中国机械工程2024，Vol.35Issue(6)：951-961,11.DOI:10.3969/j.issn.1004-132X.2024.06.001
面向智能车辆的路面凹凸障碍物识别方法研究
Research on Road Uneven Obstacle Recognition Method for Intelligent Vehicles
摘要
Abstract
For intelligent vehicles,if the sensing device might accurately and quickly detect the concave and convex obstacles on the roads ahead of the vehicles,the important preview information might be provided for the control of the chassis system such as the suspension of the vehicles,and fi-nally realized the improvement of the comprehensive performance of the vehicles.Therefore,based on improved YOLOv7-tiny algorithm a recognition method was proposed for typical positive and negative obstacles such as bumps(speed bumps)and pits on the road surfaces.Firstly,the SimAM module was introduced in the three feature extraction layers of the original YOLOv7-tiny algorithm to enhance the network's ability to perceive the feature map;secondly,a smoother Mish activation function was used in the Neck part to add more nonlinear expressions;again,replacing the nearest proximal upsamping operator with the up-sampling operator to enable the network to aggregate contextual information more efficiently;and lastly,the WIoU was used as the localization loss function to improve the con-vergence speed as well as the robustness of the network.The offline simulation experimental results show that compared with the original model,the improved model improves the average accuracy by 2.5％for almost the same number of parameters with an intersection ratio of 0.5 between the predic-ted and real frames.The improved model is deployed to a real vehicle,and the real-vehicle experi-ments verify that the model may effectively detect the obstacles appearing on the road in front of the vehicles,indicating that the proposed algorithmic model may accurately provide the pre-precedent in-formation for obstacle detections.关键词
路面预瞄/凹凸障碍物/改进与优化/识别方法Key words
road preview/uneven obstacle/improvement and optimization/recognition method分类
信息技术与安全科学引用本文复制引用
邹俊逸,刘畅,郭文彬,严运兵,冉茂平..面向智能车辆的路面凹凸障碍物识别方法研究[J].中国机械工程,2024,35(6):951-961,11.基金项目
湖北省重点研发计划(2021BAA180) （2021BAA180）
国家自然科学基金(52202480) （52202480）
湖北省自然科学基金(2022CFB732) （2022CFB732）
湖北省教育厅科学研究计划指导项目(B2021008) （B2021008）
