KR101265744B1 - Probe car-based system for sensing road surface condition automatically using polarized image and ecu information - Google Patents

Abstract

PURPOSE: A movable system for automatically detecting a road surface condition using a polarized light image and information from an ECU(Electronic Control Unit) is provided to movably measure a unit road surface condition in a road section using a probe car, thereby determining the road surface condition in real time. CONSTITUTION: A movable system(100) for automatically detecting a road surface condition using a polarized light image and information from an ECU(Electronic Control Unit) comprises an outside car sensor(110), an ECU(120), a GPS(Global Positioning System) module(140), an acceleration sensor, a sensor information gathering module(130), an image acquiring module(150), and an image processing module(160). A driving car is a probe car movably measuring a unit road surface condition in a road section. A method for determining the road surface condition with the image processing module includes: a step of firstly determining the road surface condition depending on road surface image information by applying an algorithm for determining the road surface condition; a step of secondly determining the road surface condition depending on a first sensor information including road surface temperature information and humidity information by applying an algorithm for measuring slipping; and a step of finally determining the road surface condition with calculating the slip ratio of the car depending on driving environment information, and a second or third sensor information by applying an algorithm for measuring road defects. [Reference numerals] (110) Outside car sensor; (111) Non-contact temperature sensor; (112) Humidity sensor; (130) Sensor information gathering module; (140) GPS module(external type); (150) Image acquiring module; (160) Image processing module; (170) Power supply device; (200) Inside of a vehicle(probe car); (AA,GG) Outside temperature information; (BB,HH) Vehicle driving speed information; (CC,II) GPS information; (DD) First and second cameras equipped with a polarizing filer; (EE) Road surface image information; (FF,MM) Road surface temperature information; (JJ) Acceleration sensor information; (KK,NN) Humidity information

Description

Mobile road surface automatic detection system using polarized image and ECC information {PROBE CAR-BASED SYSTEM FOR SENSING ROAD SURFACE CONDITION AUTOMATICALLY USING POLARIZED IMAGE AND ECU INFORMATION}

The present invention relates to a road surface automatic detection system, and more specifically, to take a polarized image of the road surface on the basis of the test vehicle (Probe Car), according to the driving environment information generated by the ECU (Electronic Control Unit) The present invention relates to a mobile road surface automatic detection system using polarization image and ECU information which automatically detects a state.

Generally, bad weather conditions such as water film, freezing and snow cover play an important role in efficient road management and traffic safety. The existing road condition management utilizes a device called Road Weather Information System (RWIS). The RWIS provides forecast information to the road surface and the atmospheric condition prediction system using the data of the weather observation system. System.

The RWIS provides the driver with information for safe driving by providing the measured weather data and the road surface condition information in real time, thereby providing the driver with the weather information of the area to be operated by the driver in advance, It is possible to provide efficient decision-making information.

However, such a RWIS uses various sensors such as a temperature sensor and a laser to detect the state of the road surface. However, such a RWIS is limited in the spread of the equipment because it is expensive to install and maintain the equipment.

On the other hand, various technologies related to a road surface condition determining device for automatically detecting a dangerous state such as freezing and snowing of a road and informing the driver thereof in advance to reduce a driving accident are known.

Conventional road surface condition determination devices use a method in which a buried sensor is installed or a person looks at a camera installed at each point on the road to judge it. However, such conventional road surface condition determination devices have problems such as relatively high installation cost, labor cost increase, and frequent failure.

In order to solve such a problem, a road surface condition determining device for automatically determining a road surface condition by analyzing image information acquired from a camera installed on a road and additional information such as temperature or humidity obtained through a sensor installed in the vicinity is studied have. For example, there is a method of determining the road surface state while rotating the polarizing filter.

On the other hand, there are many cases of research and technology development in domestic and overseas for obtaining and utilizing real-time surface condition information. However, the technology for the acquisition of road surface information currently used in actual roads is very expensive (installation based on laser and radar based), and the technology development is mainly focused on detection systems targeting only specific points ) There is a limit to cover a wide range of roads.

In order to solve these problems, the trailer-type continuous friction tester (CFT) is being used mainly in the countries of the Gumi region. However, the limitation of the measurement method according to the international standards such as ISO IS 8349 , It is difficult to spread the supply due to the obstruction of traffic flow and the need for expensive watering equipment). In addition, a problem is suggested in that a slip measurement of a slip friction coefficient measuring device can accurately measure a slip of an actual vehicle.

Korean Patent Publication No. 2012-85935 (published on Aug. 1, 2012), entitled "Object Identification Device, Moving Object Control Device, and Information Providing Device" Korean Patent No. 10-514774 filed on Feb. 6, 2003, entitled "Safety Device for Mobile Body" Japanese Unexamined Patent Publication No. 2011-150688 (published on Aug. 4, 2001), entitled "3D object identification device and moving object removal device and information providing device having the same" Japanese Unexamined Patent Publication No. 2012-84121 (Publication date: Apr. 26, 2012), entitled "Object Identification Device and Moving Object Removing Device and Information Providing Device Including the Same & Korean Patent Publication No. 2011-61741 (Publication date: June 10, 2011), title of the invention: "Road surface condition determination device and road surface condition determination method" Korean Patent Publication No. 2005-109565 (published on November 21, 2005), entitled "Apparatus for detecting surface state data" U.S. Patent No. 7,652,584 filed on March 15, 2004, entitled "Device for Detection of Surface Condition Data" U.S. Patent No. 5,652,655 filed on June 29, 1994, entitled "Road Surface Discriminator And Apparatus Applying Same"

The technical problem to be solved by the present invention is to mount a camera equipped with a polarization filter on the driving vehicle to obtain a polarized road surface image, and reflect the vehicle driving information generated by the ECU of the driving vehicle road surface An object of the present invention is to provide a mobile road surface automatic detection system using polarized images and ECU information, which can automatically detect a state.

Another technical problem to be achieved by the present invention is a mobile road surface using polarized images and ECU information, which can determine a road surface state in real time by measuring a unit road state of a road section by using a test vehicle. It is to provide a state automatic detection system.

As a means for achieving the above-described technical problem, the mobile road surface automatic detection system using the polarized image and the ECU information according to the present invention, the first sensor information mounted on the outside of the vehicle to include road surface temperature information and humidity information A vehicle external sensor generating a; An ECU (Electronic Control Unit) mounted in the traveling vehicle to generate traveling environment information including the vehicle traveling speed information and the external temperature information; A GPS module configured to receive second sensor information which is GPS information according to a current position of the driving vehicle; An acceleration sensor for generating third sensor information, the acceleration sensor information corresponding to a curved state of a running road; A sensor information collecting module which collects the first to third sensor information and the driving environment information; An image acquisition module for photographing a road surface image in front of the vehicle and generating road surface image information by using two cameras equipped with horizontal and vertical polarization filters mounted to the vehicle; And receiving road surface image information acquired by the image acquisition module, first to third sensor information and driving environment information collected by the sensor information collection module, and applying a road surface determination algorithm, a slip measurement algorithm, and a road failure measurement algorithm. And an image processing module for determining a road surface state, wherein the driving vehicle is a test vehicle that measures a unit road surface state of a road section in a mobile manner, and the image processing module applies a road surface determination algorithm. The road surface state is primarily determined according to the image information, and then the road surface state is secondarily determined according to the first sensor information including the road surface temperature information and the humidity information by applying the slip measurement algorithm. Applying the road failure measurement algorithm according to the driving environment information and the second to third sensor information And calculating the slip rate of the quantity characterized in that determining the road surface condition last.

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Here, the vehicle external sensor may measure road surface temperature using a non-contact temperature sensor mounted on the front of the driving vehicle, and measure humidity using a humidity sensor mounted on the rear of the driving vehicle.

Here, the sensor information collection module performs a CAN (Controller Area Network) communication with the ECU and receives vehicle driving speed information and external temperature information through the OBD-II terminal of the ECU.

Here, the sensor information collecting module detects the road surface curvature by using the acceleration sensor information (third sensor information), and the acceleration sensor is integrally mounted to the sensor information collecting module.

Here, the image acquisition module is characterized in that the two cameras equipped with horizontal and vertical polarization filter to simultaneously photograph the same road surface shooting point, the camera case is built in the front glass fixed adsorption plate is attached to the vehicle front glass It is done.

Here, the image acquisition module is characterized in that it is possible to adjust the shooting angle of the camera using the angle adjustment bracket to enable the adjustment of the road surface temperature measurement point.

Here, the image processing module is configured by applying a PC that is easy to use a user interface, for example, by a touch screen method, wherein the PC is fixedly mounted to a traveling vehicle using a vehicle holder.

The image processing module may be configured to compare the vehicle driving speed information of the ECU with the GPS information by applying the slip measurement algorithm and determine whether the driving vehicle is slipped.

Here, the image processing module includes a user interface for displaying or storing the collected information, wherein the user interface checks or sets an operation state of each of the sensor information collection module, the image acquisition module, and the image processing module. It can be changed.

The apparatus may further include a power supply device for supplying power to the external sensor, the sensor information collection module, the image acquisition module, and the image processing module, wherein the power supply device is an internal power source of the driving vehicle. It characterized in that to use.

According to the present invention, a polarized road surface image is acquired by mounting a camera with a polarizing filter on a traveling vehicle, and the road surface state is automatically calculated by reflecting the vehicle running information generated by the ECU of the traveling vehicle, It is possible to easily measure the road surface condition on a real time basis.

According to the present invention, it is possible to economically measure a wide road section by measuring the unit road surface condition of the road section by using a test car to determine the road surface condition in real time.

FIG. 1 is a view illustrating a mobile road surface state automatic detection system using polarized images and ECU information according to an exemplary embodiment of the present invention mounted on a vehicle.
2 is a diagram illustrating a driving of a vehicle equipped with a mobile road surface condition automatic detection system using polarized images and ECU information according to an embodiment of the present invention.
3 is a block diagram of a mobile road surface condition automatic detection system using polarized images and ECU information according to an embodiment of the present invention.
4 is a diagram illustrating an example in which a vehicle external sensor measures the road surface temperature and humidity in a mobile road surface condition automatic detection system using polarized images and ECU information according to an embodiment of the present invention.
5 is a specific configuration diagram of an image acquisition module in a mobile road surface condition automatic detection system using polarized image and ECU information according to an embodiment of the present invention.
6A to 6D are views illustrating a structure of an image acquisition module in a mobile road surface automatic detection system using polarized images and ECU information, respectively, according to an embodiment of the present invention.
FIG. 7 is a specific configuration diagram of a sensor information collecting module in a mobile road surface condition automatic detection system using polarized image and ECU information according to an embodiment of the present invention.
8 is a table showing ECU provided information in a mobile road surface condition automatic detection system using polarized images and ECU information according to an embodiment of the present invention.
9 is a diagram showing OBD-II terminal information of an ECU in a portable road surface condition automatic detection system using polarized image and ECU information according to an embodiment of the present invention.
10 is a specific configuration diagram of an image processing module in a mobile road surface condition automatic detection system using polarized image and ECU information according to an embodiment of the present invention.
11 is a diagram illustrating a PC installed in a vehicle in a mobile road surface condition automatic detection system using polarized images and ECU information according to an embodiment of the present invention.
12 is a configuration diagram of software implemented in a PC of a mobile road surface condition automatic detection system using polarized images and ECU information according to an embodiment of the present invention.
FIG. 13 is a diagram illustrating that a stereo camera of a mobile road surface automatic detection system using polarized images and ECU information according to an embodiment of the present invention is mounted on a test vehicle.
FIG. 14 is a photograph illustrating a captured image of the stereo camera illustrated in FIG. 13.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, except to exclude other components unless otherwise stated.

First, the mobile road surface automatic detection system using the polarized image and ECU information according to an embodiment of the present invention, by analyzing the image collected through the vertical and horizontal polarization filter by the road surface state determination algorithm, According to the road surface temperature and the outside temperature, it is possible to increase the accuracy of road surface detection and to calculate a slip ratio of the vehicle corresponding to the vehicle driving speed information.

FIG. 1 is a view illustrating a mobile type road surface state automatic detection system using polarized images and ECU information according to an embodiment of the present invention mounted on a vehicle. FIG. 2 is a diagram illustrating a polarized image and ECU information FIG. 2 is a diagram illustrating a driving of a vehicle equipped with a mobile road surface condition automatic detection system utilizing the present invention.

1 and 2, a portable road surface state automatic detection system using polarized image and ECU information according to an embodiment of the present invention includes a vehicle external sensor 110 in front of a traveling vehicle 200, for example, , A non-contact temperature sensor is mounted to measure the road surface temperature. 2, the noncontact type temperature sensor can be mounted inside a bumper or a radiator grille on the front surface of the traveling vehicle 200. The noncontact temperature sensor is stably mounted without damaging the traveling vehicle 200, And has an angle adjustable structure so that the temperature measurement point can be adjusted.

Further, it is possible to acquire the running information of the running vehicle 200 from the ECU 120 and the running environment information which is external temperature information. At this time, the OBD terminal dedicated cable using the connector dedicated to the OBD-II terminal of the ECU 120 is fabricated to facilitate the connection between the ECU 120 and the sensor information collecting module 130. [

In addition, the image acquisition apparatus 150, for example, two cameras with horizontal and vertical polarization filters are mounted on the glass window of the driving vehicle 200 to photograph the road surface image in front of the vehicle. Specifically, the two cameras with the horizontal and vertical polarization filters are installed in a case having a structure capable of adjusting the shooting angle, as shown in FIG. 2, so that a certain angle between road surfaces can be maintained and adjusted if necessary. . That is, two cameras having horizontal and vertical polarization filters attached thereto are mounted in the driving vehicle 200 to take images.

The sensor information measured from the vehicle external sensor 110 and the travel environment information generated from the ECU 120 are collected by the sensor information collecting module 130 and transmitted to the image processing module 160, do. Specifically, the sensor information collecting module 130 can be manufactured in a small size and attached to a window of the vehicle 200, and can be visually checked for operation. The sensor information collecting module 130 is detachable and attached And has an easy structure.

Accordingly, the image processing module 160 determines the road surface state according to the travel environment information, the sensor information, and the road surface image information. At this time, the PC is stably fixed using the car cradle. Specifically, as will be described later, the image processing module 160 primarily applies road surface condition determination algorithms to determine the road surface state according to the road surface image information, and then drives the first determined image. The road condition is secondarily determined by reflecting and correcting the environmental information. Next, the slip ratio of the vehicle according to the driving environment information and the second and third sensor information is calculated according to the sliding measurement algorithm, and at the same time, the road failure measurement algorithm is performed. Finally, the road surface is determined by checking the unevenness of the road surface.

Also, the power supply of the mobile road surface condition automatic detection system using the polarized image and ECU information according to the embodiment of the present invention can be supplied using the cigar jack of the traveling vehicle so as to smoothly supply the power without additional work.

At this time, the image processing module 160 can classify the surface of the road, determine the state of the bad road surface, and store the road surface image and data. That is, the traveling vehicle 200 implemented with the mobile road surface condition automatic detection system utilizing the polarized image and the ECU information according to the embodiment of the present invention is a test vehicle. The traveling vehicle 200 includes a raw data ) Information and a shot image can be stored.

3 is a block diagram of a mobile road surface condition automatic detection system using polarized images and ECU information according to an embodiment of the present invention.

3, a portable road surface state automatic detection system 100 using polarized image and ECU information according to an embodiment of the present invention includes a vehicle external sensor 110, an ECU (Electronic Control Unit) 120, And a power supply unit 170. The driving unit 200 includes a collection module 130, a GPS module 140, an image acquisition module 150, an image processing module 160, and a power supply unit 170, For example, in a test car, which is a general passenger car, and can determine the road surface state in real time.

The vehicle external sensor 110 is a noncontact type temperature sensor 111 and a humidity sensor 112 that are respectively mounted on the outside of the traveling vehicle 200 and measures the road surface temperature and humidity to generate the first sensor information. Specifically, the non-contact type temperature sensor 111 is mounted on the front surface of the traveling vehicle 200 to measure the road surface temperature, and the humidity sensor 112 is mounted on the rear surface of the traveling vehicle 200 to measure the humidity.

The ECU 120 is mounted in the traveling vehicle 200 and generates traveling environment information including vehicle running speed information and external temperature information. In general, the ECU 200 is an electronic control device for controlling the state of an automobile engine, an automatic transmission, an ABS, and the like by a computer. The electronic control device includes an automatic transmission control, a drive system, a braking system, And also controls all parts of the vehicle. In the mobile road surface condition automatic detection system 100 using the polarized image and the ECU information according to the embodiment of the present invention, the ECU 120 determines the vehicle running speed by sensing the number of revolutions of the vehicle wheel, . At this time, the travel environment information is transmitted to the sensor information collection module 130 through a CAN (Controller Area Network) established in the vehicle.

The GPS module 140 is mounted in the driving vehicle 200 to generate second sensor information indicating the current position of the driving vehicle 200 in latitude and longitude. At this time, the GPS module 140 may be external, but is not limited thereto.

The sensor information collecting module 130 collects first sensor information (road surface temperature information and humidity information) measured by the vehicle external sensor 110 and collects second sensor information (GPS information) (The vehicle running speed information and the external temperature information) generated in the first to third sensors, and also collects the third sensor information (acceleration sensor information) by the built-in acceleration sensor, The sensor information and the travel environment information are transmitted to the image processing module 160.

The image acquisition module 150 is installed in front of the driving vehicle 200 to acquire a polarized image of the road surface to generate road surface image information. Specifically, the image acquisition module 150 may be two cameras each having a horizontal and vertical polarization filter attached thereto, and may extract polarization components by collecting and analyzing an image photographed with vertical polarization and an image photographed with horizontal polarization. The collected polarization components may calculate polarization coefficients (vertical polarization components and horizontal polarization components), and the state of the road surface may be analyzed by the values of the polarization coefficients. For example, it is possible to classify the wet surface of the road by dividing the area where the surface reflection of the road is severe and small by such a polarimeter number. Here, it will be apparent to those skilled in the art that the road surface state can be determined using horizontal and vertical polarization filters, and thus detailed description thereof will be omitted.

The image processing module 160 uses the road surface image information collected by the image acquisition module 150 and the first to third sensor information and the travel environment information collected by the sensor information collection module 130, And determines the road surface condition. At this time, the image processing module 160 may be implemented by a PC, which will be described later.

The power supply unit 170 supplies power to each component of the mobile road surface condition automatic detection system 100 using the polarized image and the ECU information according to the embodiment of the present invention. For example, It is possible to supply the cigar jack, which is the internal power source of the traveling vehicle,

The road surface determination procedure of the mobile road surface automatic detection system 100 using the polarization image and the ECU information according to an embodiment of the present invention, first, collected by passing through the vertical and horizontal polarization filter of the image acquisition module 150 The road image is analyzed by road condition determination algorithm to determine the wet, snow or ice state of the road surface. Subsequently, in order to overcome the limitation of real-time image detection, the first determined image is corrected by reflecting the driving environment information, and the road surface state is secondarily determined, for example, collected by the sensor information collecting module 130. The first sensor information including the road surface temperature information and the external temperature information may be additionally applied to increase the accuracy of road surface detection. Thereafter, a slip ratio of the vehicle is calculated through driving environment information (vehicle driving speed information and external temperature information) and GPS information (second sensor information) of the driving vehicle 200, and at the same time, acceleration sensor information (first 3 sensor information) is further applied, and at this time, the road failure measurement algorithm is applied to check the unevenness of the road surface, and finally determine the road surface condition.

Therefore, the mobile road surface state automatic detection system using the polarized image and ECU information according to the embodiment of the present invention utilizes both the contact method and the non-contact method at the time of performing the road surface condition determination procedure, ), It is possible not only to improve the safety of the road surface information collection vehicle (test vehicle) itself, but also to expect high accuracy, which is characteristic of the contact road surface state discrimination method.

In addition, the mobile road surface state automatic detection system using the polarized image and ECU information according to the embodiment of the present invention minimizes the use of expensive external equipment such as a trailer type CFT and a laser sensor, The present invention can be easily applied to an existing passenger car system (for example, a vehicle released since the mid-2000s).

Accordingly, it is possible to realize a real time low cost and high efficiency road surface condition detection system for a wide area of road section, and it can help real time road maintenance and traffic safety improvement. Especially, it should be done at the stage of mass production of an intelligent car It is possible to monitor in advance a poor road surface area and provide a recommended recommended running speed.

Meanwhile, FIG. 4 is a diagram illustrating the measurement of the road surface temperature and humidity by the vehicle external sensor in the mobile road surface condition automatic detection system using the polarized image and the ECU information according to the embodiment of the present invention.

The mobile road surface condition automatic detection system using the polarized image and ECU information according to the embodiment of the present invention should be able to collect and store the outside temperature of the vehicle traveling point and collect and store the surface temperature of the road surface monitoring area.

4, the non-contact type temperature sensor 111 is mounted on the front of the vehicle in the mobile type road surface state automatic detection system using the polarized image and the ECU information according to the embodiment of the present invention, The humidity sensor 112 is mounted on the rear surface of the vehicle to measure the humidity, and the measured road surface temperature information and humidity information are transmitted to the sensor information collecting module 130 and collected. For example, the noncontact type temperature sensor 111 is fixed to the outer front surface of the traveling vehicle 200 by using a structure such as a vehicle bumper, and the road surface temperature information is transmitted to the MCU 161 of the sensor information collecting module 130 do. Hereinafter, for the sake of convenience, the road surface temperature information and the humidity information are referred to as first sensor information.

Meanwhile, FIG. 5 is a specific configuration diagram of an image acquisition module in a mobile road surface condition automatic detection system using polarized image and ECU information according to an embodiment of the present invention, and FIGS. 6A to 6D are diagrams FIG. 2 is a diagram illustrating a structure of an image acquisition module in a mobile road surface state automatic detection system using polarized images and ECU information. FIG.

5, in the mobile road surface condition automatic detection system using polarized image and ECU information according to the embodiment of the present invention, the image acquisition module 150 includes a horizontal polarization filter 151, a vertical polarization filter 152, 1 camera 153, a second camera 154, a camera synchronization circuit 155, and a grabber 156. [

The first camera 153 to which the horizontal polarization filter 151 is attached and the second camera 154 to which the vertical polarization filter 152 is attached simultaneously photographs the same road surface shooting point at the same time. At this time, the road surface image signals photographed by the first and second cameras 153 and 154 are synchronized through the camera synchronizing circuit 155, converted into digital signals by the grabber 156, And is transmitted to the image processing module 160 through the cable 159.

The grabber 156 is a frame grabber and digitizes an analog video signal appearing through an image medium such as the first and second cameras 153 and 154 into bits defined per sample and outputs it to a personal computer It is also referred to as an image board.

The image acquisition module 150 simultaneously captures the same road surface photographing location of two cameras 153 and 154 equipped with horizontal and vertical polarization filters 151 and 152 so that horizontal and vertical polarization images can be simultaneously collected. Camera to transmit the image to the image processing module. In this case, the image acquisition module 150 separately acquires horizontal and vertical polarized images through the polarization filters 151 and 152 attached to the front surface of the lens, and transmits them to the image processing module 160.

For example, as shown in FIGS. 6A to 6D, the image capturing module 150 can be configured using an image capturing module, which is a commercially available product. By using the image capturing module, a polarizing filter 151 and 152, and the camera case 150a is manufactured by using a structure that can be attached to the front glass of the vehicle by the front glass fixing and absorbing plate 157.

At this time, the camera case 150a may have a structure that minimizes vibration, and may be manufactured to be capable of adjusting the photographing angle by using the angle adjusting bracket 158 to satisfy the Brewster angle.

Meanwhile, FIG. 7 is a specific configuration diagram of a sensor information collection module in a mobile road surface condition automatic detection system using polarized image and ECU information according to an embodiment of the present invention.

Referring to FIG. 7, in the mobile road surface automatic detection system using polarized images and ECU information, the sensor information collection module 130 may include a micro controller unit (131) and an acceleration sensor 132. ), A DC / DC converter 133, a controller area network (CAN) / serial converter 134, a first RS232 driver 135, a second RS232 driver 136, and a debug port 137. .

The sensor information collecting module 130 collects and transmits the GPS module, the acceleration sensor, the non-contact temperature sensor, the ECU information, and the like to the image processing module. The MCU 130 of the sensor information collecting module 130 Related information in the ECU 120 collected via the OBD-II terminal of the vehicle via CAN (Controller Area Network) communication via the CAN-to-serial converter 134 in order to obtain the vehicle running information Speed related information, external temperature information, and the like) to the image processing module 160.

Specifically, the MCU 131 collects GPS information of the GPS module 140, and can confirm the location of the abnormal point on the road surface and the detection time. At this time, the GPS module 140 may be external, And can communicate with the RS232 interface through the sensor information collecting module 130 and the second RS232 driver 136. [

The sensor information collecting module 130 may detect the road surface flexure state by using the information of the acceleration sensor 132. The acceleration sensor 132 may be integrated with the sensor information collecting module 130, And transmits information through the I 2 C communication with the MCU 131.

The sensor information collecting module 130 can collect road surface temperature information by communicating with the vehicle external sensor 110 via the RS232 interface through the first RS232 driver 135, The road surface temperature of the road photographing point measured using the non-contact temperature sensor 111 of the image processing module 160 can be used as an auxiliary judgment means of the image processing module 160.

The power source of the sensor information acquisition module 130 may be a DC 5V and DC 3.3V power supply circuit built in the sensor information collection module 130 using the 12V output power of the cigar jack 171 to supply stable power . The DC / DC converter 133 of the sensor information acquisition module 130 converts DC 13-14, 4V of the vehicle cigar jack 171 of the power supply device 170 to DC 3.3V and DC 5V, To the humidity sensor 112 and the non-contact temperature sensor 111 of the external sensor 110, respectively.

FIG. 8 is a table showing ECU-provided information in a mobile road surface state automatic detection system utilizing polarized images and ECU information according to an embodiment of the present invention. FIG. 9 is a table showing polarized images and ECU information Of the OBD-II terminal information of the ECU in the mobile road surface condition automatic detection system utilizing the above-mentioned function.

In the mobile road surface state automatic detection system using the polarized image and the ECU information according to the embodiment of the present invention, the vehicle running speed information and the external temperature information are obtained by using the CAN communication port of the OBD-II terminal of the vehicle ECU 120 It can be collected by the MCU 131 of the sensor information collecting module 130 and used as an auxiliary means for determining the road surface condition.

At this time, the ECU-provided information may be provided as shown in FIG. 8, and it is determined whether or not the driving vehicle 200 is slipped by comparing the vehicle running speed of the ECU 120 with the position information of the GPS module 140 .

In addition, the ECU OBD-II terminal connection information may differ depending on the vehicle manufacturer and the year of manufacture of the vehicle, and the OBD information of the selected test vehicle may be collected and reflected. FIG. Representative terminal information is exemplarily shown.

On the other hand, Figure 10 is a block diagram of an image processing module in a mobile road surface automatic detection system using the polarized image and ECU information according to an embodiment of the present invention, Figure 11 is a polarized image and ECU information according to an embodiment of the present invention FIG. 12 is a diagram illustrating a PC (personal computer) of a mobile road surface automatic detection system using a vehicle, and FIG. 12 is a mobile road surface automatic detection system using polarized images and ECU information according to an embodiment of the present invention. Is a schematic diagram of the software implemented in the PC.

10, in the mobile road surface condition automatic detection system using the polarized image and ECU information according to the embodiment of the present invention, the image processing module 160 includes a personal computer (PC) 161, a PC adapter 162, a USB A hub 163, a USB / serial converter 164, and a car mount 165.

The image processing module 160 collects the road surface image information, the first to third sensor information, and the travel environment information from the image acquisition module 150 and the sensor information collection module 130, and detects the state of the road surface. For example, the image processing module 160 collects the road surface image of the image acquisition module 150 through the USB interface via the USB hub 163, The sensor information may be collected via the RS232 interface via the USB / serial converter 164.

In this image processing module 160, based on the information acquired by the image acquisition module 150 and the sensor information collection module 130, the road surface state information (Traveling speed information of the vehicle and external temperature information) generated by the ECU 120 and first sensor information (road surface temperature information and humidity information ), It is possible to quantify the behavior of the vehicle as a slip ratio to determine the road surface state.

11, the image processing module 160 may be configured to facilitate a user interface by, for example, a touch screen method using a PC 161. At this time, the PC 161 may be mounted on a vehicle cradle 165 can be fixedly mounted on the vehicle 200 and used.

Here, the PC 161 supports a variety of input methods such as a touch input of a tablet and a keyboard, a mouse, and a pen of a notebook, and is capable of utilizing web surfing and multimedia contents, which are main functions of the existing tablet PC, . This PC 161 improves portability like a notebook, but unlike a tablet PC equipped with an operating system such as iOS or Android, the PC 161 is equipped with a Windows operating system to utilize various application programs such as a word processor and an Excel used in an existing PC .

At this time, the power supplied to the image processing module 160 may be configured using a commercially available PC adapter 162 using an AC 220V by mounting a vehicle inverter on a cigar jack 171 of the vehicle.

Software in the mobile road surface state automatic detection system using the polarized image and ECU information according to the embodiment of the present invention is implemented in the image processing module 160, and as shown in FIG. 12, A slip measurement algorithm, a road surface failure measurement algorithm, an image collection unit, a road surface condition determination algorithm, a final determination unit, and a user interface.

The image collecting unit collects images acquired by two cameras 153 and 154 equipped with horizontal and vertical polarization filters 151 and 152 inside the vehicle, and the road surface determination algorithm uses a road surface image and a road surface temperature. This part is used to determine the road surface condition.

The traveling environment information and sensor information collecting unit communicates with the MCU 131 of the sensor information collecting module 120 to collect the traveling environment information and the first to third sensor information. And the road surface defect measurement algorithm determines whether or not the road surface slip is detected based on the acceleration sensor information (third sensor information) that measures the road surface curvature state using the acceleration sensor 132, It is judged whether or not it is defective.

The final judgment unit finally judges the road surface state. The user interface has a function of displaying or storing the collected information, and provides a function of checking the operation state of each module or changing the setting.

Meanwhile, FIG. 13 is a diagram illustrating that a stereo camera of a mobile road surface automatic detection system using polarization image and ECU information according to an embodiment of the present invention is mounted on a test vehicle, and FIG. 14 is a stereo shown in FIG. It is a photograph illustrating the photographed image of a camera.

13 and 14, in a mobile road surface automatic detection system using polarized images and ECU information according to an embodiment of the present invention, a test vehicle (Probe Car) 200, for example, a vehicle on a Starex basis When the camera of the image acquisition module 150 is installed on the inner side, when the vehicle bonnet is predicted based on the point where the vehicle bonnet is not photographed on the camera image, the camera is positioned at a distance of about 7M from the camera at an angle of about 15˚ to the ground. I will shoot.

In this case, although it does not satisfy the Brewster angle, referring to the Vaisla's stereo camera test result shown in FIG. 15, the camera angle can be adjusted so that the bonnet of the vehicle is partially photographed.

As a result, the mobile road surface condition automatic detection system using the polarized image and the ECU information according to the embodiment of the present invention can reduce the road surface accidents caused by bad weather (rainfall, snowfall) A road surface information automatic detection system that automatically diagnoses and estimates road surface image information and external environmental information to automatically determine the road surface state of the road ahead to provide the driver with the road surface condition in advance to ensure the safety of the driver , And also allows the driver to continuously monitor the road surface of the main road.

The foregoing description of the present invention is intended for illustration, and it will be understood by those skilled in the art that the present invention may be easily modified in other specific forms without changing the technical spirit or essential features of the present invention. will be. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive. For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is shown by the following claims rather than the above description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention. do.

100: Mobile road surface condition detection system
200: driving vehicle
110: Vehicle external sensor
120: ECU (Electronic Control Unit)
130: sensor information collection module
140: GPS module
150: Image acquisition module
160: image processing module
170: Power supply
111: Non-contact temperature sensor (front mounted vehicle)
112: Humidity sensor (rear mounting of vehicle)
131: Micro Controller Unit (MCU)
132: Accelerometer
133: DC / DC converter
134: Controller Area Network (CAN) / Serial converter
135: First RS232 driver
136: Second RS232 driver
137: Debug Port
150a: camera case
151: Horizontal polarization filter
152: vertical polarizing filter
153: First camera
154: Second camera
155: Camera synchronous circuit
156: Grabber
157: Front glass fixed suction plate
158: Angle adjustment bracket
159: USB cable
161: Slate Personal Computer (PC)
162: PC adapter (Adapter)
163: USB Hub
164: USB to Serial Converter
165: Car holder
171: Cigar jack for vehicle
172: DC / AC inverter

Claims (11)

A vehicle external sensor mounted outside the traveling vehicle to generate first sensor information including road surface information and humidity information;
An ECU (Electronic Control Unit) mounted inside the vehicle to generate driving environment information including vehicle driving speed information and external temperature information;
A GPS module configured to receive second sensor information which is GPS information according to a current position of the driving vehicle;
An acceleration sensor for generating third sensor information, the acceleration sensor information corresponding to a curved state of a running road;
A sensor information collecting module which collects the first to third sensor information and the driving environment information;
An image acquisition module for photographing a road surface image in front of the vehicle and generating road surface image information by using two cameras equipped with horizontal and vertical polarization filters mounted to the vehicle; And
Receives road surface image information acquired by the image acquisition module, first to third sensor information and driving environment information collected by the sensor information collection module, and applies a road surface determination algorithm, a slip measurement algorithm, and a road failure measurement algorithm. Image processing module to determine the status
Including,
The driving vehicle is a test vehicle (Probe Car) for measuring the unit road state of the road section in a mobile manner,
The image processing module may first determine a road surface state according to road surface image information by applying the road state determination algorithm, and then apply the sliding measurement algorithm to include the road surface temperature information and humidity information. Secondly, the road surface state is determined according to the information, and then the road failure measurement algorithm is applied to calculate the slip ratio of the vehicle according to the driving environment information and the second to third sensor information to finally determine the road surface state. Mobile road surface automatic detection system using polarized image and ECU information. delete The method of claim 1,
The vehicle external sensor measures road surface temperature using a non-contact temperature sensor mounted on the front of the driving vehicle, and measures humidity using a humidity sensor mounted on the rear of the driving vehicle. Mobile road condition automatic detection system utilized. The method of claim 1,
The sensor information collecting module utilizes a polarization image and ECU information to perform vehicle communication with the ECU and receive vehicle driving speed information and external temperature information through an OBD-II terminal of the ECU. One mobile road condition automatic detection system. The method of claim 1,
The sensor information collection module detects the road surface curvature by using the acceleration sensor information (third sensor information), and the acceleration sensor is integrally mounted to the sensor information collection module. Mobile road condition automatic detection system using The method of claim 1,
In the image acquisition module, two cameras equipped with horizontal and vertical polarization filters simultaneously photograph the same road surface photographing location, and the camera case in which the camera is built is attached to the windshield inside the vehicle by a fixed windshield adsorption plate. Mobile road surface automatic detection system using polarized image and ECU information. The method of claim 1,
The image acquisition module is a mobile road surface automatic detection system using polarized images and ECU information, characterized in that the angle of the camera is adjustable using an angle adjustment bracket to adjust the road surface temperature measurement point. The method of claim 1,
The image processing module is configured by applying a PC, the PC is a mobile road surface automatic detection system using polarized images and ECU information, characterized in that the vehicle is fixedly mounted on the vehicle using a vehicle holder. The method of claim 1,
The image processing module applies the sliding measurement algorithm to compare the vehicle driving speed information and the GPS information of the ECU and determine whether the driving vehicle slips, and the mobile road surface state using the polarized image and ECU information. Automatic detection system. The method of claim 1,
The image processing module may include a user interface for displaying or storing collected information, and the user interface may check or change settings of respective operation states of the sensor information collection module, the image acquisition module, and the image processing module. Mobile road surface automatic detection system using polarized image and ECU information, characterized in that there is. The method of claim 1,
The apparatus may further include a power supply device for supplying power to the external sensor, the sensor information collection module, the image acquisition module, and the image processing module, wherein the power supply device uses a cigar jack that is an internal power source of the driving vehicle. Mobile road surface automatic detection system using polarized image and ECU information, characterized in that.

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