Active suspension systems can improve the operational stability of mobile precision equipment in the field while reducing equipment wear and maintenance costs. However, existing methods still exhibit limitations in generalization ability and forward-looking perception performance under real-world complex environments. Research on road surface classification in complex environments can provide new solutions for enhancing the forward-looking perception capability of active suspension systems. Firstly, this paper constructs a real-world multi-class road surface dataset named MTRSD, which includes image data of structured and unstructured road surfaces under various illumination conditions. On this basis, we propose the TF-ResNet road surface classification model. Its core components include an ambient illuminance compensation strategy and a texture feature embedding module. The illuminance compensation strategy adaptively adjusts image brightness to enhance the visibility of road surface features, thereby improving classification accuracy. The texture feature embedding module guides the model to focus on road texture patterns while suppressing background interference, thus increasing model stability. Experimental results show that the proposed method achieves an accuracy of 87.73% with a standard deviation of in the road surface classification task, outperforming existing mainstream methods.
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