Vehicle pavement height recognition system based on binocular vision

Abstract

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.

Description

technical field [0001] The invention belongs to the technical field of visual system design, in particular to a vehicle road height recognition system based on binocular vision. Background technique [0002] With the development of the national economy, my country's vehicle industry is developing rapidly, and people's requirements for the performance of vehicles are constantly improving. Since the suspension system plays a great role in improving the ride comfort and operation stability of the vehicle, people's research on the suspension system is deepening day by day. Suspension system has developed from uncontrollable suspension to controllable suspension system, at the same time a variety of control algorithms are also applied to controllable suspension system. Although the above research can greatly improve the performance of the suspension system, due to the high-speed movement of the vehicle during driving and the constant change of the road surface excitation, the ti...

AI Technical Summary

Problems solved by technology

Although the above research can greatly improve the performance of the suspension system, due to the high-speed movement of the vehicle during driving, the road excitation is constantly changing, and the time lag between the controller and the actuator hinders the further improvement of the suspension performance.

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