The invention provides a vehicle pavement height recognition system based on binocular vision, which belongs to the technical field of vision system design, and comprises the following steps: step 1,acquiring and calibrating distance information of each point of a road surface through a binocular camera; step 2, calculating height information of the road surface according to the geometrical relationship between the binocular camera and the road surface and the distance information of each point of the road surface; step 3, wiressly sending the calculated pavement height information to a suspension controller through a communication program; A stereo matching step comprises determining a matching constraint criterion, matching a cost function and calculating parallax; A binocular stereo vision measurement and control method is utilized, and pavement height information obtained by calculating distance information is wirelessly transmitted to the suspension controller through a communication program, so that the suspension performance is further improved, and binocular stereo vision and a controllable suspension system are effectively combined; the problem of time lag between a controller and an actuator in a suspension system is solved.

    本发明提供了一种基于双目视觉的车辆路面高度识别系统,属于视觉系统设计技术领域,包括以下步骤:步骤1、通过双目相机采集和标定确定路面各点的距离信息;步骤2、根据双目相机与路面的几何关系和路面各点的距离信息计算路面的高度信息;步骤3、将计算出的路面高度信息通过通信程序无线传输给悬架控制器;立体匹配步骤包括确定匹配约束准则、匹配代价函数和计算视差;本发明利用双目立体视觉的测控量方法,并通过将距离信息计算得来的路面高度信息通过通信程序无线传输给悬架控制器来进一步的改善悬架性能,将双目立体视觉与可控悬架系统有效的结合起来,解决了悬架系统中控制器与执行器之间存在的时滞现象问题。


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    Title :

    Vehicle pavement height recognition system based on binocular vision


    Additional title:

    一种基于双目视觉的车辆路面高度识别系统


    Contributors:
    BAI RUI (author) / GUAN RUI (author) / WANG HEBIN (author)

    Publication date :

    2020-11-17


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge



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