The invention relates to an end-to-end cross-country ground feature prediction method based on suspension
stroke decoupling, belongs to the technical field of
data prediction, and solves the problem of inaccurate ground feature prediction caused by low accuracy of extracted features in the prior art. Comprising the following steps: acquiring and preprocessing environment information and vehicle body response information, splicing multi-frame
point cloud data in the environment information by using an SLAM method, and projecting the multi-frame
point cloud data into a BEV map; extracting a plurality of statistics of the vehicle body response information as vehicle body
response characteristics, wherein the suspension
stroke in the vehicle body response information is the suspension
stroke of each suspension point after stroke decoupling; constructing a sample set according to the preprocessed camera
mask image, BEV map and vehicle body
response characteristics in the environment information, and training a multi-
branch fusion classification network; and acquiring a camera
mask image, a BEV map and a vehicle body response characteristic at the current moment, transmitting the camera
mask image, the BEV map and the vehicle body response characteristic into the trained multi-
branch fusion prediction network, and predicting a road
material type and a bumping degree grade at the next moment. And accurate prediction of off-road ground features at future moments is realized.