US 12,441,303 B2
Systems and method for controlling driver assistance features of a vehicle based on images of a road surface condition
Cody D. Kuepfer, Westlake, OH (US)
Assigned to Bendix Commercial Vehicle Systems LLC, Avon, OH (US)
Filed by Bendix Commercial Vehicle Systems LLC, Avon, OH (US)
Filed on Nov. 30, 2022, as Appl. No. 18/072,217.
Prior Publication US 2024/0174218 A1, May 30, 2024
Int. Cl. B60W 30/09 (2012.01); B60W 30/14 (2006.01); B60W 60/00 (2020.01); G06V 20/56 (2022.01)
CPC B60W 30/09 (2013.01) [B60W 30/14 (2013.01); B60W 60/001 (2020.02); G06V 20/588 (2022.01); B60W 2420/403 (2013.01); B60W 2510/18 (2013.01); B60W 2552/05 (2020.02); B60W 2552/40 (2020.02); B60W 2555/20 (2020.02); B60W 2710/18 (2013.01); B60W 2720/10 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A system comprising:
a memory;
an imaging device positioned in a vehicle that is configured to generate images of a surface in front of the vehicle; and
at least one processor configured to execute instructions stored in the memory and to:
determine a vehicle trajectory condition based on images of the surface in front of the vehicle generated by the imaging device;
when the vehicle trajectory condition is determined to be a first condition based on the images, operate a driver assistance system of the vehicle with a first set of feature cascades, where the at least one processor is configured to determine that the vehicle trajectory condition is the first condition when the images of the surface in front of the vehicle indicate that the surface is dry asphalt; and
when the vehicle trajectory condition is determined to be a second condition based on the images, operate the driver assistance system of the vehicle with a second set of feature cascades, wherein the first set of feature cascades is different from the second set of feature cascades, wherein the at least one processor is configured to determine that the vehicle trajectory condition is the second condition when the images of the surface in front of the vehicle indicate that the surface is at least one of dry dirt, wet asphalt, gravel, wet dirt, snow, or ice;
wherein when the at least one processor determines that the vehicle trajectory condition is the second condition, the at least one processor is further configured to:
determine a friction coefficient of the surface based on the images and vehicle braking information; and
modify one or more feature cascades based on the determined friction coefficient of the surface.