JP7120109B2 - 車両における路面状態判定装置、運転支援システムおよび路面状態判定方法 - Google Patents

車両における路面状態判定装置、運転支援システムおよび路面状態判定方法 Download PDF

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JP7120109B2
JP7120109B2 JP2019056506A JP2019056506A JP7120109B2 JP 7120109 B2 JP7120109 B2 JP 7120109B2 JP 2019056506 A JP2019056506 A JP 2019056506A JP 2019056506 A JP2019056506 A JP 2019056506A JP 7120109 B2 JP7120109 B2 JP 7120109B2
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road surface
surface condition
vehicle
detection signal
condition determination
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JP2020157804A (ja
JP2020157804A5 (https=
Inventor
隆久 横山
準行 井戸
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Denso Corp
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Denso Corp
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Priority to JP2019056506A priority Critical patent/JP7120109B2/ja
Priority to DE112020001535.1T priority patent/DE112020001535T5/de
Priority to PCT/JP2020/004840 priority patent/WO2020195231A1/ja
Publication of JP2020157804A publication Critical patent/JP2020157804A/ja
Publication of JP2020157804A5 publication Critical patent/JP2020157804A5/ja
Priority to US17/483,650 priority patent/US11970171B2/en
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/0002—Inspection of images, e.g. flaw detection
    • G06T7/0004—Industrial image inspection
    • 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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • 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
    • B60W2420/403—Image sensing, e.g. optical camera
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/35—Road bumpiness, e.g. potholes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10004—Still image; Photographic image
    • G06T2207/10012—Stereo images
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30248—Vehicle exterior or interior
    • G06T2207/30252—Vehicle exterior; Vicinity of vehicle
    • G06T2207/30256—Lane; Road marking

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Mathematical Physics (AREA)
  • Automation & Control Theory (AREA)
  • Quality & Reliability (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Image Analysis (AREA)
JP2019056506A 2019-03-25 2019-03-25 車両における路面状態判定装置、運転支援システムおよび路面状態判定方法 Active JP7120109B2 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
JP2019056506A JP7120109B2 (ja) 2019-03-25 2019-03-25 車両における路面状態判定装置、運転支援システムおよび路面状態判定方法
DE112020001535.1T DE112020001535T5 (de) 2019-03-25 2020-02-07 Fahrbahnoberflächenzustands-bestimmungsvorrichtung für fahrzeuge, fahrassistenzsystem und fahrbahnoberflächenzustands-bestimmungsverfahren
PCT/JP2020/004840 WO2020195231A1 (ja) 2019-03-25 2020-02-07 車両における路面状態判定装置、運転支援システムおよび路面状態判定方法
US17/483,650 US11970171B2 (en) 2019-03-25 2021-09-23 Road surface condition determination device for vehicle, driving assistance system, and road surface condition determination method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2019056506A JP7120109B2 (ja) 2019-03-25 2019-03-25 車両における路面状態判定装置、運転支援システムおよび路面状態判定方法

Publications (3)

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JP2020157804A JP2020157804A (ja) 2020-10-01
JP2020157804A5 JP2020157804A5 (https=) 2021-04-15
JP7120109B2 true JP7120109B2 (ja) 2022-08-17

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US (1) US11970171B2 (https=)
JP (1) JP7120109B2 (https=)
DE (1) DE112020001535T5 (https=)
WO (1) WO2020195231A1 (https=)

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WO2021144029A1 (en) * 2020-01-17 2021-07-22 Volvo Truck Corporation A cruise control system and a method for controlling a powertrain
CN111369709A (zh) * 2020-04-03 2020-07-03 中信戴卡股份有限公司 行车场景确定方法、装置、计算机、存储介质及系统
JP7279689B2 (ja) * 2020-06-16 2023-05-23 トヨタ自動車株式会社 データ処理装置及びデータ処理システム
JP7406182B2 (ja) * 2020-12-11 2023-12-27 トヨタ自動車株式会社 関連値情報の更新システム及び関連値情報の更新方法
CN114822014B (zh) * 2021-01-19 2023-11-03 北京隐空科技有限公司 基于柔性轨道进路式点阵结构的区域检测系统及方法
CN114802259B (zh) * 2021-01-19 2025-08-15 北京隐空科技有限公司 基于柔性轨道进路式点阵结构的无人驾驶控制系统及方法
KR20220111761A (ko) * 2021-02-01 2022-08-10 주식회사 에이치엘클레무브 운전자 보조 장치 및 운전자 보조 방법
JP7655760B2 (ja) * 2021-03-31 2025-04-02 株式会社Subaru 車両の走行制御装置
IT202200003239A1 (it) * 2022-02-22 2023-08-22 Pirelli Metodo e sistema di controllo di un veicolo in presenza di acquaplano
US12441303B2 (en) 2022-11-30 2025-10-14 Bendix Commercial Vehicle Systems Llc Systems and method for controlling driver assistance features of a vehicle based on images of a road surface condition
CN118810702B (zh) * 2023-04-18 2026-02-10 比亚迪股份有限公司 一种车辆自动紧急制动的控制方法、电子设备及车辆
CN116295227B (zh) * 2023-05-25 2023-07-28 湖南联智科技股份有限公司 一种路面平整度检测的方法、系统及存储介质
CN116862164A (zh) * 2023-07-04 2023-10-10 无锡惠友信息科技有限公司 智慧园区数字孪生系统
CN117422699B (zh) * 2023-11-10 2024-10-11 河北鹏鹄信息科技有限公司 公路检测方法、装置、计算机设备及存储介质
CN117587680B (zh) * 2023-11-20 2026-03-20 北京工业大学 一种路面跳车快速智能检测设备及检测方法
CN119308204B (zh) * 2024-12-11 2025-03-18 山东长中建筑工程有限公司 一种用于公路施工的路面基层测量装置
CN119392577B (zh) * 2024-12-30 2025-03-25 安徽建工建设投资集团有限公司 一种路基路面施工厚度检测方法

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JP2009053818A (ja) 2007-08-24 2009-03-12 Toshiba Corp 画像処理装置及びその方法

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JPWO2005075959A1 (ja) * 2004-02-10 2008-01-10 学校法人日本大学 摩擦係数推定方法及び装置
JP4315138B2 (ja) 2004-09-13 2009-08-19 ソニー株式会社 画像処理装置及び画像処理方法
EP1897706B1 (en) * 2005-06-17 2014-12-24 Kabushiki Kaisha Bridgestone Road surface state estimating method, road surface state estimating tire, road surface state estimating device, and vehicle control device
JP4527747B2 (ja) * 2007-04-17 2010-08-18 日本電信電話株式会社 水面波挙動検出装置、水面波挙動検出方法、及び、水面波挙動検出プログラム
JP5436442B2 (ja) * 2008-10-30 2014-03-05 株式会社ブリヂストン 路面状態推定方法
JP5657917B2 (ja) * 2010-05-19 2015-01-21 株式会社ブリヂストン 路面状態推定方法
JP2017182139A (ja) 2016-03-28 2017-10-05 パナソニックＩｐマネジメント株式会社 判定装置、判定方法、および判定プログラム
DE102016210056A1 (de) 2016-06-08 2017-12-14 Robert Bosch Gmbh Kameraanordnung zur Bestimmung des optischen Flusses, Fahrassistenzsystem und Überwachungskamera mit der Kameraanordnung
JP7017891B2 (ja) 2017-09-20 2022-02-09 大和ハウス工業株式会社 空調システム

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JP2020157804A (ja) 2020-10-01
US20220009502A1 (en) 2022-01-13
US11970171B2 (en) 2024-04-30
DE112020001535T5 (de) 2021-12-09

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