Road adhesion coefficient estimation method and system based on laser radar

A technology of road surface adhesion coefficient and laser radar, which is applied in the direction of radio wave measurement system, electromagnetic wave re-radiation, instruments, etc., can solve the problem of image quality impact, and achieve a wide range of applicable working conditions, great reference significance, and strong robustness Effect

Active Publication Date: 2022-03-25
TONGJI UNIV
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Problems solved by technology

However, the image quality captured by the camera is highly sensitive to ambient lighting conditions

Method used

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  • Road adhesion coefficient estimation method and system based on laser radar
  • Road adhesion coefficient estimation method and system based on laser radar
  • Road adhesion coefficient estimation method and system based on laser radar

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Experimental program
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Embodiment

[0072] A method for estimating road surface adhesion coefficient based on lidar, such as figure 1 , 2 shown, including the following steps:

[0073] S1: Obtain the point cloud information collected by the vehicle-mounted lidar while the vehicle is driving on different lighting conditions and on different road types.

[0074] In this embodiment, the vehicle-mounted laser radar used by S1 to obtain point cloud information is installed on the roof bracket of the vehicle, and its technical parameters are as follows: the number of lines is not less than 32, the ranging accuracy is not less than 3cm, and the horizontal resolution is not less than 0.2°. The frame rate is not lower than 10Hz. The collection scenes include but are not limited to: clear day, dusk, night with / without street lighting, etc., the range of light intensity is 1×10 -4 ~1×10 5 Lx; The types of road surfaces collected include but are not limited to: dry asphalt, dry concrete, wet asphalt and wet concrete roa...

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Abstract

The invention relates to a road adhesion coefficient estimation method and system based on a laser radar. The method comprises the following steps: S1, acquiring point cloud information acquired by a vehicle-mounted laser radar in vehicle driving under different illumination conditions and different road types; s2, road surface area point cloud in the point cloud information is extracted; s3, establishing a road surface reflection intensity distribution model parameter database based on the reflection intensity probability distribution model parameters of the road surface area point cloud; and S4, obtaining actually measured road surface point cloud data, and performing road surface type identification and adhesion coefficient estimation by using the distribution similarity. Compared with the prior art, the method has the advantages of high estimation precision, strong robustness and the like.

Description

technical field [0001] The invention relates to the field of intelligent vehicle environment perception and motion control, in particular to a method and system for estimating road surface adhesion coefficient based on laser radar. Background technique [0002] Road surface adhesion coefficient is an important parameter in the process of vehicle active safety control. The accuracy of its estimation will greatly affect the control effect. If the current road surface adhesion coefficient can be accurately obtained, the active safety of the vehicle can be effectively improved. [0003] At present, the main research methods can be roughly divided into two categories: one is to estimate the road adhesion coefficient based on the tire dynamic response. The advantage of this approach is that the required hardware conditions are relatively easy to meet. However, the premise of this method to obtain accurate estimation results is that there is a sufficiently large road surface excit...

Claims

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Application Information

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IPC IPC(8): G01N19/04G01S17/88
CPCG01N19/04G01S17/88
Inventor 侯欣辰冷搏熊璐田成曾德全
Owner TONGJI UNIV
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