Detection of Water on Road Surface with Acoustic Vector Sensor

This paper presents a new approach to detecting the presence of water on a road surface, employing an acoustic vector sensor. The proposed method is based on sound intensity analysis in the frequency domain. Acoustic events, representing road vehicles, are detected in the sound intensity signals. The direction of the incoming sound is calculated for the individual spectral components of the intensity signal, and the components not originating from the observed road section are discarded. Next, an estimate of the road surface state is calculated from the sound intensity spectrum, and the wet surface detection is performed by comparing the estimate with a threshold. The proposed method was evaluated using sound recordings made in a real-world scenario, and the algorithm results were compared with data from a reference device. The proposed algorithm achieved 89% precision, recall and F₁ score, and it outperforms the traditional approach based on sound pressure analysis. The test results confirm that the proposed method may be used for the detection of water on the road surface with acoustic sensors as an element of a smart city monitoring system.