The invention discloses a suspension preview control method based on a binocular vision technology. The suspension preview control method comprises the following steps: S1, acquiring a pavement image in a driving direction in front of a vehicle in real time; S2, identifying the road surface image by using a target detection algorithm, and judging whether a deceleration strip or pit instantaneous road surface excitation exists or not; S3, obtaining a parallax error by combining a stereo matching algorithm with the position information of the deceleration strip or the pit; S4, estimating the distance of the deceleration strip or the pit according to a binocular distance measurement algorithm in combination with the internal and external parameters of the binocular camera and the parallax value, and calculating the time when the vehicle arrives at the deceleration strip or the pit by the vehicle ECU according to the vehicle speed information; S5, designing a suspension preview controller according to a model predictive control principle, and switching to the suspension preview controller in advance before the estimated time when the vehicle arrives at the deceleration strip or the pit. The invention further provides a suspension control device. According to the invention, the arrangement condition of the suspension of the vehicle is matched with the driving condition of the vehicle, and the driving comfort and safety of the vehicle are improved.
基于双目视觉技术的悬架预瞄控制方法,包括步骤S1:实时获取车辆前方行驶方向上的路面图像;步骤S2:利用目标检测算法对路面图像进行识别,判断是否有减速带或者凹坑瞬时路面激励;步骤S3:利用立体匹配算法结合减速带或者凹坑的位置信息得到视差;步骤S4:根据双目测距算法结合双目相机内外参数与视差值估算出减速带或者凹坑的距离,车辆ECU根据车速信息计算车辆到达减速带或者凹坑的时间;步骤S5:根据模型预测控制原理设计悬架预瞄控制器,在车辆抵达减速带或者凹坑的预估时间之前提前切换到悬架预瞄控制器。本发明还提供一种悬架控制装置。本发明使得车辆的悬架设置状况与车辆行驶状况相匹配,提高了车辆行驶的舒适性和安全性。
Suspension preview control method and suspension control device based on binocular vision technology
基于双目视觉技术的悬架预瞄控制方法及悬架控制装置
2021-07-23
Patent
Elektronische Ressource
Chinesisch
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
Active Suspension With Preview Control
British Library Conference Proceedings | 1994
|Active Suspension With Preview Control
Taylor & Francis Verlag | 1994
|Active suspension with preview control
Kraftfahrwesen | 1994
|Optimal preview control of vehicle suspension
Tema Archiv | 1976
|Hybrid electromagnetic suspension control system based on binocular camera
Europäisches Patentamt | 2023
|