DE102013207147A1 - Road surface profile detecting system for motor car, has time-of-flight cameras which detect road surface profile and determine distance and dimension of irregularities in overlapping monitored areas of cameras - Google Patents
Road surface profile detecting system for motor car, has time-of-flight cameras which detect road surface profile and determine distance and dimension of irregularities in overlapping monitored areas of cameras Download PDFInfo
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- DE102013207147A1 DE102013207147A1 DE201310207147 DE102013207147A DE102013207147A1 DE 102013207147 A1 DE102013207147 A1 DE 102013207147A1 DE 201310207147 DE201310207147 DE 201310207147 DE 102013207147 A DE102013207147 A DE 102013207147A DE 102013207147 A1 DE102013207147 A1 DE 102013207147A1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
- G01S17/36—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated with phase comparison between the received signal and the contemporaneously transmitted signal
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/015—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements
- B60G17/019—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load the regulating means comprising electric or electronic elements characterised by the type of sensor or the arrangement thereof
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
- G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/80—Exterior conditions
- B60G2400/82—Ground surface
- B60G2400/823—Obstacle sensing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2401/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60G2401/14—Photo or light sensitive means, e.g. Infrared
- B60G2401/142—Visual Display Camera, e.g. LCD
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/35—Road bumpiness, e.g. pavement or potholes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2400/00—Special features of vehicle units
- B60Y2400/30—Sensors
- B60Y2400/301—Sensors for position or displacement
- B60Y2400/3015—Optical cameras
Abstract
Description
Die Erfindung betrifft ein System und ein Verfahren zur Erfassung der Fahrbahnoberfläche mit einer Lichtlaufzeitkamera. The invention relates to a system and a method for detecting the road surface with a light time camera.
Aus der
Aus der
Die
Als Tiefenbildkamera wird insbesondere eine PMD-Lichtlaufzeitkamera vorgeschlagen, , wie sie u.a. in den Anmeldungen
Aufgabe der Erfindung ist es, ein System zur Erfassung einer Fahrbahnprofilierung zu verbessern. The object of the invention is to improve a system for detecting a roadway profiling.
Die Aufgabe wird in vorteilhafter Weise durch das erfindungsgemäße System und ein Verfahren zur Erfassung eines Fahrbahnprofils gelöst, indem an einer Vorderseite eines Fahrzeugs mindestens eine Lichtlaufzeitkamera angeordnet ist. Ein mit der Lichtlaufzeitkamera verbundenes Steuergerät ist ferner derart ausgestaltet, dass anhand der Daten der Lichtlaufzeitkamera ein Fahrbahnprofil und/oder Abstände und Abmessungen von Unebenheiten ermittelt und auf dieser Grundlage Komponenten des Fahrzeugs angesteuert werden. The object is achieved in an advantageous manner by the system according to the invention and a method for detecting a roadway profile by arranging at least one light cycle camera on a front side of a vehicle. A control device connected to the time of flight camera is further designed in such a way that, based on the data of the time of flight camera, a roadway profile and / or distances and dimensions of unevenness are determined and components of the vehicle are driven on this basis.
Der Einsatz einer Lichtlaufzeitkamera hat den Vorteil, dass nicht nur eine Abmessung eines Objekts bzw. Unebenheit auf der Fahrbahn erfasst werden kann, sondern zugleich auch ein Abstand und durch Aufnahme von aufeinander folgenden Bildern auch eine Geschwindigkeit des Objekts. So ist es möglich, ohne weitere Sensorik störende Unebenheiten allein aufgrund der Informationen der Lichtlaufzeitkamera zu identifizieren. The use of a light runtime camera has the advantage that not only a dimension of an object or unevenness on the roadway can be detected, but at the same time a distance and by taking successive images and a speed of the object. It is thus possible to identify disturbing unevenness on the basis of information from the light-time camera alone without further sensors.
Vorteilhaft sind insbesondere zwei Lichtlaufzeitkameras vorgesehen, deren Erfassungsbereich zumindest soweit überlappen, dass von jeder Lichtlaufzeitkamera beide Fahrspuren überwacht werden können. In particular, two light cycle cameras are advantageously provided whose coverage area overlap at least to the extent that each lane-time camera can monitor both lanes.
Insbesondere ist es von Vorteil, wenn das Steuergerät derart ausgelegt ist, dass die Abstände und Abmessungen von Unebenheiten anhand von Distanzwerten und einer Disparität beider Lichtlaufzeitkameras ermittelt werden. Durch diese vorteilhafte Ausnutzung einer Diversität der Ermittlung von Entfernungsdaten kann die Zuverlässigkeit der Abstand- und Abmessungsbestimmung der Unebenheiten weiter verbessert werden. In particular, it is advantageous if the control unit is designed in such a way that the distances and dimensions of irregularities are determined on the basis of distance values and a disparity of the two time-of-flight cameras. By this advantageous utilization of a diversity of the determination of distance data, the reliability of the distance and dimension determination of the unevenness can be further improved.
In weiteren Ausgestaltungen ist es vorgesehen, zwei oder gegebenenfalls auch vier Lichtlaufzeitkameras im vorderen Bereich des Fahrzeugs vorzusehen, die jeweils paarweise eine Fahrspur eines Rades vorausschauend erfassen. Bei der Variante mit vier Lichtlaufzeitkameras erfassen eine erste und zweite Fernbereichslichtlaufzeitkamera in der ihnen zugeordneten Fahrspur einen Fernbereich und eine dritte und vierte Nahbereichs-Lichtlaufzeitkamera einen entsprechend zugeordnetem Nahbereich. In further embodiments, it is provided to provide two or optionally also four light duration cameras in the front region of the vehicle, which each detect in pairs a lane of a wheel in a forward-looking manner. In the variant with four time-of-flight cameras, a first and a second capture Second Fernbereichslichtlaufzeitkamera in their assigned lane a long range and a third and fourth Nahbereichs-Lichtlaufzeitkamera a correspondingly assigned short range.
Dieses Vorgehen hat den besonderen Vorteil, dass durch die im Fernbereich erfassten Objekte bzw. Unebenheiten eine Prädiktion möglicher Fahrstörungen vorgenommen werden kann. Die Erfassung der Fahrbahn im Nahbereich unmittelbar vor den Rädern erlaubt es, die vorausberechneten Unebenheiten als tatsächlich wirksam für das Fahrwerk zu erkennen. This procedure has the particular advantage that a prediction of possible driving disturbances can be made by the objects or unevennesses detected in the far field. Detecting the lane at close range immediately in front of the wheels makes it possible to recognize the predicted unevenness as actually effective for the chassis.
Besonders vorteilhaft ist das Steuergerät des Systems so ausgelegt, dass in Abhängigkeit des erkannten Fahrbahnprofils und/oder der erkannten Unebenheiten ins Regelsystem einer aktiven Federung bzw. eines aktiven Fahrwerks eingegriffen werden kann. Vorteilhaft wird durch das Steuergerät mindestens eine Eigenschaft, beispielsweise die Dämpfung, einer aktiven Federung eingestellt. Particularly advantageously, the control unit of the system is designed so that it can be intervened in the control system of an active suspension or an active chassis depending on the recognized roadway profile and / or the detected bumps. Advantageously, at least one property, for example the damping, of an active suspension is set by the control unit.
Besonders vorteilhaft wird durch eine im Fernbereich erfassten Unebenheit eine Voreinstellung der aktiven Federung vorgenommen, wobei eine abschließende Einstellung der aktiven Federung erfolgt, sobald die erkannte Unebenheit auch im Nahfeld erfasst wird. A pre-adjustment of the active suspension is particularly advantageously carried out by an unevenness detected in the far range, a final adjustment of the active suspension taking place as soon as the recognized unevenness is also detected in the near field.
Nachfolgend wird die Erfindung anhand von Ausführungsbeispielen unter Bezugnahme auf die Zeichnungen näher erläutert. The invention will be explained in more detail by means of embodiments with reference to the drawings.
Es zeigen: Show it:
Bei der nachfolgenden Beschreibung der bevorzugten Ausführungsformen bezeichnen gleiche Bezugszeichen gleiche oder vergleichbare Komponenten. In the following description of the preferred embodiments, like reference characters designate like or similar components.
Das Lichtlaufzeitkamerasystem
Das Messprinzip dieser Anordnung basiert im Wesentlichen darauf, dass ausgehend von der Phasenverschiebung des emittierten und empfangenen Lichts die Laufzeit und somit die zurückgelegte Wegstrecke des empfangenen Lichts ermittelt werden kann. Zu diesem Zwecke werden die Lichtquelle
Die in
Vorzugsweise ist die Optik
In einer weiteren Ausgestaltung gemäß
In
Darüber hinaus besteht auch die Möglichkeit zusätzlich zu den Distanzbildern Amplitudenbilder bzw. Grauwertbilder der Lichtlaufzeitsensoren
Selbstverständlich kann das Stereobild auch durch zusätzlich vorhandene 2D-Kameras gewonnen werden. Of course, the stereo image can also be obtained by additionally existing 2D cameras.
Durch die erhöhte Anordnung lässt sich vorteilhaft der Erfassungsbereich der Lichtlaufzeitkamera
Das Steuergerät
In einer weiteren Ausgestaltung kann es auch vorgesehen sein, dass das Fahrzeug ausgehend von einer erkannten Fahrbahngrenze in einem ausreichenden Abstand vom Fahrbahnrand geführt wird, so dass ein Durchfahren von Unebenheiten
In einer weiteren Ausgestaltung wird vorgeschlagen, das Beleuchtungslicht polarisiert abzustrahlen. Insbesondere bei feuchten Fahrbahnoberflächen besteht die Gefahr, dass das Beleuchtungslicht nicht von der Fahrbahnoberfläche zurück in Richtung Empfänger reflektiert wird, sondern am Wasserfilm vom Empfänger weg. Die Reflektion lässt sich vorzugsweise durch ein senkrecht polarisiertes Licht verringern. Vorzugsweise ist auch die Lichtlaufzeitkamera
ZITATE ENTHALTEN IN DER BESCHREIBUNG QUOTES INCLUDE IN THE DESCRIPTION
Diese Liste der vom Anmelder aufgeführten Dokumente wurde automatisiert erzeugt und ist ausschließlich zur besseren Information des Lesers aufgenommen. Die Liste ist nicht Bestandteil der deutschen Patent- bzw. Gebrauchsmusteranmeldung. Das DPMA übernimmt keinerlei Haftung für etwaige Fehler oder Auslassungen.This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.
Zitierte PatentliteraturCited patent literature
- DE 10050569 A1 [0002] DE 10050569 A1 [0002]
- DE 4119494 A1 [0003] DE 4119494 A1 [0003]
- DE 102006039353 A1 [0004] DE 102006039353 A1 [0004]
- EP 1777747 [0005] EP 1777747 [0005]
- US 6587186 [0005] US 6587186 [0005]
- DE 19704496 [0005, 0029] DE 19704496 [0005, 0029]
Claims (6)
Priority Applications (1)
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DE201310207147 DE102013207147A1 (en) | 2012-05-03 | 2013-04-19 | Road surface profile detecting system for motor car, has time-of-flight cameras which detect road surface profile and determine distance and dimension of irregularities in overlapping monitored areas of cameras |
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DE102012207329.9 | 2012-05-03 | ||
DE102012207329 | 2012-05-03 | ||
DE201310207147 DE102013207147A1 (en) | 2012-05-03 | 2013-04-19 | Road surface profile detecting system for motor car, has time-of-flight cameras which detect road surface profile and determine distance and dimension of irregularities in overlapping monitored areas of cameras |
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Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN104898128A (en) * | 2014-03-07 | 2015-09-09 | 欧姆龙汽车电子株式会社 | Laser radar device and object detecting method |
GB2525839A (en) * | 2014-02-18 | 2015-11-11 | Jaguar Land Rover Ltd | Method of and system for collecting data relating to road irregularities |
DE102014117399A1 (en) * | 2014-11-27 | 2016-06-02 | Sick Ag | SENSOR SYSTEM |
DE102015104965A1 (en) * | 2015-03-31 | 2016-10-06 | Valeo Schalter Und Sensoren Gmbh | Driver assistance system for side monitoring of a motor vehicle, motor vehicle and method |
WO2017089335A1 (en) * | 2015-11-26 | 2017-06-01 | Valeo Schalter Und Sensoren Gmbh | Arrangement of at least one optical receiver of a transmitting and receiving device of an optical measuring apparatus operating according to a light pulse propagation time method |
DE102016207435A1 (en) * | 2016-04-29 | 2017-11-02 | Ford Global Technologies, Llc | A vehicle and system and method for generating feedback forces applied to a steering wheel of a steer-by-wire steering system |
CN108340922A (en) * | 2018-02-12 | 2018-07-31 | 北京搜狐新媒体信息技术有限公司 | The method and apparatus for determining road surface road conditions |
CN108955584A (en) * | 2017-05-23 | 2018-12-07 | 上海汽车集团股份有限公司 | A kind of road surface detection method and device |
DE102017124161A1 (en) | 2017-10-17 | 2018-12-13 | Thyssenkrupp Ag | Condition recognition of the roadway by laser scanning |
EP3521860A1 (en) * | 2018-02-01 | 2019-08-07 | Sick Ag | Opto-electronic sensor device |
CN110316187A (en) * | 2018-03-30 | 2019-10-11 | 比亚迪股份有限公司 | Automobile and its avoidance obstacle method |
DE102018216700A1 (en) * | 2018-09-28 | 2020-04-02 | Ibeo Automotive Systems GmbH | Swivel device and lidar measuring system with swivel device |
CN111873744A (en) * | 2020-07-15 | 2020-11-03 | 吉林大学 | Active suspension pre-aiming control method based on camera sensor road surface information identification |
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DE4119494A1 (en) | 1990-06-19 | 1992-01-09 | Mitsubishi Motors Corp | Vehicle suspension regulation system - adjusts spring characteristic in dependence on detected road surface unevenness |
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Cited By (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2525839A (en) * | 2014-02-18 | 2015-11-11 | Jaguar Land Rover Ltd | Method of and system for collecting data relating to road irregularities |
GB2525839B (en) * | 2014-02-18 | 2017-09-27 | Jaguar Land Rover Ltd | Method of and system for collecting data relating to road irregularities |
CN104898128A (en) * | 2014-03-07 | 2015-09-09 | 欧姆龙汽车电子株式会社 | Laser radar device and object detecting method |
DE102014117399A1 (en) * | 2014-11-27 | 2016-06-02 | Sick Ag | SENSOR SYSTEM |
DE102014117399B4 (en) * | 2014-11-27 | 2017-05-11 | Sick Ag | SENSOR SYSTEM |
DE102015104965A1 (en) * | 2015-03-31 | 2016-10-06 | Valeo Schalter Und Sensoren Gmbh | Driver assistance system for side monitoring of a motor vehicle, motor vehicle and method |
WO2017089335A1 (en) * | 2015-11-26 | 2017-06-01 | Valeo Schalter Und Sensoren Gmbh | Arrangement of at least one optical receiver of a transmitting and receiving device of an optical measuring apparatus operating according to a light pulse propagation time method |
DE102016207435A1 (en) * | 2016-04-29 | 2017-11-02 | Ford Global Technologies, Llc | A vehicle and system and method for generating feedback forces applied to a steering wheel of a steer-by-wire steering system |
DE102016207435B4 (en) | 2016-04-29 | 2021-08-12 | Ford Global Technologies, Llc | Vehicle and system and method for generating feedback forces acting on a steering wheel of a steer-by-wire steering system |
CN108955584B (en) * | 2017-05-23 | 2021-02-05 | 上海汽车集团股份有限公司 | Pavement detection method and device |
CN108955584A (en) * | 2017-05-23 | 2018-12-07 | 上海汽车集团股份有限公司 | A kind of road surface detection method and device |
DE102017124161A1 (en) | 2017-10-17 | 2018-12-13 | Thyssenkrupp Ag | Condition recognition of the roadway by laser scanning |
EP3521860A1 (en) * | 2018-02-01 | 2019-08-07 | Sick Ag | Opto-electronic sensor device |
CN108340922A (en) * | 2018-02-12 | 2018-07-31 | 北京搜狐新媒体信息技术有限公司 | The method and apparatus for determining road surface road conditions |
CN110316187A (en) * | 2018-03-30 | 2019-10-11 | 比亚迪股份有限公司 | Automobile and its avoidance obstacle method |
CN110316187B (en) * | 2018-03-30 | 2022-01-07 | 比亚迪股份有限公司 | Automobile and obstacle avoidance control method thereof |
DE102018216700A1 (en) * | 2018-09-28 | 2020-04-02 | Ibeo Automotive Systems GmbH | Swivel device and lidar measuring system with swivel device |
DE102018216700B4 (en) | 2018-09-28 | 2022-01-13 | Ibeo Automotive Systems GmbH | Swivel device and lidar measurement system with swivel device |
CN111873744A (en) * | 2020-07-15 | 2020-11-03 | 吉林大学 | Active suspension pre-aiming control method based on camera sensor road surface information identification |
CN111873744B (en) * | 2020-07-15 | 2023-03-28 | 吉林大学 | Active suspension pre-aiming control method based on camera sensor road surface information identification |
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