Road surface recognition apparatus, vehicle having the same, and method of controlling vehicle

A vehicle comprising:

• a sound detecting sensor;
• a driving information detecting sensor;
• and
• a controller electrically connected to the sound detecting sensor and the driving information detecting sensor and configured to:
• obtain sound data for a sound detected by the sound detecting sensor,
• obtain driving data for driving information detected by the driving information detecting sensor,
• recognize a type of road surface according to the obtained sound data and the obtained driving data, and
• control a driving force of a vehicle according to information related to the recognized type of the road surface,
• wherein the controller is configured to:
• transform the obtained sound data into sound data in a frequency domain;
• obtain a first feature vector using longitudinal acceleration data and driving speed data among the driving data, and the sound data in the frequency domain;
• classify a first type of the road surface in a first order using the first feature vector and a first classifier model;
• obtain a second feature vector according to a plurality of wheel speed data, the longitudinal acceleration data, steering angle data, lateral acceleration data, and yaw rate data among the driving data;
• classify a second type of the road surface in a second order using the second feature vector and a second classifier model;
• and
• determine the type of the road surface by selecting at least one of the first type of the road surface and the second type of the road surface based on the longitudinal acceleration data and reference longitudinal acceleration data.

A method of controlling a vehicle, the method comprising:

• obtaining, by a controller, sound data for a sound detected by a sound detecting sensor while driving;
• obtaining, by the controller, driving data of the vehicle for driving information detected by a driving information detecting sensor;
• recognizing, by the controller, a type of road surface according to the obtained sound data and the obtained driving data;
• and
• controlling, by the controller, a traction control system according to information related to the recognized type of the road surface,
• wherein the controller is further configured to:
• transform the obtained sound data into sound data in a frequency domain;
• obtain a first feature vector using longitudinal acceleration data and driving speed data among the driving data, and the sound data in the frequency domain;
• classify a first type of the road surface in a first order using the first feature vector and a first classifier model;
• obtain a second feature vector according to a plurality of wheel speed data, the longitudinal acceleration data, steering angle data, lateral acceleration data, and yaw rate data among the driving data;
• classify a second type of the road surface in a second order using the second feature vector and a second classifier model;
• and
• determine the type of the road surface by selecting at least one of the first type of the road surface and the second type of the road surface based on the longitudinal acceleration data and reference longitudinal acceleration data.