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 |
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.
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