WO2014024763A1 - 路面状態検出装置及び路面状態検出方法 - Google Patents
路面状態検出装置及び路面状態検出方法 Download PDFInfo
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- WO2014024763A1 WO2014024763A1 PCT/JP2013/070847 JP2013070847W WO2014024763A1 WO 2014024763 A1 WO2014024763 A1 WO 2014024763A1 JP 2013070847 W JP2013070847 W JP 2013070847W WO 2014024763 A1 WO2014024763 A1 WO 2014024763A1
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- road surface
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- 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
- G01S7/411—Identification of targets based on measurements of radar reflectivity
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- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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- 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
- G01S7/024—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using polarisation effects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01W—METEOROLOGY
- G01W1/00—Meteorology
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01W—METEOROLOGY
- G01W1/00—Meteorology
- G01W1/14—Rainfall or precipitation gauges
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
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- 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
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- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
Definitions
- the present invention relates to a road surface state detection device and a road surface state detection method for detecting a road surface state.
- Patent Document 1 since the apparatus described in Patent Document 1 detects the road surface state based on the radiation temperature of the sky, the reference is not stable when the sky is not constant, and is difficult to apply to vehicles and the like. .
- An object of the present invention is to provide a road surface state detection device and a road surface state detection method capable of detecting a road surface state with high accuracy regardless of the weather.
- the road surface state detection apparatus includes a radio wave reception unit, an image generation unit, a polarization ratio calculation unit, a refractive index calculation unit, and a road surface state identification unit.
- the radio wave receiving unit receives horizontal polarization and vertical polarization of radio waves radiated from the target with an emission angle.
- the image generation unit generates a horizontal polarization image and a vertical polarization image, respectively, based on the horizontal polarization and the vertical polarization received by the radio wave reception unit.
- the polarization ratio calculation unit calculates the polarization ratio, which is the ratio of the intensity of horizontal polarization and vertical polarization for each radiation angle, based on the horizontal polarization image and vertical polarization image generated by the image generation unit.
- the refractive index calculation unit calculates a target refractive index based on changes in the polarization ratio for two different radiation angles calculated by the polarization ratio calculation unit.
- the road surface state identifying unit identifies the road surface state based on the refractive index calculated by the refractive index calculating unit.
- the road surface state detection method receives horizontal polarization and vertical polarization of radio waves radiated from an object with a radiation angle, and receives received horizontal polarization and vertical polarization. Based on the polarization, a horizontal polarization image and a vertical polarization image are generated, respectively. Based on the generated horizontal polarization image and vertical polarization image, the horizontal polarization and the vertical polarization are generated for each radiation angle. Calculating the polarization ratio, which is the ratio of the intensity to the wave, calculating the refractive index of the target based on the calculated change in the polarization ratio for two different radiation angles, and calculating Identifying a road surface condition based on the refractive index.
- FIG. 1 is a schematic block diagram illustrating a basic configuration of a road surface state detection device according to an embodiment of the present invention.
- FIG. 2 is a schematic diagram for explaining the operation of the polarization ratio calculation unit provided in the road surface state detection device according to the embodiment of the present invention.
- FIG. 3 is a diagram illustrating the polarization ratio used for the road surface state detection device according to the embodiment of the present invention for each road surface state.
- FIG. 4 is an example of refractive index information used in the road surface state detection device according to the embodiment of the present invention.
- FIG. 5 is a schematic diagram illustrating a road surface state identification unit included in the road surface state detection device according to the embodiment of the present invention.
- FIG. 6 is a flowchart illustrating a road surface state detection method according to the embodiment of the present invention.
- the road surface state detection device includes a radio wave receiver 1, an image generator 2, a polarization ratio calculator 3, a distance detector 4, and a polarization ratio.
- a storage unit 5, a refractive index calculation unit 6, a refractive index storage unit 7, and a road surface state identification unit 8 are provided.
- a road surface state detection device is mounted on a vehicle and detects a road surface state in front of the vehicle.
- the radio wave receiving unit 1 is, for example, a road surface in front of a vehicle. Polarization and vertical polarization are received respectively.
- the radio wave receiver 1 includes, for example, an array antenna in which a plurality of antennas are arranged in an array.
- the radio wave receiver 1 has, for example, an angle of view of about 15 ° in the vertical direction and about 30 ° in the horizontal direction.
- “radio waves” refers to electromagnetic waves having a frequency of about 30 GHz to 10 THz.
- the image generation unit 2 generates a horizontal polarization image and a vertical polarization image, respectively, based on the horizontal polarization and the vertical polarization of the radio wave received by the radio wave reception unit 1.
- the horizontal polarization image is a two-dimensional image based on the horizontal polarization component of the radio wave received by the radio wave receiver 1
- the vertical polarization image is a two-dimensional image based on the vertical polarization component of the radio wave received by the radio wave receiver 1. is there.
- the polarization ratio calculation unit 3 is based on the horizontal polarization image and the vertical polarization image generated by the image generation unit 2 and the intensity of the horizontal polarization component and the vertical polarization component of the radio wave received by the radio wave reception unit 1.
- a polarization ratio P H / P V which is a ratio of (reception power) is calculated.
- the distance detection unit 4 detects the moving distance d of the vehicle C on which the road surface state detection device according to the embodiment of the present invention is mounted.
- the polarization ratio calculation unit 3 is as shown in FIG. From the moving distance d detected by the distance detector 4, the radiation angle ⁇ of the radio wave emitted by the object is calculated. In the example shown in FIG. 2, if the radiation angle of a radio wave from a certain target is ⁇ 0 in the initial state of the vehicle C, the radiation angle when the vehicle C moves a distance ⁇ d is ⁇ 1 .
- the polarization ratio calculator 3 calculates the polarization ratio P H / P V for each radiation angle ⁇ .
- the polarization ratio storage unit 5 stores the polarization ratio P H / P V calculated by the polarization ratio calculation unit 3 for each radiation angle ⁇ .
- the refractive index calculator 6 calculates the target predicted refractive index n based on the polarization ratio P H / P V for each radiation angle ⁇ calculated by the polarization ratio calculator 3.
- the refractive index calculation unit 6 firstly calculates a ratio ⁇ ( ⁇ 0 , ⁇ 1 ) as a change in the polarization ratio P H / P V for the two radiation angles ⁇ 0 , ⁇ 1 as shown in the equation ( 1 ). Is calculated.
- the refractive index calculation unit 6 calculates the target predicted refractive index n from the calculated ratio ⁇ ( ⁇ 0 , ⁇ 1 ) using Fresnel's expression.
- the polarization ratio calculation unit 3 calculates the polarization ratio P H / P V between the horizontal polarization component and the vertical polarization component for each movement distance d when the target is a dry road surface. (The data on the dry road surface is indicated by the white diamond “ ⁇ ”). Similarly, the polarization ratio calculation unit 3 calculates the polarization ratio P H / P V between the horizontal polarization component and the vertical polarization component for each movement distance d when the target is a frozen road surface (black painting). The frozen road surface data is indicated by the square “ ⁇ ” in FIG.
- the refractive index storage unit 7 stores refractive index information in which a road surface type and a refractive index are associated with each other.
- the refractive index storage unit 7 stores the refractive index as 1.2 when the road surface state is “snow”, and the refractive index as 2 when the road surface state is “dry”.
- a range of values may be stored as the refractive index.
- “frozen”, “wet” or the like is set as the road surface state.
- the road surface state identification unit 8 refers to the refractive index information stored in the refractive index storage unit 7 and identifies the road surface state based on the target refractive index calculated by the refractive index calculation unit 6.
- the refractive index calculation unit 6 determines the ratio of the polarization ratios P H / P V for the two radiation angles ⁇ 0 and ⁇ 1 when the vehicle C moves the distance ⁇ d on the dry road surface. from gamma a, and was calculated refractive index n 2 and.
- the road surface state identification unit 8 searches the refractive index closest to the calculated refractive index from the refractive index information in the refractive index storage unit 7, and determines the road surface state corresponding to the searched refractive index as the road surface that is running. Identifies as a state. Therefore, the road surface state identification unit 8 identifies the state of the road surface on which the vehicle C travels as “dry”.
- the refractive index calculation unit 6 calculates the refractive index from the ratio ⁇ b of the polarization ratio P H / P V for the two radiation angles ⁇ 0 and ⁇ 1 when the vehicle C moves the distance ⁇ d on the frozen road surface. n is calculated as 3.
- the road surface state identification unit 8 searches the refractive index information of the refractive index storage unit 7 for the refractive index “2.5” that is closest to the calculated refractive index, and “freezing” that is the road surface state corresponding to the searched refractive index. "Is identified as the state of the running road surface.
- the road surface state identification unit 8 may acquire the ambient temperature from the temperature detection unit 81 that detects the ambient temperature, and exclude the identified road surface state according to the ambient temperature when identifying the road surface state. For example, when the road surface temperature is 3 ° C. or lower, the possibility that the road surface freezes or snow is low. From this, the road surface state identifying unit 8 sets the road surface state by excluding “freezing” and “snow cover” from the road surface state that the refractive index information has when the threshold is 5 ° C. and the ambient temperature is 5 ° C. or higher, for example. Can be identified.
- the road surface state identification unit 8 includes a road surface area detection unit that detects a road surface area corresponding to the road surface in the image generated by the image generation unit 2.
- the road surface area detection unit detects the road surface area based on, for example, the polarization ratio between the horizontal polarization and the vertical polarization received by the radio wave reception unit 1.
- the received power of radio waves radiated from a flat object such as a road surface has a feature that changes are within a certain range. Therefore, for example, the road surface area detection unit extracts and extracts an area in the image generated by the image generation unit 2 where the change in received power of the radio wave received by the radio wave reception unit 1 is within a predetermined value (for example, 5%). You may make it detect the performed area
- the road surface state identification unit 8 sets two regions that do not overlap in the detected road surface region for each of the two refractive indexes ⁇ 0 and ⁇ 1 for calculating the polarization ratio P H / P V , and sets the two The refractive index may be obtained from the intensity of the region.
- the road surface state identifying unit 8 acquires the horizontal polarization intensity P H ( ⁇ w1 ) for one of the set two regions, and the other acquires the vertical polarization P V ( ⁇ w0 ), and P H ( ⁇ w1). ), P V ( ⁇ w0 ), the ratio ⁇ ( ⁇ w1 , ⁇ w0 ) is calculated, and the refractive index n is calculated from the calculated ⁇ ( ⁇ w1 , ⁇ w0 ).
- the road surface state identification unit 8 may output a control signal instructing the vehicle control unit 91 that controls the operation of the vehicle C to control the operation according to the identified road surface state. For example, as shown in FIG. 5, the road surface state identification unit 8 sets boundaries where the refractive index n changes as n 1 , n 2 , n 3 in the image generated by the image generation unit 2 and corresponds to the set boundaries. The operation of the vehicle C is controlled via the vehicle control unit 91 according to the distance to the actual position. Boundary in accordance with the refractive index n, the radiation angle theta 0, the polarization ratio P H / P V per theta 1 spatially analyze each, based on the region where the inflection point matches may be set .
- the vehicle control unit 91 includes, for example, a drive unit that drives the vehicle, a braking unit that decelerates and stops the vehicle, a steering unit that changes the traveling direction of the vehicle, and the like.
- the road surface state identification unit 8 sets a boundary according to the refractive index n in the image generated by the image generation unit 2, and according to the distance to the actual position corresponding to the set boundary, sounds, characters, images Etc. may be presented to the occupant via the output unit 92.
- the output unit 92 includes a speaker, a display device, and the like. Further, the road surface state identification unit 8 may change the output of the output unit 92 step by step according to the distance to the actual position corresponding to the set boundary.
- a road surface state detection device (Road condition detection method) An example of the road surface state detection method in the road surface state detection device according to the embodiment of the present invention will be described using the flowchart of FIG. In the following description, a road surface state detection device according to an embodiment of the present invention will be described as a road surface state detection device that is mounted on a vehicle and detects a road surface state in the traveling direction of the vehicle.
- step S1 the radio wave receiving unit 1 receives the horizontal polarization and the vertical polarization of radio waves radiated from the target, respectively, in front of the vehicle.
- the image generation unit 2 generates a horizontal polarization image and a vertical polarization image, respectively, from the horizontal polarization and vertical polarization received by the radio wave reception unit 1.
- step S ⁇ b> 2 the polarization ratio calculation unit 3 generates a radio wave radiated from the object based on the horizontal polarization image and the vertical polarization image generated by the image generation unit 2 and the moving distance d of the vehicle detected by the distance detection unit 4.
- the radiation angle ⁇ is calculated.
- step S ⁇ b> 3 the polarization ratio calculation unit 3 determines the horizontal polarization component and the vertical polarization of the radio wave received by the radio wave reception unit 1 based on the horizontal polarization image and the vertical polarization image generated by the image generation unit 2.
- the polarization ratio P H / P V that is the ratio of the intensity to the component (received power) is calculated.
- step S4 the polarization ratio storage unit 5 stores the polarization ratio P H / P V calculated by the polarization ratio calculation unit 3 for each radiation angle ⁇ .
- step S5 the refractive index calculation unit 6 calculates the ratio ⁇ ( ⁇ 0 , ⁇ 1 ) of the polarization ratio P H / P V for the two radiation angles ⁇ 0 and ⁇ 1 .
- step S6 the refractive index calculation unit 6 calculates the target refractive index n from the calculated ratio ⁇ ( ⁇ 0 , ⁇ 1 ) based on the Fresnel equation.
- the refractive index calculation unit 6 may calculate the refractive index n at a predetermined timing after the polarization ratio calculation unit 3 calculates the polarization ratio P H / P V.
- the road surface state identification unit 8 refers to the refractive index information stored in the refractive index storage unit 7, and identifies the road surface state according to the target refractive index n calculated by the refractive index calculation unit 6.
- the polarization ratio between the horizontal polarization and the vertical polarization of the radio wave radiated from the target is calculated, and the polarization ratio of two different radiation angles is calculated.
- the refractive index is calculated at a predetermined timing after the polarization ratio is calculated, thereby statistically using a plurality of pieces of information in time series.
- the calculation accuracy of the refractive index can be improved.
- the refractive index storage unit 7 stores the refractive index information including the road surface state type, and excludes the predetermined type according to the ambient temperature. By identifying the road surface state, erroneous determination can be reduced and the road surface state can be detected with high accuracy.
- the road surface state identification unit 8 identifies the road surface state for the detected road surface region, thereby reducing misjudgment and highly accurate road surface state. Can be detected.
- the road surface state identification unit 8 calculates the distance to the actual position corresponding to the boundary according to the refractive index, so that the vehicle Control and presentation to passengers.
- the road surface state detection device disposes two radiations by disposing the two radio wave receiving units 1 that detect the horizontal polarization and the vertical polarization, shifted in the vertical direction. it may calculate the polarization ratio P H / P V on the corner.
- the radio wave receiver 1 is installed, for example, at a height of about 30 to 50 cm on the lower side and a height of about 30 to 50 cm between the lower side and the upper side.
- the refractive index can be calculated for the symmetry of the shape other than the road surface.
- the polarization ratio calculation unit 3 may detect the inclination of the traveling road surface and correct the radiation angle ⁇ according to the detected inclination of the road surface.
- the slope of the road surface may be acquired from, for example, a GPS receiver and map data, a gyro sensor, an acceleration sensor, or the like.
- the present invention it is possible to provide a road surface state detection device and a road surface state detection method capable of detecting a road surface state with high accuracy regardless of the weather.
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Abstract
Description
本発明の実施の形態に係る路面状態検出装置は、図1に示すように、電波受信部1と、画像生成部2と、偏波比算出部3と、距離検出部4と、偏波比記憶部5と、屈折率算出部6と、屈折率記憶部7と、路面状態識別部8とを備える。本発明の実施の形態に係る路面状態検出装置は、車両に搭載され、車両の前方の路面状態を検出する。
車両制御部91は、例えば、車両を駆動する駆動部、車両を減速、停止させる制動部、車両の進行方向を変更する操舵部等からなる。
図6のフローチャートを用いて、本発明の実施の形態に係る路面状態検出装置における路面状態検出方法の一例を説明する。以下の説明において、本発明の実施の形態に係る路面状態検出装置は、車両に搭載され、車両の進行方向の路面状態を検出する路面状態検出装置として説明する。
ステップS4において、偏波比記憶部5は、偏波比算出部3が算出した偏波比PH/PVを、放射角θ毎に記憶する。
上記のように、本発明を実施の形態によって記載したが、この開示の一部をなす論述及び図面は本発明を限定するものであると理解すべきではない。この開示から当業者には様々な代替実施の形態、実施例及び運用技術が明らかとなろう。
2 画像生成部
3 偏波比算出部
6 屈折率算出部
7 屈折率記憶部
8 路面状態識別部
Claims (9)
- 対象から放射角を有して放射される電波の水平偏波、垂直偏波をそれぞれ受信する電波受信部と、
前記電波受信部が受信する水平偏波、垂直偏波に基づいて、それぞれ、水平偏波画像、垂直偏波画像を生成する画像生成部と、
前記画像生成部が生成する水平偏波画像、垂直偏波画像に基づいて、放射角毎に、水平偏波と垂直偏波との強度の比である偏波比を算出する偏波比算出部と、
前記偏波比算出部が算出する、2つの異なる放射角についての偏波比の変化に基づいて、対象の屈折率を算出する屈折率算出部と、
前記屈折率算出部が算出する屈折率に基づいて、路面の状態を識別する路面状態識別部と
を備えることを特徴とする路面状態検出装置。 - 車両に搭載される路面状態検出装置であって、
前記偏波比算出部は、前記2つの異なる放射角の偏波比を移動距離に基づく変化より算出することを特徴とする請求項1に記載の路面状態検出装置。 - 上下方向にずらして配置された2つの前記電波受信部を備え、
前記偏波比算出部は、前記2つの電波受信部の高低差から、前記2つの異なる放射角の偏波比を算出することを特徴とする請求項1に記載の路面状態検出装置。 - 前記屈折率算出部は、前記偏波比算出部が偏波比を算出してから所定のタイミングで屈折率を算出することを特徴とする請求項1又は2に記載の路面状態検出装置。
- 路面状態の種別と屈折率とが関連付けられた屈折率情報を記憶する屈折率記憶部を更に備え、
前記路面状態識別部は、前記屈折率記憶部が記憶する屈折率情報を参照して、前記屈折率算出部が算出した屈折率に基づいて、路面状態を識別することを特徴とする請求項1~4のいずれか1項に記載の路面状態検出装置。 - 前記路面状態識別部は、周囲温度に応じて、前記屈折率情報のうち、所定の路面状態の種別を除外して路面状態を識別することを特徴とする請求項5に記載の路面状態検出装置。
- 前記路面状態識別部は、前記画像生成部が生成した画像において、路面に相当する路面領域を検出し、検出した前記路面領域について、路面状態を識別することを特徴とする請求項1~6のいずれか1項に記載の路面状態検出装置。
- 前記路面状態識別部は、前記画像生成部が生成した画像において、前記屈折率算出部が算出した屈折率に応じた境界を設定し、前記境界に対応する実際の位置までの距離を算出することを特徴とする請求項1~7のいずれか1項に記載の路面状態検出装置。
- 対象から放射角を有して放射される電波の水平偏波、垂直偏波をそれぞれ受信することと、
受信された水平偏波、垂直偏波に基づいて、それぞれ、水平偏波画像、垂直偏波画像を生成することと、
生成された水平偏波画像、垂直偏波画像に基づいて、放射角毎に、水平偏波と垂直偏波との強度の比である偏波比を算出することと、
算出された、2つの異なる放射角についての偏波比の変化に基づいて、対象の屈折率を算出することと、
算出された屈折率に基づいて、路面の状態を識別することと
を含むことを特徴とする路面状態検出方法。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
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US14/419,758 US9341708B2 (en) | 2012-08-08 | 2013-08-01 | Road surface condition detection device and road surface condition detection method |
CN201380041971.4A CN104520735B (zh) | 2012-08-08 | 2013-08-01 | 路面状态检测装置以及路面状态检测方法 |
EP13828642.2A EP2884311B1 (en) | 2012-08-08 | 2013-08-01 | Road surface state detection device and road surface state detection method |
JP2014529457A JP5907271B2 (ja) | 2012-08-08 | 2013-08-01 | 路面状態検出装置及び路面状態検出方法 |
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JP2012175865 | 2012-08-08 | ||
JP2012-175865 | 2012-08-08 |
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WO2015194042A1 (ja) * | 2014-06-20 | 2015-12-23 | 日産自動車株式会社 | 電波画像生成装置及び電波画像生成方法 |
JP2016004019A (ja) * | 2014-06-19 | 2016-01-12 | 日産自動車株式会社 | 物体検出装置及び物体検出方法 |
JP2017036986A (ja) * | 2015-08-10 | 2017-02-16 | 日産自動車株式会社 | 路面検出装置の制御方法および路面検出装置 |
JP2018084535A (ja) * | 2016-11-25 | 2018-05-31 | 日産自動車株式会社 | 路面判断方法および路面判断装置 |
JP2018205186A (ja) * | 2017-06-06 | 2018-12-27 | 株式会社豊田中央研究所 | 路面状態判定装置及び路面状態判定プログラム |
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US10360459B2 (en) * | 2016-04-06 | 2019-07-23 | Panasonic Intellectual Property Management Co., Ltd. | Detection device, detection method, and non-transitory computer-readable recording medium storing detection program |
US10872419B2 (en) * | 2018-09-04 | 2020-12-22 | GM Global Technology Operations LLC | Method and apparatus for evaluating a vehicle travel surface |
US11402489B2 (en) * | 2019-12-17 | 2022-08-02 | Hewlett Packard Enterprise Development Lp | Passive multi-person location tracking utilizing signal polarization |
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JP2016004019A (ja) * | 2014-06-19 | 2016-01-12 | 日産自動車株式会社 | 物体検出装置及び物体検出方法 |
WO2015194042A1 (ja) * | 2014-06-20 | 2015-12-23 | 日産自動車株式会社 | 電波画像生成装置及び電波画像生成方法 |
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JP2017036986A (ja) * | 2015-08-10 | 2017-02-16 | 日産自動車株式会社 | 路面検出装置の制御方法および路面検出装置 |
JP2018084535A (ja) * | 2016-11-25 | 2018-05-31 | 日産自動車株式会社 | 路面判断方法および路面判断装置 |
JP2018205186A (ja) * | 2017-06-06 | 2018-12-27 | 株式会社豊田中央研究所 | 路面状態判定装置及び路面状態判定プログラム |
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Also Published As
Publication number | Publication date |
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EP2884311B1 (en) | 2017-07-19 |
US9341708B2 (en) | 2016-05-17 |
EP2884311A4 (en) | 2015-10-07 |
CN104520735B (zh) | 2016-03-02 |
EP2884311A1 (en) | 2015-06-17 |
US20150212199A1 (en) | 2015-07-30 |
CN104520735A (zh) | 2015-04-15 |
JP5907271B2 (ja) | 2016-04-26 |
JPWO2014024763A1 (ja) | 2016-07-25 |
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