基于滑移率辨识的汽车制动时序视觉检测方法

doi:10.13229/j.cnki.jdxbgxb20190836

Abstract

Abstract:

To overcome the shortcomings of existing braking performance testing methods， a non-contact dynamic testing method for vehicle braking time sequence was proposed. Based on the relationship between slip rate and adhesion coefficient， a measurement target of braking time sequence based on slip rate was put forward. Based on the measurement principle of binocular stereo vision， a measurement model for wheel slip rate based on vision was established. With the help of LM （Levenberg-Marquardt） algorithm， the calibration parameters were optimized nonlinearly. Image processing techniques such as pseudo-median bilateral filtering， Canny edge detection， redundant boundary clearance and Hough transform were used to denoise， extract edges， simplify and extract features respectively， by which the central coordinates of circular markers were obtained. To verify the feasibility of the proposed method， a real-time test was carried out and the standard uncertainty evaluation results of measurement errors were given. The results show that the maximum relative error of the proposed method was 2.74% and the maximum repeatability error was 3.88% under the conditions of U=2.52 and k=2.

Key words: vehicle engineering, tractor-semitrailer, braking time sequence, stereo vision, Levenberg-Marquardt algorithm, uncertainty

CLC Number:

U472.9

Dao WU,Li-bin ZHANG,Yun-xiang ZHANG,Hong-ying SHAN,Hong-mei SHAN. Visual detection method for vehicle braking time sequence based on slip rate identification[J].Journal of Jilin University(Engineering and Technology Edition), 2021, 51(1): 206-216.

Figures/Tables 16

Fig.1

Fig.2

Fig.3

Fig.4

Fig.5

Fig.6

Table 1

Internal and external parameters of binocular cameras"

参数		左摄像机	右摄像机
$K$	$α x$ (像素)	2515.2467	2517.5498
	$α y$ (像素)	2513.1034	2514.3697
	$u 0$ (像素)	513.2687	512.4456
	$v 0$ (像素)	381.1249	382.6125
$K c$	$k 1$ , $k 2$	-0.0551,0.0265	-0.0426,-0.0254
$R$		$0.9998 - 0.0141 ? - 0.0152 0.0055 0.9986 - 0.0017 - 0.0047 - 0.0057 0.9972$
$T$		$[- 402.1589 - 6.2147 4.5368]$

Table 1

Fig.7

Fig.8

Fig.9

Fig.10

Fig.11

Fig.12

Fig.13

Table 2

Table 3

Evaluation results of standard uncertainty"

轴数		合成标准不确定度 $u (δ)$ / $%$	拓展不确定度 U/%	置信因子k
一轴	左轮	1.22	2.44	2
一轴	右轮	1.23	2.46
二轴	左轮	1.24	2.48
二轴	右轮	1.25	2.5
三轴	左轮	1.24	2.48
三轴	右轮	1.24	2.48
四轴	左轮	1.22	2.44
四轴	右轮	1.22	2.44
五轴	左轮	1.23	2.46
五轴	右轮	1.23	2.46
六轴	左轮	1.26	2.52
六轴	右轮	1.26	2.52

Table 3

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检测方法	编号	一轴		二轴		三轴		四轴		五轴		六轴
检测方法	编号	左轮	右轮	左轮	右轮	左轮	右轮	左轮	右轮	左轮	右轮	左轮	右轮
本文方法	1	0.76	0.77	0.97	0.99	0.93	0.92	0.72	0.74	0.82	0.84	1.12	1.08
	2	0.78	0.77	0.95	0.98	0.91	0.92	0.71	0.73	0.85	0.83	1.10	1.09
	3	0.75	0.78	0.98	1.01	0.92	0.93	0.73	0.75	0.83	0.84	1.14	1.12
轮速信号采集单元	1	0.77	0.78	0.96	0.97	0.92	0.92	0.73	0.72	0.83	0.84	1.11	1.09
	2	0.79	0.78	0.96	0.98	0.91	0.93	0.72	0.72	0.84	0.84	1.12	1.11
	3	0.76	0.77	0.98	0.99	0.92	0.92	0.74	0.73	0.83	0.85	1.14	1.12

Visual detection method for vehicle braking time sequence based on slip rate identification

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