the vehicle having at least one front wheel and one rear wheel, and the device being disposed on the vehicle in such a way that it is suitable for determining the condition of the carriageway in front of the front wheel of the vehicle. In this way, the characteristics of the carriageway can be determined even before being encountered by the front wheel and, if necessary, appropriate measures can be taken to regulate the drive behaviour of the vehicle, such as, for example, limiting of the torque on the vehicle wheels.
The invention also specifies a method for measuring the condition of a carriageway, comprising the following steps: emitting an acoustic wave onto the carriageway; receiving the acoustic wave reflected by the carriageway; determining at least one acoustic reflection coefficient from an amplitude relationship and/or phase relationship of the emitted acoustic wave and of the acoustic wave reflected by the carriageway; emitting an electromagnetic wave onto the carriageway; receiving the electromagnetic wave reflected by the carriageway; determining at least one electromagnetic reflection coefficient from an amplitude relationship and/or phase relationship of the emitted electromagnetic wave and the electromagnetic wave reflected by the carriageway; and determining the condition of the carriageway on the basis of the at least one acoustic and the at least one electromagnetic reflection coefficient.
In a preferred embodiment, the emitting of the acoustic and the electromagnetib wave is effected at a first angle in relation to the surface of the carriageway. The method in this case comprises the following further steps: emitting a further acoustic wave cnto the carriageway at a second angle in relation to the surface of the carriageway that differs from the first angle; receiving the further acoustic wave reflected by the carriageway; determining a further acoustic reflection ccefficient from an amplitude relationship and/or phase relationship of the further emitted acoustic wave and of the further acoustic wave reflected by the carriageway; emitting a further * electromagnetic wave onto the carriageway onto the carriageway at the second angle in relation to the surface of the carriageway; receiving the further electromagnetic wave reflected by the carriageway; determining a further electromagnetic reflection coefficient from an amplitude relationship and/or phase relationship of the further emitted electromagnetic wave and of the further electromagnetic wave reflected by the carriageway; and determining the condition of the carriageway on the basis of all determined acoustic and electromagnetic reflection coefficients.
Brief description of the drawings
Exemplary embodiments of the invention are described in detail in the following with reference to the accompanying drawing. In the drawing: Figure 1 is a schematic representation of the device according to the invention; and Figure 2 is a schematic representation of the device according to the invention in use on a vehicle.
Embodiment of the invention As shown by Figure 1, a device 2 according to the invention for measuring the condition of a carriageway 4 has an acoustic measuring means 6,. which preferably comprises an ultrasound source 6 and an ultrasound sensor 8. The ultrasound source 6 emits an ultrasound wave 10 as an acoustic wave, which is reflected by the carriageway 4 and received, as a reflected ultrasound wave 12, by the ultrasound sensor 8. The ultrasound sensor 8 thereupon determines an acoustic reflection coefficient 13 from the amplitude relationship and/or phase relationship of the emitted ultrasound wave 10 and the reflected ultrasound wave 12. The device 2 according to the invention additionally has an electromagnetic measuring means, which preferably comprises a radar transmitter 14 and a radar sensor 16. The radar transmitter 14 emits a radar wave 18 as an electromagnetic wave, which is reflected by the carriageway 4 and received, as a reflected radar wave 20, by the radar sensor 16. The radar sensor 16 thereupon determines an electromagnetic reflection coefficient 22 from the amplitude relationship and/or phase relationship of the emitted radar wave 18 and the reflected radar wave 20.
In an evaluation means 24, the device 2 according to the invention is designed to determine the condition 26 of the carriageway 4 on the basis of the acoustic reflection coefficient 13 and the electromagnetic reflection coefficient 22. This determination is preferably effected as follows: The ultrasound sensor 8 and the radar sensor 16 determine, respectively, two differing acoustic reflection coefficients 13 and electromagnetic reflection coefficients 22, the ultrasound waves 10 and the radar waves 18 being in each case for this purpose emitted onto.
the carriageway 4 at differing angles of incidence. A corresponding method is represented exemplarily in Figure 2 on the basis of fourteen-pairs of ultrasound sources 6 and ultrasound sensors 8, which are disposed on the lower front side of a vehicle 28. For reasons of clarity, only four of the fourteen pairs of ultrasound sources 6 and ultrasound sensors 8 are denoted by references. Of the emitted ultrasound waves 10, their angle of incidence 23 onto the carriageway 4 and of the reflected ultrasound waves 12, only one in each case is denoted by a reference, for reasons of clarity. When the acoustic measuring means is in operation, the ultrasound source 6 of a first pair emits the ultrasound wave 10, which are then received by the ultrasound sensors 8 of the other pairs. In this way, the acoustic reflection coefficient for thirteen differing angles of incidence 23 onto the carriageway 4 can be determined in a single measuring step, such that the differing paths of the waves 10, 12 are covered simultaneously from a series of angles of incidence 23.
Likewise, the measurement of the electromagnetic reflection coefficients 22 is effected by means of radar transmitters 14 and radar sensors 16. After the measurement by means of the ultrasound source 6 of the first pair and the -10 -ultrasound sensors 8 of the other pairs, or by means of the radar transmitter 14 of the first pair and the radar sensors 16 of the other pairs, the ultrasound source 6, or the radar transmitter 14, of a next, second pair emits an ultrasound wave 10, or radar wave, reapectively, which is then received and evalua'ted by the ultrasound sensors 8, or radar sensors 16, respectively, of the remaining pairs.
This method is repeated until the ultrasound source 6, or the radar transmitter 14, of each pair has once emitted an ultrasound wave 10, or radar wave, respectively. This makes it possible not only to determine the angle dependence of the acoustic and electromagnetic reflection coefficients 13, 22, respectively, but also to compare the spatial variation, this, again, allowing more reliable inferences to be drawn concerning the condition of the carriageway surface.
The. evaluation means 24 then determines the condition 26 of the carriageway 4 from the extreme values of the acoustic and electromagnetic reflection coefficients 13, 22 in dependence on the angle of incidence 23 onto the carriageway 4.
In the preferred realization of the invention, the basic concept of radar sensor technology is thus expanded to the use of a plurality of sensor units, consisting of a radar transmitter 14 and a radar sensor 16. As shown by the ultrasound sensor units 6, 8 in Figure 2, the sensor units can be attached to the vehicle 28 in a row, parallel or perpendicular to the direction of travel. The present embodiment enables the surface of the carriageway 4 to be better characterized, since the analysis of the angle dependences of the backscatter of acoustic and -11 -electromagnetic waves 12, 20 limits considerably the possible parameter space that describes the condition 26 of the carriageway surface.
S The invention combines electromagnetic measurements with acoustic measurements for the purpose of determining the condition of a carriageway, in order to increase the boundary conditions in the evaluation of the measurement results and to prevent ambiguities in the measurement results.
GB1201445.2A 2011-01-28 2012-01-26 Method and device for determining the condition of the carriageway surface by means of combined acoustic and electromagnetic wide-angle sensor technology Expired - Fee Related GB2488019B (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102011003334A DE102011003334A1 (en) 2011-01-28 2011-01-28 Method and device for determining the condition of the road surface by means of combined acoustic and electromagnetic wide-angle sensors

Publications (3)

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GB201201445D0 GB201201445D0 (en) 2012-03-14
GB2488019A true GB2488019A (en) 2012-08-15
GB2488019B GB2488019B (en) 2017-05-17

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Country Link
CN (1) CN102679942B (en)
DE (1) DE102011003334A1 (en)
FR (1) FR2971051B1 (en)
GB (1) GB2488019B (en)
IT (1) ITMI20120081A1 (en)

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Publication number Priority date Publication date Assignee Title
GB201402387D0 (en) * 2014-02-12 2014-03-26 Jaguar Land Rover Ltd Apparatus and method for use in a vehicle
GB2523092B (en) * 2014-02-12 2017-11-01 Jaguar Land Rover Ltd A system for use in a vehicle
GB2540748B (en) 2015-07-17 2019-01-30 Jaguar Land Rover Ltd A system for use in a vehicle
CN108036745B (en) * 2018-01-30 2020-02-07 长沙深之瞳信息科技有限公司 Error compensation method for microwave interference deformation measurement
DE102018206703A1 (en) 2018-05-02 2019-11-07 Robert Bosch Gmbh Method and device for detecting a road condition
DE102018209595A1 (en) * 2018-06-14 2019-12-19 Robert Bosch Gmbh Method for automatically determining a road condition

Citations (4)

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US5163319A (en) * 1987-11-11 1992-11-17 Messerschmitt-Bolkow-Blohm Gmbh Method and a device for recognizing the condition of a road
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GB2488019B (en) 2017-05-17

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