System for predicting ramp gradient and slope length in advance by using on-board pulsed laser radar

Abstract

The invention discloses a system for predicting slope gradient and slope length in advance by using on-board pulsed laser radar. The system comprises a hardware system and a software system. The hardware system comprises an on-board pulsed laser radar, a rotary joint system, a single-chip microcomputer, a Y-shaped support, a vehicle speed sensor, a tire pressure sensor and a display. The softwaresystem includes a filter module, a pulsed laser radar control module, a rotary joint control module, a ramp prediction mode selection module, a gradient and slope length calculation module and a gradient and slope length value selection module. In a dynamic working condition of a vehicle, the system can realize prediction of gradient and slope length of a single ramp and a continuous ramp in advance, and accuracy is high, and calculation capability on a processor is low. Weight of the pulsed laser radar is light, volume is small, and the system is simple in operation and fast in speed.

Description

technical field [0001] The invention relates to the field of intelligent transportation, in particular to a system for predicting the gradient and length of a slope in advance by using a vehicle-mounted pulse laser radar. Background technique [0002] Slope prediction is one of the key technologies in advanced automotive technology, and is an important part of smart cars and autonomous driving technologies, such as anti-lock braking system (ABS), electronic automatic transmission technology (AMT), adaptive Accurate slope information is required in cruise control (ACC), direct shift transmission technology (DSG), hill start assist (HAC) and hill descent control (HDC). At present, in China, the slope of the ramp is estimated based on the fusion of multi-sensor information and the corresponding algorithm. Theoretically, this method is to measure the slope of the slope in real time. The disadvantage is that the slope length of the slope cannot be obtained. At the same time, due...

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Problems solved by technology

These methods can meet the real-time requirements. At the same time, the reliability of the data obtained by the on-board sensors is high, and the system cost is low. However, the accuracy and real-time performance of slope observation depend on the accuracy and complexity of the selected dynamic model, and the relevant parameters in the dynamics are difficult to obtain. To obtain accurate values, there is a lack of vehicle dynamics models under complex working conditions, so the method of obtaining slopes based on dynamic parameters is complex in principle and poor in accuracy

[0008] Now most researchers focus on real-time measurement of slope, but due to objective reasons, the delay is obvious

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