Measurement and control method for balance car system based on camera road surface detection

Abstract

The invention discloses a balance car system measurement and control method based on camera pavement detection. Through a method for utilizing a camera to conduct gradient differential on LBP texture feature statistical information in an acquired pavement image, pavement texture distribution is obtained through a camera, and through the cooperation of a filtering before and after comparison difference of an inertial sensor, the pavement texture distribution and the filtering before and after comparison difference are weighted and summed to solve estimation of a normalized pavement disease degree and are finally used for improving an inertial sensor calculation system of a balance car, a Kalman filter is subjected to self-adaptive change in real time to achieve a more precise prediction angle, and meanwhile, a motor control strategy is selected according to a camera feedback value. Through the adoption of the balance car system measurement and control method based on the camera pavement detection, the pavement bump disease degree can be estimated and calculated, the convergence and precision of Kalman prediction are optimized by introducing vision, and a more stable motor control strategy is obtained; meanwhile, visual information acquired by a visual sensor can be further stored to meet a manual analysis or early warning processing requirement, human-computer interaction is enhanced, and the overall safety is improved.

Description

technical field

[0001] The invention relates to the technical field of balancing car measurement and control, in particular to a method for measuring and controlling a balancing car system based on camera road surface detection. Background technique

[0002] With the rapid development of the self-balancing vehicle market, a large number of inferior products are pouring out of the market, and safety accidents continue to occur frequently. It is very important to improve the robustness and practical range of the self-balancing vehicle control system. As one of the key technologies in balance control, vehicle attitude measurement determines whether the vehicle can achieve accurate balance.

[0003] At present, the manned self-balancing vehicles sold on the market or developed by research institutes are all modified and adjusted on the basis of traditional inertial sensors, and they have never been able to break through the limitations of a single sensor in measuring and calcula...

Images