Process for determining the condition of a road surface and system for implementing the process

• US 6,049,387 A
• Filed: 08/20/1998
• Issued: 04/11/2000
• Est. Priority Date: 08/20/1997
• Status: Expired due to Fees

• Current Assignee: Daimler Chrysler Company LLC (Stellantis NV)
• Original Assignee: Daimler Chrysler Company LLC (Stellantis NV)
• Inventors: Griesinger, Manfred
• Primary Examiner(s): EVANS, FANNIE L
• Application Number:
  US09/136,927
• Time in Patent Office: 600 Days
• Field of Search: 356/416, 356/419, 356/326, 356/328, 250/226, 250/339.11, 340/580, 340/583
• US Class Current: 356/419
• CPC Class Codes: B60G 2400/82 Ground surface
• CPC Class Codes: B60G 2401/00 Indexing codes relating to the type of sensors based on the principle of their operation
• CPC Class Codes: B60T 2210/12 Friction
• CPC Class Codes: B60T 8/172 Determining control parameters used in the regulation, e.g. by calculations involving measured or detected parameters B60T8/17551 takes precedence
• CPC Class Codes: G01B 11/0625 with measurement of absorption or reflection

Abstract

In a process and apparatus for determining the condition of a road surface, light backscattered from a road surface is divided into spectral components and the spectral intensity distribution of the backscattered light is analyzed. The wavelength-dependent backscattered light spectrum of a dry road surface is arranged with a mathematical function with free parameters. This function is multiplied by an exponential absorption term which describes the light transmission of a water layer of a defined thickness in order to obtain a mathematical function for the wavelength-dependent distribution of the backscatter intensity (as it impinges on the receiver). Using the actual measured values, the free parameters of the function can then be calculated to obtain a best possible approximation. This among other things, results in a determination of the thickness of the water layer. In order to implement the process, the system is a spectrometer which uses an absorbing element applied directly to a CCD sensor line in place of a dispersive element.

Claims

1. A process for determining the condition of a road surface, comprising:

beaming light onto the road surface;

dividing backscattered light from the road surface into spectral components;

analyzing the spectral components of the backscattered light to obtain a spectral analysis; and

determining a condition of the road surface with respect to a presence of at least one of water and ice, based on the analysis of the spectral components of the backscattered light;

wherein said analyzing step includes

arranging a wavelength-dependent plot of a backscatter intensity for the spectral analysis of the backscattered light as a product of a function having free parameters which represents a wavelength-dependent backscatter light spectrum of a dry road surface, and an exponential absorption term which describes a light transmission of a water layer having a defined thickness; and

calculating the free parameters via actual measured values to obtain an optimum approximation value;

and wherein the condition of the road surface is determined based on the approximation value.

2. The process according to claim 1, further comprising:

arranging a backscattered light spectrum of a dry road as a parameter-dependent wavelength-dependent function which is multiplied by a sum of a first ratio of a first reference spectrum and a second ratio of a second reference spectrum, where for a reference road covering, the first reference spectrum is obtained in ambient light when a light generating unit is activated, and the second reference spectrum is obtained in daylight when the light generating unit is deactivated; and

determining a ratio factor based on the contribution of the first and second reference spectrums.

3. The process according to claim 2, wherein

at least one of the ratio factor and the parameter-dependent wavelength-dependent function are determined in a wave range in the absence of at least one of water and ice absorption.

4. The process according to claim 1, wherein:

additional parameters, other than water thickness, are determined from the approximation value and entered into the exponential absorption term, said additional parameters including at least one of water temperature, ice temperature, and a parameter for an ice fraction; and

actual absorption curves of at least one of water and ice are used as a formation basis.

5. The process according to claim 4, wherein at least one of the water temperature is indicated and a warning is emitted when the water temperature approaches freezing levels.

6. The process according to claim 2, wherein:

the ratio factor is sensed at least at times continuously, via an ambient sensor and is used for analysis in place of the ratio factor calculated from a previous approximation.

7. The process according to claim 3, wherein:

the ratio factor is sensed at least at times continuously, via an ambient sensor and is used for analysis in place of the ratio factor calculated from a previous approximation.

8. A process for determining the condition of a road surface, said process comprising:

scattering light onto the road surface;

detecting light backscattered from the road surface with photo detectors having respective different spectral sensitivities;

determining a condition of the road surface with respect to a presence of at least one of water and ice, based on analysis of measuring signals representative of respective light intensity values I_i detected by said detectors with different spectral sensitivities;

wherein said analysis of measuring signals includes

converting each light intensity I_i ;

representing each converted light intensity I_i, as an integral of a wavelength with a production function of the spectral sensitivity E_i (λ

) of an associated photodetector and the wavelength-dependent backscatter intensity S(λ

), for analysis by the detectors;

arranging a wavelength-dependent backscatter intensity S(λ

) as a product of a function having free parameters which represents a wavelength-dependent backscatter light spectrum of a dry road surface, and an exponential absorption term which defines a light transmission of a water layer having a defined thickness; and

calculating the free parameters via actual measured values to obtain an optimum approximation value;

and wherein the condition of the road surface is determined based on the approximation value.

9. The process according to claim 8, further comprising:

arranging a backscattered light spectrum of a dry road as a parameter-dependent wavelength-dependent function which is multiplied by a sum of a first ratio of a first reference spectrum and a second ratio of a second reference spectrum, where for a reference road covering, the first reference spectrum is obtained in ambient light when a light generating unit is activated, and the second reference spectrum is obtained in daylight when the light generating unit is deactivated; and

determining a ratio factor based on the contribution of the first and second reference spectrums.

10. The process according to claim 9, wherein

at least one of the ratio factor and the parameter-dependent wavelength-dependent function are determined in a wave range in the absence of at least one of water and ice absorption.

11. The process according to claim 8, wherein:

additional parameters, other than water thickness, are determined from the approximation value and entered into the exponential absorption term, said additional parameters including at least one of water temperature, ice temperature, and a parameter for an ice fraction; and

actual absorption curves of at least one of water and ice are used as a formation basis.

12. The process according to claim 11, wherein at least one of the water temperature is indicated and a warning is emitted when the water temperature approaches freezing levels.

13. An apparatus for analyzing light, comprising:

a receiver unit having a plurality of detectors for measuring backscattered light; and

a plurality of filters, the spectral sensitivity of the detectors differing based upon the plurality of filters;

wherein

the detectors are pixels of a sensor line;

the filters are absorption filters having bodies which are made from a material selected from the group consisting of glass and plastic;

an absorption characteristic of said absorption filters depends on a thickness of the absorption filters;

the absorption filters are combined to form an absorption line filter which is disposed in a light passage direction in front of the sensor line and whose thickness varies such that one filter thickness and thus one spectral sensitivity is assigned to each pixel.

14. Apparatus according to claim 13, wherein the absorption line filter is a colored glass wedge.

15. The apparatus according to claim 13, wherein the filter material is selected such that a linear interrelationship exists between a logarithm of an absorption coefficient of said absorption filters and a wavelength of light incident thereon, and further comprising:

an analyzing unit which initially computes a Fourier transform from a totality of measured pixel intensities, and subsequently computes a quotient from a Fourier transform of the measured pixel intensities and a Fourier transform of a transmission curve of the absorption filters, and then calculates a wavelength-dependent spectral intensity of the light via a Fourier inverse transform.

16. The apparatus according to claim 14, wherein the filter material is selected such that a linear interrelationship exists between a logarithm of an absorption coefficient of said absorption filters and a wavelength of light incident thereon, and further comprising:

an analyzing unit which initially computes a Fourier transform from a totality of measured pixel intensities, and subsequently computes a quotient from a Fourier transform of the measured pixel intensities and a Fourier transform of a transmission curve of the absorption filters, and then calculates a wavelength-dependent spectral intensity of the light via a Fourier inverse transform.

17. The apparatus according to claim 15, wherein the analyzing unit is a microprocessor.

18. The apparatus according to claim 16, wherein the analyzing unit is a microprocessor.

19. The apparatus according to claim 15, wherein the computation of the quotient from the Fourier transform of the measured pixel intensities and the Fourier transform of the transmission curve of the filter is performed for a defined reference thickness D₀.

20. The apparatus according to claim 16, wherein the computation of the quotient from the Fourier transform of the measured pixel intensities and the Fourier transform of the transmission curve of the filter is performed for a defined reference thickness D₀.

21. The apparatus according to claim 18, wherein the detectors are pixels.

22. An apparatus for analyzing light, comprising:

a receiver unit having a plurality of detectors, the detectors having differing spectral sensitivities;

a sensor line having disposed therein the plurality of detectors; and

an absorption filter, comprising at least one of glass bodies and plastic bodies, whose absorption characteristic depends on a thickness of the absorption filters;

wherein the absorption filters are combined to form an absorption line filter disposed in a light passage direction in front of the sensor line and whose thickness varies such that one filter thickness and thus one spectral sensitivity is assigned to each detector.