To address critical limitations in conventional forward collision warning (FCW) systems including inadequate road condition detection accuracy, significant warning area prediction errors, and poor environmental adaptability on wet/snow-covered roads, this study develops an adaptive collision warning framework based on real-time road slippery states recognition. An enhanced ED-ResNet50 model is proposed, incorporating grouped convolutions within the backbone network and embedding ECA attention mechanisms after the second/third residual blocks alongside DDS-DA modules after the fourth block, significantly improving discriminative capability for pavement texture analysis under adverse conditions. This vision-based recognition system synchronizes with YOLOv8 for preceding vehicle detection, enabling the construction of a friction-sensitive safety distance and the time-to-collision model that dynamically calibrates warning thresholds according to instantaneous vehicle velocity and road adhesion coefficients. Real-vehicle validation demonstrates an 8.76% improvement in overall warning accuracy and 7.29% reduction in lateral and early false alarm rates compared to static-threshold systems, confirming practical efficacy for safety assurance in inclement weather.
Cheng et al. (Sat,) studied this question.