# US 10,501,088 B2 · Road surface state determination apparatus, imaging apparatus, imaging system, and road surface state determination method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,501,088 B2 - Document ID: US10501088B2 - Status: Granted - Kind: B2 - Application number: 15/769,573 - Filed: 2016-08-29 - Published: 2018-10-25 - Granted: 2019-12-10 - Earliest claimed: 2015-10-22 - Assignees: KYOCERA Corporation - Applicants: KYOCERA Corporation - Inventors: Atsushi Yoshikawa; Takatoshi Nakata; Tomohiro Mitsugi - Web page: https://patentgrep.com/patent/US10501088B2 ## CPC - G01N 21/55: Specular reflectivity - B60W 40/06: Road conditions - B60W 40/068: Road friction coefficient - G01N 21/17: Systems in which incident light is modified in accordance with the properties of the material investigated (where the material investigated is optically excited causing a change in wavelength of the incident light G01N21/63) - G06V 10/143: Sensing or illuminating at different wavelengths - G06V 10/42: Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation - G06V 10/421: {by analysing segments intersecting the pattern} - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - B60W 2420/403: Image sensing, e.g. optical camera - G01N 2021/1765: {Method using an image detector and processing of image signal} - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - G01N: INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES (measuring or testing apparatus or processes other than immunoassay, involving enzymes or microorganisms C12M, C12Q) - 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 - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A road surface state determination apparatus of the present disclosure includes an acquisition interface configured to acquire an image representing a road surface imaged by a camera, and a controller configured to determine whether the road surface is wet or dry on the basis of a spatial change in luminance of pixels in a continuous region included in the image. ## Claims ### Claim 1 A road surface state determination apparatus comprising: an acquisition interface configured to acquire an image representing a road surface imaged by a camera; and a controller configured to determine whether the road surface is wet or dry on the basis of a spatial change in luminance of pixels in a continuous region included in the image, wherein the controller is configured to calculate a parameter corresponding to a spatial frequency of the luminance and to determine a wet region of the road surface on the basis of the calculated parameter, and wherein the controller is configured to extract a frequency continuous portion in which the parameter corresponding to the spatial frequency of the continuous region of the image is continuous across at least a predetermined length, and when a plurality of frequency continuous portions is extracted, to determine that the road surface is wet at the frequency continuous portion, among the extracted plurality of frequency continuous portions, in which the parameter corresponds to a lower spatial frequency. ### Claim 2 (depends on 1) The road surface state determination apparatus of claim 1, wherein the controller is configured to detect a non-vibration component that indicates variation in overall luminance height excluding a luminance vibration component caused by a shape of the road surface and to determine whether at least a portion of the road surface is wet on the basis of a change in the non-vibration component. ### Claim 3 (depends on 2) The road surface state determination apparatus of claim 2, wherein the controller is configured to extract, from among pixels included in the continuous region of the image, a luminance continuous portion in which the non-vibration component is continuous across at least a predetermined length, and when a plurality of the luminance continuous portions is extracted, to determine whether at least a portion of the road surface is wet by comparing the non-vibration components corresponding to the extracted plurality of the luminance continuous portions. ### Claim 4 (depends on 1) The road surface state determination apparatus of claim 1, wherein the controller is configured to perform a process to detect a lane marking on the road surface from a change in luminance of the pixels in the continuous region included in the image, to determine that the road surface is dry when detection of the lane marking is successful, and to determine that the road surface is wet when detection of the lane marking is unsuccessful. ### Claim 5 (depends on 1) The road surface state determination apparatus of claim 1, wherein the acquisition interface is configured to acquire, from a temperature detector configured to measure a temperature of a road surface, a signal related to the temperature of the road surface, and the controller is configured to determine whether the road surface is frozen on the basis of the signal related to the temperature of the road surface. ### Claim 6 (depends on 5) The road surface state determination apparatus of claim 5, wherein the temperature detector is a far infrared camera configured to image the road surface, and the controller is configured to determine whether a predetermined region on the road surface is frozen on the basis of a far infrared image captured by the far infrared camera. ### Claim 7 An imaging apparatus comprising: a camera; and a road surface state determination apparatus comprising an acquisition interface configured to acquire an image representing a road surface imaged by the camera, and a controller configured to determine whether the road surface is wet or dry on the basis of a spatial change in luminance of pixels in a continuous region included in the image, wherein the controller is configured to calculate a parameter corresponding to a spatial frequency of the luminance and to determine a wet region of the road surface on the basis of the calculated parameter, and wherein the controller is configured to extract a frequency continuous portion in which the parameter corresponding to the spatial frequency of the continuous region of the image is continuous across at least a predetermined length, and when a plurality of frequency continuous portions is extracted, to determine that the road surface is wet at the frequency continuous portion, among the extracted plurality of frequency continuous portions, in which the parameter corresponds to a lower spatial frequency. ### Claim 8 An imaging system comprising: a temperature detector configured to measure a temperature of a road surface; and an imaging apparatus comprising a camera and a road surface state determination apparatus, the road surface state determination apparatus comprising an acquisition interface configured to acquire an image representing a road surface imaged by the camera and a signal related to the temperature of the road surface and a controller configured to determine whether the road surface is wet or dry on the basis of a luminance of pixels included in the image and to determine whether the road surface is frozen on the basis of the signal related to the temperature of the road surface, wherein the controller is configured to calculate a parameter corresponding to a spatial frequency of the luminance and to determine a wet region of the road surface on the basis of the calculated parameter, and wherein the controller is configured to extract a frequency continuous portion in which the parameter corresponding to the spatial frequency of the continuous region of the image is continuous across at least a predetermined length, and when a plurality of frequency continuous portions is extracted, to determine that the road surface is wet at the frequency continuous portion, among the extracted plurality of frequency continuous portions, in which the parameter corresponds to a lower spatial frequency. ### Claim 9 A road surface state determination method comprising: acquiring, using an acquisition interface, an image representing a road surface imaged by a camera, and determining, using a controller, whether the road surface is wet or dry on the basis of a spatial change in luminance of pixels in a continuous region included in the image, by at least calculating a parameter corresponding to a spatial frequency of the luminance and determining a wet region of the road surface on the basis of the calculated parameter, and extracting a frequency continuous portion in which the parameter corresponding to the spatial frequency of the continuous region of the image is continuous across at least a predetermined length, and when a plurality of frequency continuous portions is extracted, determining that the road surface is wet at the frequency continuous portion, among the extracted plurality of frequency continuous portions, in which the parameter corresponds to a lower spatial frequency.