The invention discloses a method for estimating a road adhesion coefficient in a road passable area based on machine vision and electronic equipment, and the method comprises the steps: firstly carrying out the drivable area segmentation of a road surface according to semantic segmentation, and obtaining a road drivable area data set; then, depth estimation is carried out on a drivable area of a road to obtain depth information, and grid division is carried out; secondly, classifying each grid according to the lightweight classification network, selecting a category corresponding to the maximum number as a final prediction result, and estimating an attachment coefficient corresponding to the final prediction result; the method does not depend on an accurate dynamical model and excitation between the road surface and the tire, high precision is achieved by recognizing the type of the road surface according to the camera and estimating the adhesion coefficient corresponding to the type of the road surface, and the method has very important theoretical research significance for improving the performance of an active safety control system and improving the driving safety of a vehicle.
本发明公开了一种基于机器视觉的道路可通行区域内路面附着系数的估计方法及电子设备,首先根据语义分割对路面进行可行驶区域分割,得到道路可行驶区域数据集;然后对道路可行驶区域进行深度估计得到深度信息,进行网格划分;其次根据轻量化分类网络对每个网格进行分类,将选择与最大数量相对应的类别作为最终预测结果,并估计与之对应的附着系数。本发明不依赖于精确的动力学模型和路面与轮胎之间的激励,而且根据摄像头来识别路面类型并估计与之对应的附着系数具有较高的精度,对于提升主动安全控制系统的性能,提高车辆的行驶安全性具有十分重要的理论研究意义。
Method for estimating road adhesion coefficient in road passable area based on machine vision and electronic equipment
一种基于机器视觉的道路可通行区域内路面附着系数的估计方法及电子设备
2023-09-29
Patent
Elektronische Ressource
Chinesisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / G06V |
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