JPH0569011B2 - - Google Patents
Info
- Publication number
- JPH0569011B2 JPH0569011B2 JP29475385A JP29475385A JPH0569011B2 JP H0569011 B2 JPH0569011 B2 JP H0569011B2 JP 29475385 A JP29475385 A JP 29475385A JP 29475385 A JP29475385 A JP 29475385A JP H0569011 B2 JPH0569011 B2 JP H0569011B2
- Authority
- JP
- Japan
- Prior art keywords
- road surface
- surface condition
- friction coefficient
- image processing
- storage means
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000012545 processing Methods 0.000 claims description 17
- 239000003086 colorant Substances 0.000 claims description 9
- 238000012937 correction Methods 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Landscapes
- Investigating Or Analysing Materials By Optical Means (AREA)
- Arrangement And Mounting Of Devices That Control Transmission Of Motive Force (AREA)
- Vehicle Body Suspensions (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は進行方向を撮影し、画像処理により進
行方向における路面とタイマとの間の摩擦係数を
検出するための装置に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a device for photographing the direction of travel and detecting the coefficient of friction between a road surface and a timer in the direction of travel by image processing.
従来より、たとえば４輪駆動車においては、路
面状態が変化したときでも適切な走行状態が得ら
れるようにするため、必要に応じて単なる４輪駆
動走行とは異なつた制御態様にも切換えられるよ
うな４輪駆動の制御装置が提案されている。
Conventionally, for example, four-wheel drive vehicles have been able to switch to a control mode other than simple four-wheel drive driving as necessary, in order to obtain appropriate driving conditions even when road conditions change. A four-wheel drive control device has been proposed.
その１つはパートタイム式４輪駆動であり、前
輪と後輪の何れか一方を駆動輪とする２輪駆動
と、前後輪の両方を駆動輪とする４輪駆動とを、
路面状態に応じて切換えられるようにしたもので
ある。 One is part-time four-wheel drive, which includes two-wheel drive in which either the front or rear wheels are the driving wheels, and four-wheel drive in which both the front and rear wheels are the driving wheels.
It is designed to be switched depending on the road surface condition.
また、別の制御方式としては、フルタイム式４
輪駆動があり、コーナリングの際に生じる前輪と
後輪の間の旋回半径の差を吸収するために、差動
機構としてのセンターデフを備えたものである。
このフルタイム式４輪駆動においても、路面状態
に応じて制御態様を切換え可能とするために、前
輪と後輪間の動力伝達をセンターデフを介するこ
となく直結させるロツク機構を設け、加速時或い
は悪路走行時のような大きな駆動力を必要とする
ときは、センターデフ機構をロツクさせ、また、
大きな駆動力を必要としない通常走行時にはロツ
クを解除していた。 In addition, as another control method, full-time type 4
It has wheel drive and is equipped with a center differential as a differential mechanism to absorb the difference in turning radius between the front and rear wheels that occurs during cornering.
In this full-time four-wheel drive system, in order to be able to switch the control mode depending on the road surface condition, a lock mechanism is provided that directly connects the power transmission between the front wheels and the rear wheels without going through a center differential. When a large driving force is required, such as when driving on rough roads, the center differential mechanism is locked, and
The lock was released during normal driving, which did not require a large amount of driving force.
これら２輪／４輪駆動の切換え或いはセンター
デフのロツクの制御は、いずれも運転者が路面状
態を判断して切換える方式が一般的であるが、最
近になつて、エンジン駆動力と車輪に作用する力
を比較判定しこれにより自動的に制御する方式が
提案されている。この場合、車輪に作用する力を
計算するに際し、摩擦係数をいかにして正確に検
出するかが重要な要素となつており、このような
技術として、従来、検出器を路面と接触させるこ
とにより、路面とタイヤとの間の摩擦係数を検出
し、この摩擦係数と路面状態を対応させるように
した技術がある。 The switching between two-wheel/four-wheel drive and the locking of the center differential are generally controlled by the driver based on the judgment of the road surface conditions, but recently, the control of switching between two-wheel drive and four-wheel drive or locking the center differential is performed by the driver based on the judgment of the road surface conditions. A method has been proposed that compares and determines the force exerted by the vehicle and automatically controls the force based on this comparison. In this case, when calculating the force acting on the wheels, an important factor is how to accurately detect the coefficient of friction. There is a technology that detects the coefficient of friction between the road surface and the tires, and correlates this coefficient of friction with the road surface condition.
［発明が解決しようとする問題点］
しかしながら、上記従来の方式のうち手動で切
換える方式では、運転者が常に前方の道路状態を
注視していなければならず、また切換え操作が煩
わしいという問題があり、一方、自動的に制御す
る方式においては、現在走行中の路面状態は判断
できるが、道路の前方の路面状態は検出できない
ので、路面状態が変化したあとで、例えば２輪／
４輪駆動の切換え、或はセンターデフのロツクの
制御がおこなわれる。このため、路面状態に合わ
せて適切に対応できないという問題点を生じてい
た。[Problems to be Solved by the Invention] However, among the conventional methods described above, the manual switching method requires the driver to always keep an eye on the road condition ahead, and the switching operation is troublesome. On the other hand, in the automatic control method, the road surface condition on which the vehicle is currently being driven can be determined, but the road surface condition in front of the road cannot be detected.
Switching of four-wheel drive or locking of the center differential is controlled. For this reason, a problem has arisen in that it is not possible to respond appropriately to the road surface condition.
そこで本発明は、進行方向の路面状態を予測
し、進行方向における路面とタイヤとの間の摩擦
係数を、事前に検出することを目的とするもので
ある。 Therefore, an object of the present invention is to predict the road surface condition in the direction of travel and to detect in advance the coefficient of friction between the road surface and the tires in the direction of travel.
［解決するための手段］
本発明の画像処理による摩擦係数の検出装置
は、上記問題点を解決するために、路面を撮影す
る撮影手段と、該撮影手段からの信号を光の三原
色に分離する画像処理手段と、光の三原色に対応
した路面状態のマツプを記憶する路面状態記憶手
段と、前記画像処理手段の出力信号と前記路面状
態記憶手段に記憶されている路面状態のマツプと
を比較し路面状態を判定する比較判定手段と、路
面状態に対応する路面とタイヤとの間の摩擦係数
を記憶する摩擦係数記憶手段と、前記比較判定手
段の出力信号を前記摩擦係数記憶手段の内容と対
応させて摩擦係数を選定する摩擦係数選定手段と
からなる構造を有する。[Means for Solving] In order to solve the above problems, the friction coefficient detection device using image processing of the present invention includes a photographing means for photographing the road surface and a signal from the photographing means that is separated into three primary colors of light. an image processing means, a road surface condition storage means for storing a road surface condition map corresponding to the three primary colors of light, and an output signal of the image processing means and a road surface condition map stored in the road surface condition storage means. a comparison determination means for determining a road surface condition; a friction coefficient storage means for storing a friction coefficient between the road surface and the tire corresponding to the road surface condition; and an output signal of the comparison determination means is made to correspond to the contents of the friction coefficient storage means. and a friction coefficient selection means for selecting a friction coefficient.
［作用及び発明の効果］
本発明は、撮影手段より得られた信号を、画像
処理手段で光の三原色に分離し、それに対応した
路面状態を判定する。そして、摩擦係数選定手段
によりその路面状態に対応した摩擦係数を決定す
る。したがつて、進行方向における路面とタイヤ
との間の摩擦係数を事前に検出することができる
ので、路面状態に合わせて適切な対応を取ること
ができる。[Operations and Effects of the Invention] According to the present invention, a signal obtained from a photographing means is separated into three primary colors of light by an image processing means, and a road surface condition corresponding to the three primary colors is determined. Then, the friction coefficient selection means determines a friction coefficient corresponding to the road surface condition. Therefore, since the coefficient of friction between the road surface and the tires in the traveling direction can be detected in advance, appropriate measures can be taken depending on the road surface condition.
以下、図面を参照しつつ実施例を説明する。 Examples will be described below with reference to the drawings.
第１図及び第２図は本発明の検出装置における
各実施例を示す図である。図中、１は撮影手段、
２は画像処理手段、２′は明度補正手段、３は路
面状態記憶手段、４は比較判定手段、５は摩擦係
数選定手段、６は摩擦係数記憶手段、７は三角形
座標、８は密度分布を示す。 FIG. 1 and FIG. 2 are diagrams showing respective embodiments of the detection device of the present invention. In the figure, 1 is a photographing means;
2 is an image processing means, 2' is a brightness correction means, 3 is a road surface condition storage means, 4 is a comparison judgment means, 5 is a friction coefficient selection means, 6 is a friction coefficient storage means, 7 is a triangular coordinate, and 8 is a density distribution show.
第１図による実施例について説明すると、撮影
手段１である車両に取付けられたカメラにより、
進行方向における路面状態を撮影する。撮影手段
１で得られた画像信号は、画像処理手段２に送ら
れここで光の三原色である赤成分(R)、緑成分(G)及
び青成分(B)の信号に分離される。路面状態記憶手
段３には、各種の路面状態を、光の三原色である
赤成分(R)、緑成分(G)及び青成分(B)からなる座標内
に、路面状態、路面状態、路面状態、…を
区別可能なマツプとして記憶しており、このマツ
プは予め撮影手段１及び画像処理手段２を用い
て、各種の路面状態を測定することにより作成し
ている。比較判定手段４は画像処理手段２から出
力されてくる。赤成分(R)、緑成分(G)及び青成分(B)
の信号を、路面状態記憶手段３に記憶されている
三次元座標にあてはめ、比較しこれらの信号の強
さに対応した路面状態を判定するものである。摩
擦係数選定手段５は、比較判定手段４から出力さ
れる路面状態の信号を、路面の摩擦係数記憶手段
６に記憶されている内容と比較し、路面状態に対
応した摩擦係数を選定するものである。 To explain the embodiment shown in FIG.
Photograph the road surface condition in the direction of travel. The image signal obtained by the photographing means 1 is sent to the image processing means 2, where it is separated into signals of red component (R), green component (G) and blue component (B), which are the three primary colors of light. The road surface condition storage means 3 stores various road surface conditions in coordinates consisting of the three primary colors of light, red component (R), green component (G), and blue component (B). , . . . are stored as a distinguishable map, and this map is created in advance by measuring various road surface conditions using the photographing means 1 and the image processing means 2. The comparison and determination means 4 receives the output from the image processing means 2. Red component (R), green component (G) and blue component (B)
These signals are applied to the three-dimensional coordinates stored in the road surface condition storage means 3, and compared, to determine the road surface condition corresponding to the strength of these signals. The friction coefficient selection means 5 compares the road surface condition signal outputted from the comparison determination means 4 with the content stored in the road surface friction coefficient storage means 6, and selects a friction coefficient corresponding to the road surface condition. be.
次に、第２図により本発明の他の実施例につい
て説明すると、第１図の実施例と比較して異なる
点は、画像処理手段２内に明度補正手段２′を設
けたこと、及び路面状態記憶手段３の内容が異な
ることである。すなわち、明度補正手段２′では、
赤成分(R)、緑成分(G)及び青成分(B)の信号から、明
度による影響を無くし色合いだけを取り出すため
に、ｒ＝Ｒ／（Ｒ＋Ｇ＋Ｂ）、ｇ＝Ｇ／（Ｒ＋Ｇ
＋Ｂ）、ｂ＝Ｂ／（Ｒ＋Ｇ＋Ｂ）の計算を行い、
一方、路面状態記憶手段３には、予め測定した各
種路面状態に対応した上記ｒ、ｇ、ｂの値が、正
三角形の平面７内にプロツトされ、路面状態、
路面状態、路面状態、…というマツプとして
記憶されている。この補正を行うことによりマツ
プを２次元座標として記憶することが可能とな
る。そして、比較判定手段４において、明度補正
手段２′から出力されてくる、赤成分(r)、緑成分
(g)及び青成分(b)の信号を、路面状態記憶手段３に
記憶されている正三角形座標７にあてはめ、比較
しこれらの信号の強さに対応した路面状態を判定
するものである。なお、図に示すように、例えば
路面状態と路面状態が重なり、どちらの状態
を選択するかは確率によつて定めればよい。すな
わち、正三角形の平面７内にプロツトされている
ｒ、ｇ、ｂの密度の分布８において、Ｐ点を境に
して路面状態と路面状態のうちいずれかの状
態の確率が大きくなるので、この確率の大小によ
つて選択することができる。 Next, another embodiment of the present invention will be explained with reference to FIG. 2. The difference from the embodiment shown in FIG. 1 is that brightness correction means 2' is provided in the image processing means 2, and The difference is that the contents of the state storage means 3 are different. That is, in the brightness correction means 2',
In order to eliminate the influence of brightness and extract only the hue from the red component (R), green component (G), and blue component (B) signals, r=R/(R+G+B), g=G/(R+G
+B), calculate b=B/(R+G+B),
On the other hand, in the road surface condition storage means 3, the values of r, g, and b corresponding to various road surface conditions measured in advance are plotted within an equilateral triangular plane 7.
It is stored as a map of road surface conditions, road surface conditions, etc. By performing this correction, it becomes possible to store the map as two-dimensional coordinates. Then, in the comparison and determination means 4, the red component (r) and the green component output from the brightness correction means 2' are
The signals of (g) and blue component (b) are applied to the equilateral triangular coordinates 7 stored in the road surface condition storage means 3, and are compared to determine the road surface condition corresponding to the strength of these signals. Note that, as shown in the figure, for example, the road surface conditions and the road surface conditions overlap, and which condition to select may be determined based on probability. In other words, in the density distribution 8 of r, g, and b plotted in the plane 7 of an equilateral triangle, the probability of either the road surface condition or the road surface condition increases with the point P as the boundary, so this It can be selected depending on the magnitude of probability.
本発明は上記の実施例に限定されるものではな
く、種々の変形が可能であることは勿論のことで
ある。例えば、上記実施例においては、明度の補
正のみを行つているが、光源の強度、方向、影、
天候状態による影響を考慮した補正をおこなつて
もよい。 It goes without saying that the present invention is not limited to the embodiments described above, and that various modifications are possible. For example, in the above embodiment, only the brightness is corrected, but the intensity, direction, shadow, etc. of the light source,
Correction may be made taking into account the influence of weather conditions.
以上の説明から明らかなように、本発明によれ
ば、進行方向の路面状態を予測することにより、
進行方向におけるタイヤと路面との間の摩擦係数
を事前に検出することができる。また、これによ
り、２輪／４輪駆動の切換え或いはセンターデブ
のロツクの制御を、路面状態に合わせて直ちにか
つ適切に対応させることができ、もつて安全かつ
安定した走行状態を得ることができる。 As is clear from the above description, according to the present invention, by predicting the road surface condition in the direction of travel,
The coefficient of friction between the tires and the road surface in the direction of travel can be detected in advance. In addition, this makes it possible to immediately and appropriately control the switching between 2-wheel/4-wheel drive or the locking of the center fat according to the road surface conditions, thereby achieving safe and stable driving conditions. .
第１図及び第２図は本発明の検出装置における
各実施例を示す図である。
１……撮影手段、２……画像処理手段、２′…
…明度補正手段、３……路面状態記憶手段、４…
…比較判定手段、５……摩擦係数選定手段、６…
…摩擦係数記憶手段、……三角形座標、８……密
度分布。
FIG. 1 and FIG. 2 are diagrams showing respective embodiments of the detection device of the present invention. 1... Photographing means, 2... Image processing means, 2'...
...Brightness correction means, 3...Road surface condition storage means, 4...
...Comparative determination means, 5...Friction coefficient selection means, 6...
...friction coefficient storage means, ...triangle coordinates, 8...density distribution.
Claims (1)
の信号を光の三原色に分離する画像処理手段と、
光の三原色に対応した路面状態のマツプを記憶す
る路面状態記憶手段と、前記画像処理手段の出力
信号と前記路面状態記憶手段に記憶されている路
面状態のマツプとを比較し路面状態を判定する比
較判定手段と、路面状態に対応する路面とタイヤ
との間の摩擦係数を記憶する摩擦係数記憶手段
と、前記比較判定手段の出力信号を前記摩擦係数
記憶手段の内容と対応させて摩擦係数を選定する
摩擦係数選定手段とを備えたことを特徴とする画
像処理による摩擦係数の検出装置。 ２ 前記画像処理手段は、光の三原色から明度の
影響を除去するための明度補正手段を備えたこと
を特徴とする特許請求の範囲第１項記載の画像処
理による摩擦係数の検出装置。 ３ 前記比較判定手段は、路面状態のマツプに基
づいて確立の大小によつて路面状態を判定するこ
とを特徴とする特許請求の範囲第１項記載の画像
処理による摩擦係数の検出装置。[Scope of Claims] 1. Photographing means for photographing a road surface, image processing means for separating signals from the photographing means into three primary colors of light,
A road surface condition storage means stores a road surface condition map corresponding to the three primary colors of light, and the output signal of the image processing means is compared with the road surface condition map stored in the road surface condition storage means to determine the road surface condition. a friction coefficient storage means for storing a friction coefficient between a road surface and a tire corresponding to a road surface condition; and a friction coefficient storage means for associating an output signal of the comparison determination means with the contents of the friction coefficient storage means. 1. A friction coefficient detection device using image processing, comprising a friction coefficient selection means. 2. The friction coefficient detection device by image processing according to claim 1, wherein the image processing means includes a brightness correction means for removing the influence of brightness from the three primary colors of light. 3. The friction coefficient detection device using image processing according to claim 1, wherein the comparison and determination means determines the road surface condition based on the degree of probability based on a map of the road surface condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29475385A JPS62155139A (en) | 1985-12-27 | 1985-12-27 | Friction coefficient detector employing image processing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29475385A JPS62155139A (en) | 1985-12-27 | 1985-12-27 | Friction coefficient detector employing image processing |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62155139A JPS62155139A (en) | 1987-07-10 |
| JPH0569011B2 true JPH0569011B2 (en) | 1993-09-30 |
Family
ID=17811856
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP29475385A Granted JPS62155139A (en) | 1985-12-27 | 1985-12-27 | Friction coefficient detector employing image processing |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS62155139A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003240869A (en) * | 2002-02-20 | 2003-08-27 | Natl Inst For Land & Infrastructure Management Mlit | Road surface condition determination method |
| CN103796893A (en) * | 2011-07-13 | 2014-05-14 | 捷豹路虎有限公司 | Vehicle control system and method |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008228407A (en) * | 2007-03-09 | 2008-09-25 | Tokyo Metropolitan Univ | Braking/driving controller of vehicle |
| KR101134030B1 (en) | 2009-04-02 | 2012-04-16 | 주식회사 포스코 | method of prediction friction coefficient in plank |
| JP2015188490A (en) * | 2014-03-27 | 2015-11-02 | 三菱電機株式会社 | self-propelled vacuum cleaner |
| KR102280297B1 (en) * | 2020-02-25 | 2021-07-22 | 중앙대학교 산학협력단 | Method for generating desired slip based on road condition detection for anti-lock braking systems of electric vehicles, recording medium and device for performing the method |
-
1985
- 1985-12-27 JP JP29475385A patent/JPS62155139A/en active Granted
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003240869A (en) * | 2002-02-20 | 2003-08-27 | Natl Inst For Land & Infrastructure Management Mlit | Road surface condition determination method |
| CN103796893A (en) * | 2011-07-13 | 2014-05-14 | 捷豹路虎有限公司 | Vehicle control system and method |
| JP2014520712A (en) * | 2011-07-13 | 2014-08-25 | ジャガー ランド ローバー リミテッド | Vehicle control system and control method |
| US9415779B2 (en) | 2011-07-13 | 2016-08-16 | Jaguar Land Rover Limited | Vehicle control system and method |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS62155139A (en) | 1987-07-10 |
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