US 11,999,354 B2
Method and apparatus for estimation road surface type using ultrasonic signal
Sei-Bum Choi, Daejeon (KR); Min-Hyun Kim, Daejeon (KR); Jin-Rak Park, Daejeon (KR); Seung-In Shin, Daejeon (KR); and Jong-Chan Park, Daejeon (KR)
Assigned to KOREA ADVANCED INSTITUTE OF SCIENCE AND TECHNOLOGY, Daejeon (KR)
Filed by Korea Advanced Institute of Science and Technology, Daejeon (KR)
Filed on Feb. 26, 2021, as Appl. No. 17/186,329.
Application 17/186,329 is a continuation of application No. PCT/KR2019/010993, filed on Aug. 28, 2019.
Claims priority of application No. 10-2018-0102204 (KR), filed on Aug. 29, 2018.
Prior Publication US 2021/0182632 A1, Jun. 17, 2021
Int. Cl. B60W 40/06 (2012.01); B60W 40/068 (2012.01); G01S 15/88 (2006.01); G06F 18/213 (2023.01); G06F 18/2415 (2023.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01)
CPC B60W 40/068 (2013.01) [G01S 15/88 (2013.01); G06F 18/213 (2023.01); G06F 18/2415 (2023.01); G06V 10/82 (2022.01); G06V 20/56 (2022.01)] 15 Claims
OG exemplary drawing
 
1. A method for estimation road surface type using an ultrasonic signal, comprising:
(a) extracting a 1D feature vector through one or more 1D convolutional layers using an input signal derived from a reflection signal in the time domain of the ultrasonic signal reflected from the road surface after being emitted to the road surface;
(b) receiving the 1D feature vector as an input and estimating a probability value for each road surface type in an artificial neural network having one or more layers; and,
(c) determining the road surface type from the estimated probability value for each road surface type.