JP2015510119A - 3dカメラを用いた道路表面の状態の割り出し - Google Patents
3dカメラを用いた道路表面の状態の割り出し Download PDFInfo
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Abstract
Description
これにより前方に横たわる異なる状態の道路表面領域において、場所ごとの摩擦係数を推定できる。
Claims (9)
- 3Dカメラを用いて車両前方に横たわる周辺部の少なくとも一枚の画像を撮影する道路表面の状態を割り出すための方法であって、
該3Dカメラの画像データから、複数のライン(5)に沿って、車両の走行方向(1)に対して横向き(y)に道路表面の凹凸プロファイル(h)を割出し、該割出された凹凸プロファイル(h)から、道路表面の状態(2;6;7;8)が認識されることを特徴とする3Dカメラを用いた道路表面の状態を割り出すための方法。 - 道路表面の状態(2;6;7;8)が、該割出された凹凸プロファイル(h)と既知の状態の保存されている凹凸プロファイルとの比較によって認識されることを特徴とする請求項1に記載の方法。
- 付加的に3Dカメラの少なくとも一つの単眼カメラの2D画像データが評価され、これが、道路表面の状態の認識のために用いられることを特徴とする請求項1あるいは2のいずれかに記載の方法。
- 該2D画像データが、テクスチャー分析、或いは、パターン分析によって評価されることを特徴とする請求項3に記載の方法。
- 2D画像データが、エッジ分析、及び/或いは、カラー分析によって評価されることを特徴とする請求項3あるいは4のいずれかに記載の方法。
- 認識された道路表面の状態から、前方に横たわる道路表面の摩擦係数が推定されることを特徴とする先行請求項のうち何れか一項に記載の方法。
- 少なくとも一つの推定された摩擦係数が、操舵介入、及び/或いは、ブレーキ介入のスタンバイに使用されることを特徴とする請求項6に記載の方法。
- 3Dカメラがステレオ・カメラであることを特徴とする先行請求項のうち何れか一項に記載の方法。
- 3Dカメラを包含する道路表面の状態を割出すための装置であって、該3Dカメラの画像データから、車両の走行方向(1)に対して横向き(y)の複数のライン(5)に沿って道路表面の凹凸プロファイル(h)を割出すための評価手段と、該割出された凹凸プロファイル(h)から、道路表面の状態(2;6;7;8)を割出すための認識手段を特徴とする道路表面の状態を割出すための装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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DE102012101085.4 | 2012-02-10 | ||
DE102012101085A DE102012101085A1 (de) | 2012-02-10 | 2012-02-10 | Bestimmung einer Beschaffenheit einer Fahrbahnoberfläche mittels einer 3D-Kamera |
PCT/DE2013/100028 WO2013117186A1 (de) | 2012-02-10 | 2013-01-28 | Bestimmung einer beschaffenheit einer fahrbahnoberfläche mittels einer 3d-kamera |
Publications (3)
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JP2015510119A true JP2015510119A (ja) | 2015-04-02 |
JP2015510119A5 JP2015510119A5 (ja) | 2016-11-17 |
JP6117245B2 JP6117245B2 (ja) | 2017-04-19 |
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JP2014555940A Active JP6117245B2 (ja) | 2012-02-10 | 2013-01-28 | 3dカメラを用いた道路表面の状態の識別 |
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US (1) | US9679204B2 (ja) |
EP (1) | EP2812652A1 (ja) |
JP (1) | JP6117245B2 (ja) |
DE (2) | DE102012101085A1 (ja) |
WO (1) | WO2013117186A1 (ja) |
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DE102012101085A1 (de) | 2013-08-14 |
US9679204B2 (en) | 2017-06-13 |
EP2812652A1 (de) | 2014-12-17 |
WO2013117186A1 (de) | 2013-08-15 |
JP6117245B2 (ja) | 2017-04-19 |
US20140347448A1 (en) | 2014-11-27 |
DE112013000914A5 (de) | 2014-10-23 |
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