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

Abstract

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

CLC Number:

U472.9

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.

Figures/Tables 18

Fig.1

Fig.2

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Fig.5

Table 1

Calibration parameters of monocular camera"

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］	$0.000 0.0003$

Table 1

Table 2

Repeatability test results of chessboard calibration algorithm"

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	$1685.2547 ? - 0.0055 962.7714 0 ???? 1688.9102 ? 603.5258 0 ???? 0 ????? 1 ??????$

Table 2

Table 3

Fig.6

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Fig.14

Table 4

References 20

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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

Braking timing detection of tractor⁃trailer⁃train based on tire slip rate and monocular vision

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