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US 2022/0009502 A1Published application
Road surface condition determination device for vehicle, driving assistance system, and road surface condition determination method
AssigneeDenso Corporation
InventorsTakahisa YOKOYAMA, Noriyuki IDO
Life of this patent
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Abstract
A road-surface state determination apparatus for a vehicle is provided. The road-surface state determination apparatus includes an acquiring unit and a control unit. The acquiring unit acquires, as a first detection signal, information on a changed pixel of which a luminance value changes based on an absolute displacement of a road-surface state or a relative displacement of the road-surface state relative to a moving vehicle. The control unit determines a type of the road-surface state using the first detection signal.
Claims14
A road-surface state determination apparatus for a vehicle, comprising:
- an acquiring unit that acquires, as a first detection signal, information on a changed pixel of which a luminance value changes based on an absolute displacement of a road-surface state or a relative displacement of the road-surface state relative to a moving vehicle;
- and
- a control unit that determines a type of the road-surface state using the first detection signal, wherein:
- the control unit determines, using the first detection signal, that the type is a protruding road surface when a position of the changed pixel relative to a target moves away from an own vehicle as the own vehicle moves, and determines that the type is a recessing road surface when the position of the changed pixel relative to the target moves closer to the own vehicle as the own vehicle moves.
1 more element
A road-surface state determination apparatus for a vehicle, comprising:
- an acquiring unit that acquires, as a first detection signal, information on a changed pixel of which a luminance value changes based on an absolute displacement of a road-surface state or a relative displacement of the road-surface state relative to a moving vehicle;
- and
- a control unit that determines a type of the road-surface state using the first detection signal, wherein:
- the control unit performs, using the first detection signal, a frequency analysis on displacement characteristics of the changed pixel in a horizontal direction of the road surface, and determines that the type is a wet road that has flow when an amplitude at a first frequency or lower is greater than a first amplitude.
1 more element
A road-surface state determination apparatus for a vehicle, comprising:
- an acquiring unit that acquires, as a first detection signal, information on a changed pixel of which a luminance value changes based on an absolute displacement of a road-surface state or a relative displacement of the road-surface state relative to a moving vehicle;
- and
- a control unit that determines a type of the road-surface state using the first detection signal, wherein:
- the control unit performs, using the first detection signal, a frequency analysis on displacement characteristics of the changed pixel in a vertical direction of the road surface, and determines that the type is a wet road that is flooded when an amplitude at a second frequency or lower is greater than a third amplitude.
1 more element
A driving assistance system of a vehicle comprising:
- a road-surface state determination apparatus comprising:
- an acquiring unit that acquires, as a first detection signal, information on a changed pixel of which a luminance value changes based on an absolute displacement of a road-surface state or a relative displacement of the road-surface state relative to a moving vehicle;
- and
- a control unit that determines a type of the road-surface state using the first detection signal, wherein
- the control unit determines, using the first detection signal, that the type is a protruding road surface when a position of the changed pixel relative to a target moves away from an own vehicle as the own vehicle moves, and determines that the type is a recessing road surface when the position of the changed pixel relative to the target moves closer to the own vehicle as the own vehicle moves;
- a first detector that outputs the first detection signal;
- and
- a driving assistance execution apparatus that performs driving assistance based on a road-surface state determined by the road-surface state determination apparatus.
5 more elements
A road-surface state determination method comprising:
- acquiring, as a first detection signal, information on a changed pixel of which a luminance value changes based on an absolute displacement of a road-surface state or a relative displacement of the road-surface state relative to a vehicle;
- and
- determining, using the first detection signal, that the type is a protruding road surface when a position of the changed pixel relative to a target moves away from an own vehicle as the own vehicle moves, and determines that the type is a recessing road surface when the position of the changed pixel relative to the target moves closer to the own vehicle as the own vehicle moves.
A road-surface state determination method comprising:
- acquiring, as a first detection signal, information on a changed pixel of which a luminance value changes based on an absolute displacement of a road-surface state or a relative displacement of the road-surface state relative to a vehicle;
- and
- performing, using the first detection signal, a frequency analysis on displacement characteristics of the changed pixel in a horizontal direction of the road surface, and determining that the type is a wet road that has flow when an amplitude at a first frequency or lower is greater than a first amplitude.
A road-surface state determination method comprising:
- acquiring, as a first detection signal, information on a changed pixel of which a luminance value changes based on an absolute displacement of a road-surface state or a relative displacement of the road-surface state relative to a vehicle;
- and
- performing, using the first detection signal, a frequency analysis on displacement characteristics of the changed pixel in a vertical direction of the road surface, and determining that the type is a wet road that is flooded when an amplitude at a second frequency or lower is greater than a third amplitude.
Dependencies are inferred from the claim text.