Ice and snow detection systems and methods

• US 10,183,677 B2
• Filed: 09/20/2016
• Issued: 01/22/2019
• Est. Priority Date: 09/20/2016
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Myers, Scott Vincent, Micks, Ashley Elizabeth, Kadetotad, Sneha, Banvait, Harpreetsingh, Rodrigues, Ashok E.
• Primary Examiner(s): Lang, Michael D
• Application Number:
  US15/271,036
• Publication Number:
  US 20180079424A1
• Time in Patent Office: 854 Days
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2050/0095 Automatic control mode change
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2420/42 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/52 Radar, Lidar
• CPC Class Codes: B60W 2552/35 Road bumpiness, e.g. potholes
• CPC Class Codes: B60W 2555/20 Ambient conditions, e.g. wind or rain
• CPC Class Codes: B60W 2555/40 Altitude
• CPC Class Codes: B60W 2556/00 Input parameters relating to data
• CPC Class Codes: B60W 2556/45 External transmission of data to or from the vehicle
• CPC Class Codes: B60W 2556/55 using telemetry
• CPC Class Codes: B60W 2710/18 Braking system
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 2756/10 Involving external transmission of data to or from the vehicle
• CPC Class Codes: B60W 30/02 Control of vehicle driving stability
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: B60W 60/0015 specially adapted for safety
• CPC Class Codes: G06N 7/01 Probabilistic graphical models, e.g. probabilistic networks
• CPC Class Codes: G07C 5/008 : communicating information to a remotely located station transmission systems for measured values G08C
• CPC Class Codes: Y02A 90/10 : Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation

Abstract

Example ice and snow detection systems and methods are described. In one implementation, a method activates an ice and snow detection system in response to receiving weather data indicating a likelihood of ice or snow on a roadway near a vehicle. The method receives data from multiple vehicle sensors and analyzes the received data to identify ice or snow on the roadway. If ice or snow is identified on the roadway, the method adjusts vehicle operations and reports the ice or snow condition to a shared database.

Claims

1. A method comprising:

activating an ice and snow detection system responsive to receiving weather data indicating a likelihood of ice or snow on a roadway proximate a vehicle;

receiving data from a plurality of vehicle sensors;

analyzing the received data to identify ice or snow on the roadway; and

responsive to identification of ice or snow on the roadway;

adjusting vehicle operations; and

reporting the ice or snow condition to a shared database;

wherein analyzing the received data to identify ice or snow on the roadway includes;

determining a current height of the roadway surface;

comparing the current height of the roadway surface to a previously recorded height of the roadway surface; and

determining that ice or snow is present on the roadway when the current height of the roadway surface is greater than the previously recorded height of the roadway surface.

2. The method of claim 1, further comprising fusing the data received from the plurality of vehicle sensors.

3. The method of claim 1, wherein analyzing the received data to identify ice or snow on the roadway includes:

determining a current reflectivity of the roadway surface;

comparing the current reflectivity of the roadway surface to a previously recorded reflectivity of the roadway surface; and

determining that ice or snow is present on the roadway if the current reflectivity of the roadway surface is greater than the previously recorded reflectivity of the roadway surface.

4. The method of claim 3, wherein the road surface reflectivity includes at least one of visual reflectivity, LIDAR reflectivity, and radar reflectivity.

5. The method of claim 1, wherein analyzing the received data to identify ice or snow on the roadway includes:

determining a current road geometry of the roadway surface;

comparing the current road geometry of the roadway surface to a previously recorded road geometry of the roadway surface; and

determining that ice or snow is present on the roadway if the current road geometry of the roadway surface is more irregular than the previously recorded road geometry of the roadway surface.

6. The method of claim 1, wherein adjusting vehicle operations includes at least one of reducing the speed of the vehicle, engaging active clutches for a 4-wheel-drive system, avoiding sudden vehicle speed changes, and avoiding sudden turning of the front wheels.

7. The method of claim 1, wherein reporting the ice or snow condition to a shared database includes reporting a geographic location associated with the ice or snow condition.

8. The method of claim 1, further comprising attempting to maneuver around the ice or snow responsive to identification of ice or snow on the roadway.

9. The method of claim 1, wherein the vehicle is an autonomous vehicle.

10. A method comprising:

activating an ice and snow detection system responsive to receiving weather data indicating a likelihood of ice or snow on a roadway proximate a vehicle;

receiving image data from a vehicle-mounted camera;

receiving LIDAR data from a vehicle-mounted LIDAR system;

analyzing the received image data and LIDAR data to identify ice or snow on the roadway; and

responsive to identification of ice or snow on the roadway, performing at least one of the following;

reducing the speed of the vehicle, engaging clutches for a 4-wheel-drive system, avoiding sudden vehicle speed changes, and avoiding sudden turning of the front wheels of the vehicle;

wherein analyzing the received image data and LIDAR data includes;

determining a current road geometry of the roadway surface;

comparing the current road geometry of the roadway surface to a previously recorded road geometry of the roadway surface; and

determining that ice or snow is present on the roadway if the current road geometry of the roadway surface is more irregular than the previously recorded road geometry of the roadway surface.

11. The method of claim 10, further comprising:

receiving radar data from a vehicle-mounted radar system; and

analyzing the received radar data to identify ice or snow on the roadway.

12. The method of claim 10, further comprising reporting the ice or snow condition, and the geographic location of the ice or snow, to a shared database.

13. The method of claim 10, further comprising fusing the image data and the LIDAR data.

14. The method of claim 10, wherein analyzing the received image data and LIDAR data includes:

determining a current height of the roadway surface;

comparing the current height of the roadway surface to a previously recorded height of the roadway surface; and

determining that ice or snow is present on the roadway if the current height of the roadway surface is greater than the previously recorded height of the roadway surface.

15. The method of claim 10, wherein analyzing the received image data and LIDAR data includes:

determining a current reflectivity of the roadway surface;

comparing the current reflectivity of the roadway surface to a previously recorded reflectivity of the roadway surface; and

determining that ice or snow is present on the roadway if the current reflectivity of the roadway surface is greater than the previously recorded reflectivity of the roadway surface.

16. The method of claim 15, wherein the road surface reflectivity includes at least one of visual reflectivity, LIDAR reflectivity, and radar reflectivity.

17. An apparatus comprising:

a camera configured to capture image data of an area ahead of a vehicle;

a LIDAR system configured to capture LIDAR data associated with the area ahead of the vehicle; and

an ice and snow detection system configured to analyze the image data and LIDAR data to identify ice or snow in the area ahead of the vehicle, wherein the ice and snow detection system is further configured to adjust at least one vehicle operation based on identification of ice or snow in a roadway surface ahead of the vehicle;

wherein the ice and snow detection system is further configured to;

determine a current height of the roadway surface;

compare the current height of the roadway surface to a previously recorded height of the roadway surface; and

when the current height of the roadway surface is greater than the previously recorded height of the roadway surface, determine that ice or snow is present on the roadway

determine a current road geometry of the roadway surface;

compare the current road geometry of the roadway surface to a previously recorded road geometry of the roadway surface; and

when the current road geometry of the roadway surface is more irregular than the previously recorded road geometry of the roadway surface, determine that ice or snow is present on the roadway.

18. The apparatus of claim 17, further comprising a vehicle control actuator configured to perform the at least one vehicle operation by adjust the vehicle'"'"'s steering or braking systems.