Fluctuating road condition recognition and vehicle control method based on V2X and visual fusion

Abstract

The invention discloses a fluctuating road condition recognition and vehicle control method based on V2X and visual fusion, and relates to the technical field of intelligent driving, the method comprises five groups of signal links, and the specific steps are as follows: obtaining original road surface data of each signal link; processing the data obtained by the V2I, the V2V and the road surface fluctuation perception detection based on the vision by adopting a direct detection method to sequentially obtain international flatness indexes IRI1, IRI2 and IRI3; processing the jumping data based on the vertical position of the front vehicle lamp by adopting a response type detection method to obtain an international flatness index IRI4; weighting the international flatness indexes obtained from different sources to obtain a final international flatness index IRIf; in combination with IRIf and international flatness index evaluation indexes, the current driving speed or driving track is optimized and adjusted, and the safety and comfort of driving on the undulating road surface are improved.

Description

technical field [0001] The invention relates to the technical field of intelligent driving, in particular to a method for recognizing undulating road conditions and vehicle control based on V2X and vision fusion. Background technique [0002] With the evolution and development of intelligent driving technology, high-level intelligent driving requires more and more full scene coverage. Steep and deep pits are often seen on road sections where heavy vehicles pass by or where road maintenance is not timely. Deep pits. These undulating roads pose a great threat and impact on driving safety and comfort, especially in the dark night when the pits are filled with rain, without effective sensing means, it is easy to cause uncomfortable ups and downs, extreme working conditions It may cause damage to the chassis and tires of the vehicle; [0003] The current technology to deal with road undulations is mainly divided into two categories: one is the suspension adjustment technology ...

AI Technical Summary

Problems solved by technology

These undulating roads pose a great threat and impact on driving safety and comfort, especially in the dark night when the pits are filled with rain, without effective sensing means, it is easy to cause uncomfortable ups and downs, extreme working conditions It may cause damage to the chassis and tires of the vehicle;

[0003] The current technology to deal with road undulations is mainly divided into two categories: one is the suspension adjustment technology based on passive road condition perception; but due to its passive perception characteristics, the system can only be activated when it touches the undulating road surface, and the response lags behind , in some extreme pothole road conditions, even if the vehicle deceleration is triggered, the violent bumps and even damage of the own vehicle cannot be avoided; the other type is the self-vehicle control technology based on active safety and advanced perception of road conditions; The detection performance of pits and potholes needs to be improved, especially when driving on rainy nights with poor visibility, it is still difficult to cope with the visual perception of potholes full of water, and this type of technology is also limited by sensor performance; in order to solve For the above problems, the present invention provides a method for undulating road condition recognition and vehicle control based on V2X and visual fusion

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