{"id":"https://openalex.org/W4365420262","doi":"https://doi.org/10.1109/tits.2023.3264588","title":"A Comprehensive Implementation of Road Surface Classification for Vehicle Driving Assistance: Dataset, Models, and Deployment","display_name":"A Comprehensive Implementation of Road Surface Classification for Vehicle Driving Assistance: Dataset, Models, and Deployment","publication_year":2023,"publication_date":"2023-04-12","ids":{"openalex":"https://openalex.org/W4365420262","doi":"https://doi.org/10.1109/tits.2023.3264588"},"language":"en","primary_location":{"id":"doi:10.1109/tits.2023.3264588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3264588","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5103068867","display_name":"Tong Zhao","orcid":"https://orcid.org/0000-0003-4119-7981"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Tong Zhao","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028717817","display_name":"Junxiang He","orcid":"https://orcid.org/0009-0002-1736-9923"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Junxiang He","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5041724551","display_name":"Jingcheng Lv","orcid":"https://orcid.org/0000-0003-3622-9643"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jingcheng Lv","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029152964","display_name":"Delei Min","orcid":"https://orcid.org/0000-0001-5110-6954"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Delei Min","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100722062","display_name":"Yintao Wei","orcid":"https://orcid.org/0000-0003-0673-9095"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yintao Wei","raw_affiliation_strings":["State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China"],"affiliations":[{"raw_affiliation_string":"State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, China","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5103068867"],"corresponding_institution_ids":["https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":8.7847,"has_fulltext":false,"cited_by_count":78,"citation_normalized_percentile":{"value":0.98574172,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":100},"biblio":{"volume":"24","issue":"8","first_page":"8361","last_page":"8370"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11099","display_name":"Autonomous Vehicle Technology and Safety","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10036","display_name":"Advanced Neural Network Applications","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11606","display_name":"Infrastructure Maintenance and Monitoring","score":0.9991999864578247,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/road-surface","display_name":"Road surface","score":0.7591642141342163},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7433363199234009},{"id":"https://openalex.org/keywords/convolutional-neural-network","display_name":"Convolutional neural network","score":0.6967189311981201},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5603078603744507},{"id":"https://openalex.org/keywords/advanced-driver-assistance-systems","display_name":"Advanced driver assistance systems","score":0.546920120716095},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5341262817382812},{"id":"https://openalex.org/keywords/software-deployment","display_name":"Software deployment","score":0.5333554744720459},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5324555039405823},{"id":"https://openalex.org/keywords/self-driving","display_name":"Self driving","score":0.4477986693382263},{"id":"https://openalex.org/keywords/deep-learning","display_name":"Deep learning","score":0.4379594326019287},{"id":"https://openalex.org/keywords/artificial-neural-network","display_name":"Artificial neural network","score":0.4178042411804199},{"id":"https://openalex.org/keywords/motion-planning","display_name":"Motion planning","score":0.41216039657592773},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.34028393030166626},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3356148898601532},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.32990533113479614},{"id":"https://openalex.org/keywords/transport-engineering","display_name":"Transport engineering","score":0.23523634672164917},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.07921433448791504}],"concepts":[{"id":"https://openalex.org/C2780042925","wikidata":"https://www.wikidata.org/wiki/Q1049667","display_name":"Road surface","level":2,"score":0.7591642141342163},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7433363199234009},{"id":"https://openalex.org/C81363708","wikidata":"https://www.wikidata.org/wiki/Q17084460","display_name":"Convolutional neural network","level":2,"score":0.6967189311981201},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5603078603744507},{"id":"https://openalex.org/C87833898","wikidata":"https://www.wikidata.org/wiki/Q1060280","display_name":"Advanced driver assistance systems","level":2,"score":0.546920120716095},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5341262817382812},{"id":"https://openalex.org/C105339364","wikidata":"https://www.wikidata.org/wiki/Q2297740","display_name":"Software deployment","level":2,"score":0.5333554744720459},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5324555039405823},{"id":"https://openalex.org/C3018391801","wikidata":"https://www.wikidata.org/wiki/Q741490","display_name":"Self driving","level":2,"score":0.4477986693382263},{"id":"https://openalex.org/C108583219","wikidata":"https://www.wikidata.org/wiki/Q197536","display_name":"Deep learning","level":2,"score":0.4379594326019287},{"id":"https://openalex.org/C50644808","wikidata":"https://www.wikidata.org/wiki/Q192776","display_name":"Artificial neural network","level":2,"score":0.4178042411804199},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.41216039657592773},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.34028393030166626},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3356148898601532},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.32990533113479614},{"id":"https://openalex.org/C22212356","wikidata":"https://www.wikidata.org/wiki/Q775325","display_name":"Transport engineering","level":1,"score":0.23523634672164917},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.07921433448791504},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C147176958","wikidata":"https://www.wikidata.org/wiki/Q77590","display_name":"Civil engineering","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/tits.2023.3264588","is_oa":false,"landing_page_url":"https://doi.org/10.1109/tits.2023.3264588","pdf_url":null,"source":{"id":"https://openalex.org/S144771191","display_name":"IEEE Transactions on Intelligent Transportation Systems","issn_l":"1524-9050","issn":["1524-9050","1558-0016"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Transactions on Intelligent Transportation Systems","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.550000011920929,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":42,"referenced_works":["https://openalex.org/W1966252461","https://openalex.org/W2087202281","https://openalex.org/W2150066425","https://openalex.org/W2340897893","https://openalex.org/W2520774990","https://openalex.org/W2552434828","https://openalex.org/W2587302915","https://openalex.org/W2605102252","https://openalex.org/W2613147492","https://openalex.org/W2613420840","https://openalex.org/W2743392790","https://openalex.org/W2762260119","https://openalex.org/W2792484365","https://openalex.org/W2798987418","https://openalex.org/W2799724138","https://openalex.org/W2897619297","https://openalex.org/W2900586385","https://openalex.org/W2903952299","https://openalex.org/W2912187427","https://openalex.org/W2948301729","https://openalex.org/W2955425717","https://openalex.org/W2965435055","https://openalex.org/W2972813946","https://openalex.org/W2978787066","https://openalex.org/W3000984398","https://openalex.org/W3015793035","https://openalex.org/W3026508739","https://openalex.org/W3046324382","https://openalex.org/W3090012269","https://openalex.org/W3105842203","https://openalex.org/W3123281265","https://openalex.org/W3126103404","https://openalex.org/W3146798188","https://openalex.org/W3211249422","https://openalex.org/W3217645262","https://openalex.org/W4213052444","https://openalex.org/W4226343909","https://openalex.org/W4286776321","https://openalex.org/W4312885504","https://openalex.org/W4394441037","https://openalex.org/W6726946684","https://openalex.org/W6762718338"],"related_works":["https://openalex.org/W3047375952","https://openalex.org/W4288634015","https://openalex.org/W3138110502","https://openalex.org/W2909676666","https://openalex.org/W4317418752","https://openalex.org/W3034764119","https://openalex.org/W4389000068","https://openalex.org/W4205888618","https://openalex.org/W4310220423","https://openalex.org/W4226075194"],"abstract_inverted_index":{"The":[0,130],"prior":[1],"monitoring":[2],"of":[3,115,155],"the":[4,95,106,113,116,120,126,141,151,156],"road":[5,57,67,135],"surface":[6,20,58,136],"conditions":[7],"provides":[8],"valuable":[9],"information":[10],"to":[11,111],"vehicle":[12],"trajectory":[13],"planning":[14],"and":[15,45,71,88,144,153],"active":[16],"control":[17],"systems.":[18],"Road":[19],"perception":[21],"with":[22,65],"vision":[23],"sensors":[24],"is":[25,92],"an":[26,41],"emerging":[27],"technology":[28],"that":[29],"has":[30,161],"recently":[31],"gained":[32],"much":[33],"attention.":[34],"However,":[35],"there":[36],"are":[37,123],"few":[38],"reports":[39],"on":[40,94,105,125],"exhaustive":[42],"technical":[43,158],"scheme":[44],"application":[46],"practice":[47],"for":[48,133,167],"driving":[49,168],"assistance.":[50,169],"This":[51],"study":[52],"first":[53],"creates":[54],"a":[55,84,100],"large-scale":[56],"image":[59],"dataset":[60],"containing":[61],"one":[62],"million":[63],"samples":[64],"detailed":[66],"friction":[68],"level,":[69],"material,":[70],"unevenness":[72],"level":[73],"annotations.":[74],"A":[75],"convolutional":[76],"neural":[77],"network":[78],"(CNN)":[79],"classification":[80,117],"model":[81,143],"constrained":[82],"by":[83,140],"combined":[85],"loss":[86],"function":[87],"adapted":[89],"optimization":[90],"strategies":[91],"trained":[93],"dataset.":[96],"Then":[97],"we":[98],"propose":[99],"decision-level":[101],"fusion":[102],"method":[103],"based":[104],"improved":[107],"Dempster-Shafer":[108],"evidence":[109],"theory":[110],"enhance":[112],"robustness":[114],"algorithm.":[118],"Finally,":[119],"developed":[121,157],"models":[122],"deployed":[124],"embedded":[127],"hardware":[128],"platform.":[129],"top-1":[131],"accuracy":[132],"classifying":[134],"images":[137],"reaches":[138],"92.05%":[139],"CNN":[142],"97.50%":[145],"after":[146],"fusion.":[147],"Onboard":[148],"experiments":[149],"illustrate":[150],"advantage":[152],"superiority":[154],"framework,":[159],"which":[160],"excellent":[162],"potential":[163],"in":[164],"real-vehicle":[165],"applications":[166]},"counts_by_year":[{"year":2026,"cited_by_count":7},{"year":2025,"cited_by_count":28},{"year":2024,"cited_by_count":39},{"year":2023,"cited_by_count":4}],"updated_date":"2026-03-21T08:13:44.787528","created_date":"2025-10-10T00:00:00"}