Road condition determination method and road condition determination device
In the present invention, when a road surface condition is determined based on information acquired by a camera installed in a vehicle, a route of a host vehicle is predicted and the is determined. A road surface condition determination method and device determines a road surface condition of a predicted route based on information acquired by a camera installed in a host vehicle. A controller predicts a route of the host vehicle by determining a road surface friction coefficient of the predicted route based on information acquired by the camera. The determining of the road surface friction coefficient of the predicted route includes: dividing an ahead-of-vehicle image acquired by the camera in a left-right direction and determining a road surface condition for each of the determination areas, and determining the road surface friction coefficient in the determination areas through which the predicted route will pass.
1. A road surface condition determination method comprising:
calculating a predicted route of a host vehicle; and
determining a road surface friction coefficient of the predicted route based on information acquired by a camera installed in the host vehicle by:
dividing an ahead-of-vehicle image acquired by the camera in a left-right direction to obtain a plurality of determination areas and determining a road surface condition for each of the plurality of determination areas,
setting a road surface condition determination line ahead of the host vehicle position by a predetermined distance, and
extracting, from among the plurality of determination areas, determination areas containing points of intersection between the predicted route and the road surface condition determination line from the ahead-of-vehicle image
determining the road surface friction coefficient in the determination areas containing the points of intersection.
2. The road surface condition determination method according to claim 1 , wherein
the predicted route of the host vehicle includes a predicted path of a left front wheel of the host vehicle and a predicted path of a right front wheel of the host vehicle, and
the points of intersection are points of intersection between the predicted paths and the road surface condition determination line from the ahead-of-vehicle image.
3. A road surface condition determination device comprising:
a prediction unit that calculates a predicted route of a host vehicle; and
a determination unit that determines a road surface friction coefficient of the predicted route based on information acquired by a camera installed in the host vehicle by:
dividing an ahead-of-vehicle image acquired by the camera in a left-right direction to obtain a plurality of determination areas and determining a road surface condition for each of the plurality of determination areas,
setting a road surface condition determination line ahead of the host vehicle position by a predetermined distance, and
extracting, from among the plurality of determination areas, determination areas containing points of intersection between the predicted route and the road surface condition determination line from the ahead-of-vehicle image, and
determining the road surface friction coefficient in the determination areas containing the points of intersection.