基于轮胎滑移率与单目视觉的半挂汽车列车制动时序检测

doi:10.13229/j.cnki.jdxbgxb.20220092

摘要/Abstract

摘要：

半挂汽车列车在制动过程中由于各车轴制动顺序的不同，导致车辆在特殊工况下制动时会出现车辆失稳现象。针对现有方案和设备无法对制动时序进行检测，本文提出了一种智能化非接触式的车辆制动时序动态检测方案。基于单目视觉原理，识别张贴在轮胎边缘的标志物，对采集的图像进行处理，求解出轮胎滑移率；利用基于轮廓的模板匹配算法识别待匹配图像中的标志物区域。最后，进行了实车试验，结果表明，本文方法的滑移率求解误差在4.2%以下。

关键词: 车辆工程, 半挂汽车列车, 制动时序, 单目视觉, 滑移率

Abstract:

In the braking process of tractor-trailer-train， due to the different braking sequence of each axle， vehicle instability occurs when braking under special conditions. Since the existing schemes and equipment can not detect the brake timing， an intelligent non-contact dynamic detection scheme for vehicle brake timing is proposed. Based on the principle of monocular vision， the markers affixed to the tire edge are identified. The collected images are processed to solve the tire slip rate. The template matching algorithm based on contour is used to identify the marker region in the image to be matched. In order to verify the effectiveness of the scheme， a real vehicle test is carried out. The test results show that the slip rate solution error is below 4.2%.

Key words: vehicle engineering, tractor-trailer-train, brake timing schemes, monocular vision, slip rate

中图分类号:

U472.9

张立斌,冯诗源,单洪颖,王冠然. 基于轮胎滑移率与单目视觉的半挂汽车列车制动时序检测[J]. 吉林大学学报(工学版), 2023, 53(12): 3415-3423.

Li-bin ZHANG,Shi-yuan FENG,Hong-ying SHAN,Guan-ran WANG. Braking timing detection of tractor⁃trailer⁃train based on tire slip rate and monocular vision[J]. Journal of Jilin University(Engineering and Technology Edition), 2023, 53(12): 3415-3423.

图/表 18

图1

图2

图3

图4

图5

表1

单目相机标定参数"

参数	参数值
内参数矩阵 G	$1679.9171 0 ????? 964.2951 0 ???? 1680.3922 ? 602.1930 0 ???? 0 ????? 1 ?????$
径向畸变系数［k₁，k₂，k₃］	$- 0.13373 0.11465 - 0.00067$
切向畸变系数［p₁，p₂］	$0.000 0.0003$

表1

表2

棋盘格标定算法重复性试验结果"

试验次数	内参数矩阵 G
1	$1685.1429 ?????? 0.0085 966.1826 0 ???? 1683.9237 601.7701 0 ???? 0 ???? 1 ??????$
2	$1688.9924 ? - 0.0074 964.5214 0 ???? 1687.2231 ? 598.9058 0 ???? 0 ????? 1 ??????$
3	$1697.9517 ????? 0.0045 958.3132 0 ???? 1699.5614 ? 596.3352 0 ???? 0 ????? 1 ??????$
4	$1691.5519 ????? 0.0107 963.8842 0 ???? 1694.9245 ? 602.2512 0 ???? 0 ????? 1 ??????$
5	$1685.2547 ? - 0.0055 962.7714 0 ???? 1688.9102 ? 603.5258 0 ???? 0 ????? 1 ??????$

表2

表3

图6

图7

图8

图9

图10

图11

图12

图13

图14

表4

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相机参数	数据离散系数
f_x	3.1387×10^-3
f_y	3.7093×10^-3
u₀	3.0779×10^-3
v₀	4.8335×10^-3

轴1		轴2		轴3		轴4		轴5		轴6
左	右	左	右	左	右	左	右	左	右	左	右
0.49	0.48	0.33	0.33	0.37	0.38	0.31	0.3	0.41	0.42	0.45	0.44