Active suspension control method under vehicle-mounted visual perception

An active suspension control method under vehicle-mounted visual perception preview, comprising steps of:

• S1:
• training a target identification model:
• using a YOLOV5 target detection algorithm to identify an instantaneous road surface excitation of a speed bump;
• S2:
• obtaining road surface information:
• using a binocular camera and combining with the target identification model that has been trained in S1, performing contour fitting on an identified target, obtaining an actual height xf of the target through internal and external parameters of the camera, and calculating an actual distance S of the target with a binocular ranging algorithm;
• S3:
• designing a controller:
• using the excitation information detected in S2, designing a state feedback-based preview H∞ controller,
• wherein the step S2 comprises:
• installing the binocular camera in front of the vehicle, and using the YOLOV5 model trained in S1 to perform target identification and determine when there is a speed bump ahead;
• when there is the speed bump ahead, extracting the target and using the Canny edge detection algorithm to detect the edge of the speed bump, and using the findContours function in OpenCV to extract the contour of the object, and converting a scale of the fitting object contour in the image to a scale in a real world to obtain the actual height xf of the target;
• detecting feature points on the road surface image by using a SIFT image processing algorithm, and obtaining corresponding feature point pairs in the image by a RANSAC matching algorithm;
• calculating a parallax value xh−xt of the image based on the found feature point pairs, and obtaining the actual distance S based on a triangle similarity principle, as follows:
• L
• -
• (
• x
• h
• -
• x
• t
• )
• L
• =
• S
• -
• f
• S
• (
• 1
• )
• S
• =
• fL
• x
• h
• -
• x
• t
• (
• 2
• )
• wherein L is a center distance between left and right cameras of the binocular camera, and f is a focal length of the camera.