研究目的
To propose a novel non-contact vehicle braking time sequence measurement method based on binocular stereo vision that has high precision, high efficiency, and low cost.
研究成果
The proposed method has high accuracy and better repeatability. Moreover, it can be extended to different types of vehicles and can efficiently produce better solutions for improving the braking time sequence and evaluating the vehicle braking performance. Future work will calculate the lateral slip of the wheel by measuring the spatial coordinate changes of the wheel circular marker along the lateral slip direction of the wheel, and further study the system stability of the semi-trailer train when the lateral slip occurs.
研究不足
Only the longitudinal slip of the tire which affects the braking time sequence is considered. The lateral slip, as a dangerous phenomenon caused by unreasonable braking time sequence, is not considered.
1：Experimental Design and Method Selection:
The method is based on binocular stereo vision, involving camera calibration using a three-dimensional target and optimization of calibration parameters with the Levenberg–Marquardt algorithm. Image processing techniques are used to extract the wheel marker and perform three-dimensional coordinate reconstruction.
2：Sample Selection and Data Sources:
A tractor-semitrailer with good condition was selected as the experimental object. The braking time sequence of each axle was pre-adjusted to 1-3-2-4-5 by adjusting the braking ratio.
3：List of Experimental Equipment and Materials:
Eight DH-HV3150 UC cameras, an EVOC IPC-810E industrial control computer, Omron E3JK-5M2 photoelectric switches, customized camera brackets, a 3D calibration target, and circular markers.
4：Experimental Procedures and Operational Workflow:
The vehicle drives at a speed of 10 km/h along the centre-line of the detection area. The system starts to collect images after the photoelectric sensor recognizes the final axle wheel. The system prompts the driver to take an emergency brake until the vehicle has completely stopped.
5：Data Analysis Methods:
The wheel speed measurement model is established to calculate the real-time speed of each wheel. The braking time sequence of the entire vehicle is obtained according to the evaluation standard.
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