The acquisition of information about the road terrain helps to improve the passengers' safety and comfort when a vehicle runs on different road terrains. Different road terrains have significant impacts on the driving acceleration

braking and manipulation of vehicle. A machine learning-based recognition method is proposed

which is to recognize the road terrain by fusing the feature data from accelerometer and camera. The road profile is estimated by using acceleration and vehicle speed data. The spatial features are extracted from the road profile for terrain classification. The texture features extracted from terrain images captured by a camera are used for the same classification task. And the task of recognition of road terrain is accomplished by fusing the data features from two sensor data sets. The experimental results show that the proposed method is used to improve the accuracy of road terrain recognition

and the reliability and comfort of passengers in vechile. Key