Active obstacle avoidance control of intelligent vehicle based on pothole detection
1. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, Jiangsu 212013, China; 2. Department of Computer and Information Science, University of MichiganDearborn, Dearborn, Michigan MI 48128, USA
Abstract: To obtain the road potholes condition timely and effectively for improving the driving safety of intelligent vehicles, the non-contact pothole detection method and the active obstacle avoidance control algorithm were designed based on road pothole detection. The road pothole features were extracted by multi-sensor fusion technology, and area calculation and contour extraction of road potholes were conducted based on visual images. By single point ranging laser radar, the pothole depth was measured. The vehicle model and the road pothole model were built by Adams. According to the evaluation index of human comfort, the limit speeds for different size potholes were determined. The active obstacle avoidance algorithm of road pothole was designed based on the fuzzy control theory. The Simulink/Carsim co-simulation was carried out to verify the algorithm. The results show that the algorithm can meet the system design requirements for controlling the vehicle to safely and comfortably pass through the road potholes and effectively reduce the accident rate of vehicles under dangerous conditions.
袁朝春, 王俊娴, 何友国, JIE Shen, 陈龙, 翁烁丰. 基于路面坑洞检测的智能汽车主动避障控制[J]. 江苏大学学报(自然科学版), 2022, 43(5): 504-511.
YUAN Chaochun, WANG Junxian, HE Youguo, JIE Shen, CHEN Long, WENG Shuofeng. Active obstacle avoidance control of intelligent vehicle based on pothole detection[J]. Journal of Jiangsu University(Natural Science Eidtion)
, 2022, 43(5): 504-511.
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