KR101377204B1 - System and method of providing road surface information, and vehicle using the same - Google Patents

Abstract

The present invention is provided in the front of the vehicle body, the light irradiation apparatus for irradiating light to the road surface in front of; A camera module installed at the front of the vehicle body and generating reflected light information by photographing a road surface on which the light is irradiated; It provides a road surface information providing system including a processing unit for generating road surface information using the reflected light information.

Description

System and method of providing road surface information, and vehicle using the same

The present invention relates to a road surface information providing system, and more particularly, to a road surface information providing system and method, and a vehicle using the same.

In general, a suspension device is mounted to a vehicle for stable driving of the vehicle. The suspension system functions to absorb the shock so that the impact generated from the road surface is not transmitted directly to the vehicle body or the occupant, and to ground the wheel to the road surface.

Recently, the development and commercialization of an active suspension system for controlling a suspension device in accordance with a road surface of a road and driving conditions of a vehicle by introducing an electronic control concept into a vehicle has been in progress.

The active suspension is controlled by the predictive control technique which acquires the road information and uses it.

However, at present, the proper technology for obtaining reliable road information has not been presented.

An object of the present invention is to provide a method for obtaining reliable road surface information.

In order to solve the above problems, the present invention is provided in the front of the vehicle body, the light irradiation apparatus for irradiating light to the road surface in front of; A camera module installed at the front of the vehicle body and generating reflected light information by photographing a road surface on which the light is irradiated; It provides a road surface information providing system including a processing unit for generating road surface information using the reflected light information.

Here, the processor generates road surface information based on the camera module from the reflected light information, coordinates road surface information based on the camera module, and generates road surface information based on a reference point of the vehicle. The reference point of the vehicle may be an origin of a coordinate system in which the Z axis is perpendicular to the ground and the XY plane is parallel to the ground.

And an inertial measurement device for generating acceleration and angular velocity information of the center of gravity of the vehicle, wherein the processing unit generates acceleration and angular velocity information of the camera module using the acceleration and angular velocity information of the center of gravity and the camera module. Using the acceleration and the angular velocity of the road surface information based on the camera module can be corrected.

And a vehicle speed sensor configured to generate speed information of the vehicle, and the processor may generate the road surface information using the reflected light information and the speed information of the vehicle.

In another aspect, the present invention comprises the steps of photographing the road surface in front of the vehicle is irradiated with light emitted from the light irradiation apparatus through the camera module to generate reflected light information; The processor provides a road surface information providing method including generating road surface information using the reflected light information.

Here, the processor generates road surface information based on the camera module from the reflected light information, transforms road surface information based on the camera module, and generates road surface information based on the reference point of the vehicle. The reference point of the vehicle may be an origin of a coordinate system in which the Z axis is perpendicular to the ground and the XY plane is parallel to the ground.

Generating acceleration and angular velocity information of the center of gravity of the vehicle in an inertial measurement apparatus; Generating, by the processor, acceleration and angular velocity information of the camera module using acceleration and angular velocity information of the center of gravity, and correcting road surface information based on the camera module using the acceleration and angular velocity of the camera module; It may include.

Generating speed information of the vehicle by a vehicle speed sensor; And generating the road surface information by using the reflected light information and the speed information of the vehicle.

In another aspect, the present invention provides a vehicle body comprising: a vehicle body; A suspension device connected to the vehicle body and equipped with wheels; A driving control system for controlling the operation of the suspension device according to road surface information; And a road surface information providing system for providing the road surface information to the driving control system, wherein the road surface information providing system is provided at the front of the vehicle body and irradiates light to the road surface in front of the vehicle; A camera module installed at the front of the vehicle body and generating reflected light information by photographing a road surface on which the light is irradiated; Provided is a vehicle including a processing unit for generating road surface information using the reflected light information.

Here, the processor generates road surface information based on the camera module from the reflected light information, coordinates road surface information based on the camera module, and generates road surface information based on a reference point of the vehicle. The reference point of the vehicle may be an origin of a coordinate system in which the Z axis is perpendicular to the ground and the XY plane is parallel to the ground.

The road surface information providing system includes an inertial measurement device for generating acceleration and angular velocity information of the center of gravity of the vehicle, and the processing unit uses the acceleration and angular velocity information of the center of gravity to accelerate and angular velocity information of the camera module. And correct the road surface information based on the camera module using the acceleration and the angular velocity of the camera module.

The road surface information providing system may include a vehicle speed sensor configured to generate speed information of the vehicle, and the processor may generate the road surface information using the reflected light information and the speed information of the vehicle.

In another aspect, the present invention is provided with a distance sensor installed in the front of the vehicle body, the distance sensor for generating distance information with the road surface in front of; A processor configured to generate road surface information using the distance information; A steering wheel angle sensor for measuring a rotation angle of the steering wheel; It provides a road surface information providing system including a distance sensor driving device for rotating the distance sensor according to the steering wheel rotation angle.

Here, the processor generates road surface information based on the distance sensor from the distance information, transforms road surface information based on the distance sensor, and generates road surface information based on the reference point of the vehicle. The reference point of the vehicle may be a coordinate system origin where the Z axis is perpendicular to the ground and the XY plane is parallel to the ground.

And an inertial measurement device for generating acceleration and angular velocity information of the center of gravity of the vehicle, wherein the processor generates acceleration and angular velocity information of the distance sensor using the acceleration and angular velocity information of the center of gravity and the distance sensor. The acceleration and the angular velocity of may be used to correct the road surface information based on the distance sensor.

And a vehicle speed sensor configured to generate speed information of the vehicle, and the processor may generate the road surface information using the distance information and the speed information of the vehicle.

In another aspect, the present invention comprises the steps of generating distance information with the road surface in front of the vehicle through the distance sensor; Generating road surface information using the distance information in a processing unit; Measuring a rotation angle of the steering wheel through the steering wheel angle sensor; It provides a road surface information providing method comprising the step of rotating the distance sensor according to the steering wheel rotation angle.

Here, the processor generates road surface information based on the distance sensor from the distance information, coordinates road surface information based on the distance sensor, and generates road surface information based on the reference point of the vehicle. The reference point of the vehicle may be an origin of a coordinate system in which the Z axis is perpendicular to the ground and the XY plane is parallel to the ground.

Generating acceleration and angular velocity information of the center of gravity of the vehicle in an inertial measurement apparatus; In the processing unit, generating the acceleration and angular velocity information of the distance sensor using the acceleration and angular velocity information of the center of gravity, and correcting the road surface information based on the distance sensor using the acceleration and angular velocity of the distance sensor It may include.

Generating speed information of the vehicle by a vehicle speed sensor; And generating, by the processor, the road surface information using the distance information and the speed information of the vehicle.

In another aspect, the present invention provides a vehicle body comprising: a vehicle body; A suspension device connected to the vehicle body and equipped with wheels; A driving control system for controlling the operation of the suspension device according to road surface information; A road surface information providing system for providing the road surface information to the driving control system, wherein the road surface information providing system includes: a distance sensor installed at a front of the vehicle body and generating distance information with a road surface in front of the vehicle; A processor configured to generate road surface information using the distance information; A steering wheel angle sensor for measuring rotation angle information of the steering wheel; It provides a vehicle comprising a distance sensor driving device for rotating the distance sensor according to the steering wheel rotation angle.

Here, the processor generates road surface information based on the distance sensor from the distance information, transforms road surface information based on the distance sensor, and generates road surface information based on the reference point of the vehicle. The reference point of the vehicle may be an origin of a coordinate system in which the Z axis is perpendicular to the ground and the XY plane is parallel to the ground.

The road surface information providing system includes an inertial measurement device for generating acceleration and angular velocity information of the center of gravity of the vehicle, and the processing unit uses the acceleration and angular velocity information of the center of gravity to accelerate and angular velocity information of the distance sensor. And correct the road surface information based on the distance sensor using the acceleration and the angular velocity of the distance sensor.

The road surface information providing system may include a vehicle speed sensor configured to generate speed information of the vehicle, and the processor may generate the road surface information using the distance information and the speed information of the vehicle.

According to the present invention, road information can be obtained using image information generated through a camera module. Further, by combining the acceleration and angular velocity information generated by the inertial measurement device and the velocity information generated by the vehicle speed sensor with the image information, it is possible to effectively obtain reliable road surface information.

And, by using the road surface information thus obtained, it is possible to actively and reliably control the suspension device of the vehicle, it is possible to effectively alleviate the impact caused by the road surface conditions.

In addition, the road surface information providing system according to the present invention can be attached to a moving object such as a vehicle, and can be utilized for road condition management such as highways, driving lanes, and bicycle roads by using location information and uneven information of the road surface.

1 is a schematic diagram showing a vehicle including a road surface information providing system according to a first embodiment of the present invention.
2 is a block diagram schematically showing a road surface information providing system according to a first embodiment of the present invention.
3 is a view showing a reflected light shape when the road surface photographed through the camera module according to the first embodiment of the present invention is flat.
4 is a view illustrating a reflected light shape when irregularities exist on a road surface photographed through a camera module according to a first embodiment of the present invention.
5 is a diagram schematically showing an example of coordinate transformation according to the first embodiment of the present invention.
FIG. 6 is a view provided to explain road surface information correction due to vibration of a vehicle according to a first embodiment of the present invention; FIG.
7 is a schematic diagram schematically showing a vehicle including a road surface information providing system according to a second embodiment of the present invention.
8 is a block diagram schematically showing a road surface information providing system according to a second embodiment of the present invention.
9 is a view schematically showing an example of coordinate transformation according to a second embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1 is a schematic diagram showing a vehicle including a road surface information providing system according to a first embodiment of the present invention, Figure 2 is a block diagram schematically showing a road surface information providing system according to a first embodiment of the present invention to be.

1 and 2, the vehicle 100 according to the first embodiment of the present invention, the vehicle body 110, the wheel 120, the suspension device 130, the driving control system 140, The road surface information providing system 200 may be included.

The vehicle body 110 is a main constituent of the skeleton of the vehicle, and an interior space for the user to ride the vehicle body 110 is provided therein.

The wheel 120 is configured to move the vehicle 100 by rotating, and includes a front wheel 120a positioned in front of the vehicle and a rear wheel 120b positioned behind the vehicle.

The suspension device 130 is mounted with a wheel 120 and is connected to the vehicle body 110. Such a suspension device 130 performs a function of grounding the wheel 120 on the road surface with the function of absorbing the shock so that the impact generated on the road surface is not directly transmitted to the vehicle body 110 or the occupant.

As the suspension device 130, an active suspension device can be used. The active suspension 130 can adjust the response according to the change in the height of the road surface by actively changing the damping coefficient according to the road surface situation, thereby minimizing the transmission of shock generated on the road surface.

The driving control system 140 corresponds to a configuration for controlling all operations related to the driving of the vehicle 100. The driving control system 140 performs a function of controlling the operation of the suspension device 130. In this regard, the driving control system 140 may receive road surface information from the road surface information providing system 200 and may control the suspension device 130 in response thereto.

As described above, in the first embodiment of the present invention, the operation of the suspension system is actively controlled based on the road surface information. A method of providing road surface information will be described in detail below.

The road surface information providing system 200 may include a light irradiation apparatus 210, a camera module 220, an inertial measurement unit 230, a vehicle speed sensor 240, and a processor 250.

The light irradiation apparatus 210 is installed at the front of the vehicle body 110 and corresponds to a means for generating light that is the basis for acquiring road surface information in front of the vehicle and irradiating the light onto the road surface.

Since the light irradiation apparatus 210 irradiates light toward the front road surface, it is preferable to arrange the light irradiation apparatus 210 to form an inclination angle with respect to the ground.

On the other hand, a laser is preferably used as light used for road surface information detection, but is not limited thereto. In the first embodiment of the present invention, for convenience of explanation, the light irradiation apparatus 210 for irradiating a laser is used as an example.

The camera module 220 is installed at the front of the vehicle body 110 and is preferably positioned above the light irradiation apparatus 210, but is not limited thereto. The camera module 220 may be configured to generate image information by photographing a road surface in front of a vehicle, and may include a lens and a light detection panel for converting light incident through the lens into an electrical signal. Here, in the photodetection panel, pixels, which are units for photodetection, are arranged in a matrix form.

Since the camera module 220 photographs the road surface in front of the camera module 220, the camera module 220 may be disposed to form an inclination angle with respect to the ground. On the other hand, the inclination angle of the camera module 220 and the inclination angle of the light irradiation apparatus 210 may be the same or different from each other.

The light emitted from the light irradiation apparatus 210 is reflected on the road surface, and the reflected light is incident on the camera module 220. Here, if the road surface is flat, the shape of the reflected light in the image generated by the camera module 220 will have a flat shape, as shown in FIG. On the other hand, if there are irregularities on the road surface, the shape of the reflected light in the image generated through the camera module 220, as shown in FIG. Will be.

As described above, the camera module 220 may photograph the road surface on which the light emitted from the light irradiation apparatus 210 is incident, and extract the reflected light shape through analysis of the photographed image. When the shape of such reflected light is obtained, the shape of the road surface can be confirmed. In this way, by using the reflected light information generated through the camera module 220, it is possible to obtain road surface information indicating the road surface state.

The inertial measurement unit 230 corresponds to a configuration for measuring the attitude angle, acceleration, angular velocity, and the like of the vehicle 100. The inertial measurement unit 230 is preferably installed at the center of gravity of the vehicle, but is not limited thereto. The inertial measurement unit 230 may include, for example, an acceleration sensor, an angular velocity sensor, a geomagnetic sensor, and the like to measure the above information.

The attitude angle / acceleration information of the vehicle 100 generated by the inertial measurement device 230 may be used to correct an error or distortion of road surface information according to the translational or rotational movement of the vehicle 100. The description will be described later.

The vehicle speed sensor 240 may be installed on the wheel 120 of the vehicle 100 and measure the speed of the vehicle 100 using a resolver or an encoder. Speed information of the vehicle 100 generated by the vehicle speed sensor 240 is used to obtain more accurate road surface information.

The processor 250 corresponds to a configuration that receives information from components of the road surface information providing system 200 and analyzes and processes the information.

The processor 250 may acquire road surface information by analyzing the image transmitted from the camera module 210.

In this regard, for example, the image photographed from the camera module 210 includes reflected light information. Therefore, the processor 250 may acquire the road surface shape by analyzing the reflected light information of the image and extracting the reflected light shape.

Meanwhile, the road surface information generated through the camera module 210 is information generated based on the camera module 210 disposed to be inclined downward with respect to the ground. That is, the information corresponds to the road surface information based on the first coordinate system based on the position and the inclination angle of the camera module 210.

Such a process of converting the road surface information based on the camera module into the road surface information based on the vehicle may be performed by the processor 250. That is, the coordinate transformation of the road surface information may be performed by coordinate transformation into a second coordinate system in which the Z axis is perpendicular to the ground and the XY plane is parallel to the ground.

In this regard, it will be described with reference to FIG. 5 further. 5 is a diagram schematically showing an example of coordinate transformation according to the first embodiment of the present invention.

In FIG. 5, for convenience of description, a point between the upper end of the suspension device 130 on which the front wheel 120a is mounted and the wheel track of the front wheel 120a is defined as the reference point of the second coordinate system XYZ _L. O _L ), that is, the case where the origin is an example, but is not limited thereto. In addition, it is assumed that the light irradiation apparatus 210 and the camera module 220 have the same inclination angle.

In the first coordinate system (XYZ _C ), the (X, Z) coordinate value of the road surface to which the laser beam is irradiated is (d, -a), and d may be obtained through the following first equation.

First Formula: d = a * f / I.

Here, a is the distance between the camera module 220 and the light irradiation apparatus 210, f is the focal length of the lens of the camera module 220, I is the light detection panel of the camera module 220 to which the reflected light is incident It is a Z coordinate value in the 1st coordinate system XYZ _C of a pixel.

In such a case, the coordinate transformation from the first coordinate system XYZ _C to the second coordinate system XYZ _L follows the second equation as follows.

Second Formula:

Here, p, r and q are the (X, Y, Z) coordinate values of the camera module 220 based on the second coordinate system XYZ _L , respectively, and β are the angle between the optical axis of the camera module 200 and the ground, respectively. to be. In addition, α in the figure is an angle between the optical axis of the camera module 200 and the reflected light path.

Here, β may be obtained by integrating the angular velocity information detected from the inertial measurement unit 230 with respect to time.

Through such coordinate transformation, road surface information based on a reference point O _L of the vehicle body 110 may be obtained.

Meanwhile, when the vehicle is driven, vibration may occur in the vehicle body 110 due to various influences, and the movement may occur in the camera module 220 by such vibration. In this case, the movement of the camera module 220 is reflected in the road surface information based on the camera module, so that an error or distortion may occur in the road surface information.

Therefore, in order to compensate for errors or distortions in the road surface information caused by the movement of the camera module 220, the processor 250 may use the information generated from the inertial measurement apparatus 230, which will be described with reference to FIG. 6. do.

FIG. 6 is a view provided to explain road surface information correction due to vibration of a vehicle according to a first embodiment of the present invention.

Referring to FIG. 6, it is possible to detect the acceleration and the angular acceleration of the vehicle center of gravity through the inertial measurement device 230 installed in the vehicle center of gravity.

Based on the information on the acceleration and the angular acceleration of the vehicle center of gravity detected as described above, the acceleration and the angular acceleration of the camera module 220 can be obtained by applying the acceleration transfer law in the rigid body.

는 무게중심의 병진가속도

와 회전운동 가속도

의 합으로 구해질 수 있다. In this regard, it is assumed that the center of gravity of the vehicle 100 coincides with the center of rotation of the pitch angle (θ, y-axis rotation) and the roll angle (φ, x-axis rotation). In this case, since the movement of the vehicle corresponds to the movement of the rigid body, the acceleration at the installation position of the camera module 220

Is the center of gravity translational acceleration

And rotational acceleration

. ≪ / RTI >

Here, the rotational motion of the vehicle body may be expressed by the following moment equation, that is, the third equation.

Third Formula:

In addition, the translational acceleration acceleration in the XYZ direction of the camera module 220 may be expressed by the following equation.

Fourth Formula:

Here, (X-XR), (Y-YR), and (Z-ZR) are XYZ component values of the R vector on the drawing.

As such, the acceleration and the angular velocity of the camera module 220 may be generated through the acceleration and the angular velocity of the center of gravity of the vehicle detected by the inertial measurement unit 230. The acceleration and the angular velocity of the camera module 220 generated as described above may be integrated to generate information on the movement of the camera module 220, thereby correcting road surface information.

Hereinafter, a second embodiment of the present invention will be described in detail with reference to the drawings.

7 is a schematic diagram showing a vehicle including a road surface information providing system according to a second embodiment of the present invention, Figure 8 is a block diagram showing a road surface information providing system according to a second embodiment of the present invention. to be.

7 and 8, the road surface information providing system 200 of the second embodiment of the present invention is similar to the road surface information providing system of the first embodiment except for some configurations. Therefore, the detailed description about the structure similar to 1st Embodiment is abbreviate | omitted.

The road surface information providing system 200 according to the second embodiment includes a steering wheel angle sensor 260, a distance sensor 270, a distance sensor driving device 280, and an inertial measurement device 230. And a vehicle speed sensor 240 and a processor 250.

The steering wheel angle sensor 260 corresponds to a configuration for measuring the rotation angle of the steering wheel. Through this, the movement path of the vehicle can be grasped. For example, in the case of a front wheel drive vehicle, it is possible to grasp the turning motion or the linear motion of the front wheel 120a.

The distance sensor 270 is installed at the front of the vehicle 100 to measure the distance between the distance sensor 270 and the road surface. Since the distance sensor 270 is configured to face the road surface in front, it is preferable that the distance sensor 270 is arranged to form an inclination angle with respect to the ground. The distance sensor 270 is configured to be rotatable about a rotation axis.

The distance sensor driver 280 is connected to the distance sensor 270 and functions to rotate the distance sensor 270. For example, a rotation motor may be used.

In this regard, for example, the distance sensor driving device 280 may rotate the distance sensor 280 about the rotation axis according to the rotation angle of the steering wheel. Accordingly, in the case where the vehicle 100 performs the turning motion, the distance sensor driving device 280 rotates the distance sensor 270 so that the distance sensor 270 can face the turning direction.

Accordingly, the distance sensor 270 may acquire distance information with the road surface on the moving path of the vehicle 100.

The processor 250 corresponds to a configuration that receives information from components of the road surface information providing system 200 and analyzes and processes the information.

The processor 250 may acquire road surface information by analyzing distance information transmitted from the distance sensor 270. That is, road surface information on the movement path of the vehicle 100 may be obtained.

In addition, the processor 250 may receive the steering wheel rotation angle information and may control the driving of the distance sensor driving device 280 in response thereto. Through such control, the distance sensor driving device 280 may rotate the distance sensor 270 according to the steering wheel angle.

Meanwhile, road surface information generated using the distance sensor 270 is information generated based on the distance sensor 270 disposed to be inclined downward. That is, the information corresponds to road surface information based on the first coordinate system based on the position and the inclination angle of the distance sensor 270.

Such a process of converting the road surface information based on the distance sensor to the road surface information based on the vehicle may be performed by the processor 250. That is, similar to the first embodiment described above, a process of coordinate transformation of road surface information may be performed by coordinate transformation into a second coordinate system in which the Z axis is perpendicular to the ground and the XY plane is parallel to the ground.

In this regard, it will be described with reference to FIG. 9 further. 9 is a diagram schematically showing an example of coordinate transformation according to a second embodiment of the present invention.

In FIG. 9, for convenience of description, the upper point of the suspension device 130 on which the front wheels 120a are mounted is referred to as a reference point O _L , that is, the origin of the second coordinate system XYZ _L. It is not limited.

On the basis of the first coordinate system XYZ _S , the (X, Z) coordinate value of the road surface point to which the laser light is irradiated is (d, 0).

In this case, the coordinate transformation from the first coordinate system XYZ _S to the second coordinate system XYZ _L follows the fifth equation as follows.

5th Formula:

Here, p, r and q are the (X, Y, Z) coordinate values of the distance sensor 270 based on the second coordinate system XYZ _L , respectively, and β is a direction between the direction that the distance sensor 270 faces and the ground. Angle.

Through such coordinate transformation, road surface information based on a reference point O _L of the vehicle body 110 may be obtained.

On the other hand, when driving the vehicle, the vibration may occur in the vehicle body 110 due to various influences, and the movement may occur in the distance sensor 270 by such vibration. In this case, the movement of the distance sensor 270 is reflected in the road surface information based on the distance sensor, so that an error or distortion may occur in the road surface information.

Therefore, in order to compensate for an error or distortion of road surface information caused by the movement of the distance sensor 270, as described in the first embodiment, the processor 270 may use information generated from the inertial measurement unit 230.

That is, it is possible to detect the acceleration and the angular acceleration of the vehicle center of gravity through the inertial measurement unit 230.

Based on the information on the acceleration and the angular acceleration of the vehicle center of gravity detected as described above, the acceleration and the angular acceleration of the distance sensor 270 can be obtained by applying the acceleration transfer law in the rigid body.

As such, the acceleration and the angular velocity of the distance sensor 270 may be generated through the acceleration and the angular velocity of the center of gravity of the vehicle detected by the inertial measurement unit 230. The acceleration and the angular velocity of the distance sensor 270 generated as described above may be integrated to generate information on the movement of the distance sensor 270, thereby correcting road surface information.

As described above, according to embodiments of the present invention, it is possible to obtain road surface information using information generated through a camera module or a distance sensor. Further, by combining the acceleration and angular velocity information generated by the inertial measurement device and the velocity information generated by the vehicle speed sensor with the image information, it is possible to effectively obtain reliable road surface information.

And, by using the road surface information thus obtained, it is possible to actively and reliably control the suspension device of the vehicle, it is possible to effectively alleviate the impact caused by the road surface conditions.

On the other hand, the present invention can be attached to a moving object such as a vehicle, and can be utilized for road condition management such as highways, driving lanes, and bicycle roads by using the location information and road surface information of the moving object.

The embodiment of the present invention described above is an example of the present invention, and variations are possible within the spirit of the present invention. Accordingly, the invention includes modifications of the invention within the scope of the appended claims and equivalents thereof.

100: vehicle 150: driving control system
200: road surface information providing system 210: light irradiation apparatus
220: camera module 230: inertial measurement unit
240: vehicle speed sensor 250: analysis unit

Claims (24)

A light irradiation device installed at the front of the vehicle body and radiating light to the road surface in front of the vehicle;
A camera module installed at the front of the vehicle body and generating reflected light information by photographing a road surface on which the light is irradiated;
A processor configured to generate road surface information using the reflected light information;
Inertial measurement device for generating the acceleration and angular velocity information of the center of gravity of the vehicle,
The processing unit generates road surface information based on the first XYZ coordinate system based on the camera module from the reflected light information, coordinates the road surface information based on the camera module into a second XYZ coordinate system, and is a reference point of the vehicle. Creates road surface information based on
The reference point of the vehicle is the origin of the second XYZ coordinate system where the Z axis is perpendicular to the ground and the XY plane is parallel to the ground,
Using the angular velocity information detected from the inertial measurement unit during the coordinate transformation,
The processor may generate acceleration and angular velocity information of the camera module by using the acceleration and angular velocity information of the center of gravity, and correct road surface information based on the camera module by using the acceleration and angular velocity of the camera module.
Road information providing system.
delete delete The method according to claim 1,
A vehicle speed sensor for generating speed information of the vehicle,
The processor generates the road surface information using the reflected light information and the speed information of the vehicle.
Road information providing system.
Photographing a road surface in front of a vehicle to which light emitted from the light irradiation apparatus is irradiated through a camera module to generate reflected light information;
Generating road surface information by using the reflected light information in a processing unit;
The processor generates road surface information based on the first XYZ coordinate system based on the camera module from the reflected light information, coordinates the road surface information based on the camera module into a second XYZ coordinate system, and stores the reference point of the vehicle. Generating road surface information based on the reference;
Generating acceleration and angular velocity information of the center of gravity of the vehicle in an inertial measurement apparatus;
Generating, by the processor, acceleration and angular velocity information of the camera module using acceleration and angular velocity information of the center of gravity, and correcting road surface information based on the camera module using the acceleration and angular velocity of the camera module; Including,
The reference point of the vehicle is the origin of the second XYZ coordinate system where the Z axis is perpendicular to the ground and the XY plane is parallel to the ground,
Using the angular velocity information detected from the inertial measurement unit during the coordinate transformation
How to provide road information.
delete delete 6. The method of claim 5,
Generating speed information of the vehicle by a vehicle speed sensor;
Generating the road surface information by using the reflected light information and the speed information of the vehicle by the processor;
Road information providing method comprising a.
Body;
A suspension device connected to the vehicle body and equipped with wheels;
A driving control system for controlling the operation of the suspension device according to road surface information;
A road surface information providing system for providing the road surface information to the driving control system;
The road surface information providing system,
A light irradiation device installed at the front of the vehicle body and irradiating light to the road surface in front of the vehicle;
A camera module installed at the front of the vehicle body and generating reflected light information by photographing a road surface on which the light is irradiated;
A processor configured to generate road surface information using the reflected light information;
Inertial measurement device for generating acceleration and angular velocity information of the center of gravity of the vehicle,
The processor generates road surface information based on the first XYZ coordinate system based on the camera module from the reflected light information, and coordinates road surface information based on the camera module into a second XYZ coordinate system to convert the reference point of the vehicle. Create road surface information based on
The reference point of the vehicle is the origin of the second XYZ coordinate system where the Z axis is perpendicular to the ground and the XY plane is parallel to the ground,
Using the angular velocity information detected from the inertial measurement unit during the coordinate transformation,
The processor may generate acceleration and angular velocity information of the camera module by using the acceleration and angular velocity information of the center of gravity, and correct road surface information based on the camera module by using the acceleration and angular velocity of the camera module.
vehicle.
delete delete The method of claim 9,
The road surface information providing system includes a vehicle speed sensor for generating speed information of the vehicle,
The processor generates the road surface information using the reflected light information and the speed information of the vehicle.
vehicle.
delete delete delete delete delete delete delete delete delete delete delete delete

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