Abstract
Rapid developments in automatic driving technology have given rise to new experiences for passengers. Safety is a main priority in automatic driving. A strong familiarity with road-surface conditions during the day and night is essential to ensuring driving safety. Existing models used for recognizing road-surface conditions lack the required robustness and generalization abilities. Most studies only validated the performance of these models on daylight images. To address this problem, we propose a novel multi-supervised bidirectional fusion network (MBFN) model to detect weather-induced road-surface conditions on the path of automatic vehicles at both daytime and nighttime. We employed ConvNeXt to extract the basic features, which were further processed using a new bidirectional fusion module to create a fused feature. Then, the basic and fused features were concatenated to generate a refined feature with greater discriminative and generalization abilities. Finally, we designed a multi-supervised loss function to train the MBFN model based on the extracted features. Experiments were conducted using two public datasets. The results clearly demonstrated that the MBFN model could classify diverse road-surface conditions, such as dry, wet, and snowy conditions, with a satisfactory accuracy and outperform state-of-the-art baseline models. Notably, the proposed model has multiple variants that could also achieve competitive performances under different road conditions. The code for the MBFN model is shared at https://zenodo.org/badge/latestdoi/607014079.