ステレオカメラを用いたプレビューサスペンション制御のための路面変位推定

抄録

An active suspension system with preview control is important to enhance ride-quality and driving stability. The main problem with preview control is difficult to obtain road displacement in front of the ego-vehicle. In this paper, we propose a road displacement estimation method for preview suspension control by Using Stereo Camera. In particular, to obtain the road displacement, we reconstruct a 3D point cloud on road surface using stereo matching method which is SGBM (Semi-global block matching) and estimate 3D road displacement form the 3D point cloud on road by using road grid. Considering the 3D road displacement data acquired from different time, we enhance the estimation accuracy by using point cloud registration method which is ICP (iterative closest point). Finally, we present several simulation result of preview suspension control to evaluate an effectiveness the proposed estimation method.