Abstract
Most of the studies on vehicle control and stability are based on cases of known-road lateral slope, while there are few studies on road lateral-slope estimation. In order to provide reliable information on slope parameters for subsequent studies, this paper provides a method of structured-road lateral-slope estimation based on machine vision. The relationship between the road lateral slope and the tangent slope of the lane line can be found out according to the image-perspective principle; then, the coordinates of the pre-scan point are obtained by the lane line, and the tangent slope of the lane line is used to obtain a more accurate estimation of the road lateral slope. In the implementation process, the lane-line feature information in front of the vehicle is obtained according to machine vision, the lane-line function is fitted according to an SCNN (Spatial CNN) algorithm, then the lateral slope is calculated by using the estimation formula mentioned above. Finally, the road model and vehicle model are established by Prescan software for off-line simulation. The simulation results verify the effectiveness and accuracy of the method.
Highlights
Lateral Slope of Structured Roads.With the gradual development of vehicle intelligence, the control requirements for vehicles are becoming more and more refined
Road curves tend to cause a high incidence of traffic accidents, and related reports indicate that the number of accidents and fatalities on curved road sections has increased year by year among traffic accidents that have occurred in recent years [1]
This paper firstly introduces a linear road as the research object for problem analysis, finds out the method for estimating the lateral slope of a small-curvature-radius road
Summary
Measured the lateral slope by designing a linear two-degree-of-freedom dynamics model with an unknown-parameter slip-film observer, but this method requires solving for cases wherein the pavement friction coefficient is known. This paper firstly introduces a linear road as the research object for problem analysis, finds out the method for estimating the lateral slope of a small-curvature-radius road It verifies the accuracy of the algorithm by using a Prescan modeling simulation and analyzes the error of the experimental results
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