The invention relates to a road surface type estimation method, a road surface type estimation device, and a vehicle control system, which can give an appropriate determination result even if a determination result of the type of a traveling road surface cannot be obtained based on an image captured by a front camera. A process for estimating the type of the road surface is repeated. In the mth process, the retention period of the estimation result of the process is set on the basis of the gradient data immediately prior to the process. The retention period is set to a longer period as the uphill gradient of the road surface indicated by the immediately preceding gradient data increases. In the (m + n) th processing, it is determined whether or not the road surface feature is recognized from the imaging data. When the determination result is negative, the hold period is compared with a UNDEF period, which is a period in which the road surface feature is continuously determined not to be recognized in the past backtracking from the (m + n) th processing. When the holding period is longer than the UNDEF period, the estimation result of the (m + n)-th process is estimated to be the same as the estimation result of the m-th process.

    本发明涉及路面种类推断方法、路面种类推断装置及车辆控制系统,在无法基于前照相机的拍摄图像获得行驶路面的种类的判定结果的情况下也能给出适当的判定结果。反复进行推断路面的种类的处理。在第m次的处理中基于该处理的紧前的坡度数据设定该处理的推断结果的保持期间。由紧前的坡度数据表示的路面的上坡坡度越大则保持期间被设定为越长的期间。在第m+n次的处理中,判定是否根据拍摄数据识别到路面特征部。当该判定结果为否定时,比较保持期间与在从第m+n次的处理回溯了的过去持续判定为未识别到路面特征部的期间即UNDEF期间。当保持期间长于UNDEF期间时推断为第m+n次的处理的推断结果与第m次的处理的推断结果相同。


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    Title :

    Road surface type estimation method, road surface type estimation device, and vehicle control system


    Additional title:

    路面种类推断方法、路面种类推断装置及车辆控制系统


    Contributors:

    Publication date :

    2022-05-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion




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