To estimate the road surface state and friction coefficient of a road surface with good accuracy.SOLUTION: A road surface state estimating device 1 comprises: a polarization camera 10 for imaging a road surface in the traveling direction of a moving vehicle and thereby generating a polarized image of the road surface; a calculation unit 20 for processing the polarized image of the road surface and thereby calculating a road surface parameter that represents the polarization state of the road surface; a natural light estimation unit 30 for estimating the polarization state of natural light with which the road surface is irradiated; a determination unit 40 for determining, on the basis of the polarization state estimated by the natural light estimation unit 30, the classification parameter used to classify the road surface state of the road surface into one of a plurality of categories corresponding to a moisture state; a classification unit 50 for classifying the road surface state of the road surface into one of the plurality of categories on the basis of the road surface parameter and the classification parameter; and a friction coefficient estimation unit 60 for estimating the friction coefficient of the road surface on the basis of the classified category.SELECTED DRAWING: Figure 2

    【課題】路面の路面状態と摩擦係数とを精度良く推定する。【解決手段】路面状態推定装置1は、移動体の進行方向の路面を撮影することで、路面の偏光画像を生成する偏光カメラ10と、路面の偏光画像を処理することで、路面の偏光状態を表す路面パラメータを算出する算出部20と、路面に照射される自然光の偏光状態を推定する自然光推定部30と、水分状態に応じた複数のカテゴリのいずれかに路面の路面状態を分類するために用いる分類パラメータを、自然光推定部30によって推定された偏光状態に基づいて決定する決定部40と、路面パラメータと分類パラメータとに基づいて、路面の路面状態を複数のカテゴリのいずれかに分類する分類部50と、分類されたカテゴリに基づいて路面の摩擦係数を推定する摩擦係数推定部60とを備える。【選択図】図2


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    Title :

    ROAD SURFACE STATE ESTIMATING DEVICE, VEHICLE CONTROL SYSTEM, AND ROAD SURFACE STATE ESTIMATING METHOD


    Additional title:

    路面状態推定装置、車両制御システム及び路面状態推定方法


    Contributors:

    Publication date :

    2020-11-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    G01N Untersuchen oder Analysieren von Stoffen durch Bestimmen ihrer chemischen oder physikalischen Eigenschaften , INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES / 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 / G01W METEOROLOGY , Meteorologie