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.

    本发明公开了基于V2X与视觉融合的起伏路况识别及车辆控制方法,涉及智能驾驶技术领域,包括五组信号链路,具体步骤为:获取各信号链路的原始路面数据;对V2I、V2V和基于视觉的路面起伏感知探测得到的数据,采用直接式检测法进行处理,依次得到国际平整度指数IRI1、IRI2和IRI3;对基于前车车灯垂向位置跳变数据采用响应式检测法进行处理,得到国际平整度指数IRI4;对不同源头所获取的国际平整度指数进行加权处理,得到最终的国际平整度指数IRIf;结合IRIf及国际平整度指数评价指标,对当前的行驶速度或行驶轨迹进行优化调整,提高起伏路面下行车的安全性和舒适性。


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    Title :

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


    Additional title:

    基于V2X与视觉融合的起伏路况识别及车辆控制方法


    Contributors:
    SHI XINGLING (author) / CHEN YINGJIAN (author) / TAN JIE (author) / CHEN CHEN (author) / WANG LEI (author)

    Publication date :

    2022-05-13


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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