基于立体视觉的魔毯悬架研究

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中图分类号：TP391.41 文献标志码：A DOI： 10.19822/j.cnki.1671-6329.20240259

【Abstract】A study is conductedon the systemscheme and actual performance of the automotive magic carpet suspension，focusing onamagiccarpetsuspensionsolution basedon binocularstereo vision.Firstly，the hardware advantagesand disadvantagesof the magiccarpetsuspension systemare compared，andacombinationof binocularcameras andcontinuouslyvariabledampingshockabsorbersisselected.Secondly，theprinciplesofbinocularstereovisionare analyzed step-by-stepfrom4aspects：cameracalibration，epipolarrectification，stereomatching，anddistancecalculation， to obtaitherequired informationonroadsurfaceimpacts.Finally，arealvehicleenvironmentissetupandvalidatedunder typical scenarios，demonstrating asignificantimprovementinridesmoothness，providing valuablereference forthe development of magic carpet suspension systems.

Key words：Binocular vision，Magic carpet suspension， Stereo matching，Smoothness，Real vehicle testing

0 引言

近年来，汽车行业进入快速迭代阶段，用户不仅关注车辆的动力性和经济性，也对舒适性、安全性乃至“情绪价值”等方面提出更高要求。（剩余9394字）