基于车辆动力学响应特征的越野地面分类方法

doi:10.19562/j.chinasae.qcgc.2022.06.013

Abstract

Abstract:

Terrain classification based on vehicle dynamic response is one of the key technologies of off-road intelligent vehicles. In this paper， a method of off-road terrain classification， combining the terrain roughness features and mechanical characteristics， is proposed， with the sand， dirt， cement and snow roads classified. In this method， the equivalent terrain profile and the vertical acceleration of vehicle body are selected as the characteristics of terrain roughness， with the driving resistance and wheel speed fluctuation as the mechanical characteristics， the cross-country road classifier is designed based on LSTM model， and the training and testing are conducted on the cross-country driving dataset of vehicle. The results show that the correct rate of terrain classification reaches 95.5%. Finally， the post-processing of classification is fulfilled by using HMM model to solve the issue of the abrupt change of continuous data， enabling the correct rate of the algorithm in terrain classification with off-road continuous data rises from 88.44% to 90.13%.

Key words: off-road terrain, terrain classification, classification post-processing, vehicle response, machine learning

Jian Zhao,Yaxin Li,Jing Tong,Bing Zhu,Weixiang Wu,Bohua Sun,Jiayi Han. Cross-Country Road Classification Method Based on Vehicle Dynamic Response Characteristics[J].Automotive Engineering, 2022, 44(6): 909-918.

Figures/Tables 14

References 26

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类别	100	70	60	55	50	30
沙地	96.7%	96.8%	97.5%	97.6%	97.2%	96.8%
土路	99.2%	98.8%	99.4%	99.9%	99.2%	94.9%
水泥	83.3%	82.8%	90.6%	86.1%	92.1%	88.7%
雪地	89.8%	86.9%	88.4%	87.3%	90.4%	87.8%
总体	94.1%	93.4%	95.1%	94.5%	95.5%	93.5%

分类特征	不平整度	力学特征	不平整度与力学
沙地	96.6%	87.3%	97.2%
土路	99.5%	67.3%	99.2%
水泥	80.8%	86.0%	92.1%
雪地	94.6%	75.3%	90.4%
总计	92.7%	80.4%	95.5%

参数设置	沙地	土路	水泥	雪地	总体
Q=2，N=10	66.5%	95.7%	64.4%	76.1%	74.4%
Q=4，N=10	73.0%	98.4%	56.4%	80.1%	77.8%
Q=6，N=10	78.2%	97.4%	72.6%	74.3%	75.8%
Q=8，N=5	80.4%	96.9%	87.4%	75.9%	83.8%
Q=8，N=8	80.3%	98.0%	80.3%	76.5%	83.2%
Q=8，N=9	81.4%	97.1%	80.8%	78.9%	84.1%
Q=8，N=10	82.2%	97.5%	87.1%	74.0%	84.3%
Q=8，N=12	81.3%	97.3%	82.0%	77.6%	83.9%
Q=8，N=15	82.8%	97.9%	82.2%	75.2%	84.0%
Q=8，N=20	78.6%	97.5%	85.7%	76.1%	82.9%
Q=10，N=10	82.3%	97.1%	88.2%	75.6%	84.7%
Q=12，N=10	87.5%	96.6%	93.2%	73.6%	87.1%
Q=15，N=10	89.1%	96.0%	94.3%	75.0%	88.2%
Q=20，N=10	91.1%	95.1%	94.8%	75.9%	89.2%
Q=25，N=10	93.9%	94.9%	96.7%	73.1%	90.0%
Q=28，N=10	0.00%	98.8%	0.00%	94.3%	41.0%

数量		分类
数量		沙地	土路	水泥	雪地
标签	沙地	2 303	0	7	20
	土路	1	1 069	0	1
	水泥	5	1	599	55
	雪地	18	12	28	1 025

正确率	沙地	土路	水泥	雪地	总体
后处理前/%	100	100	77.18	93.67	88.44
后处理后/%	100	100	79.67	96.29	90.13
提升/百分点	0	0	2.49	2.62	1.69

Cross-Country Road Classification Method Based on Vehicle Dynamic Response Characteristics

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