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  

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

作　　者：张立斌[1] 冯诗源 单洪颖 王冠然 ZHANG Li-bin;FENG Shi-yuan;SHAN Hong-ying;WANG Guan-ran(College of Transportation,Jilin University,Changchun 130022,China;School of Mechanical and Aerospace Engineering,Jilin University,Changchun 130022,China)

机构地区：[1]吉林大学交通学院,长春130022 [2]吉林大学机械与航空航天工程学院,长春130022

出　　处：《吉林大学学报（工学版）》2023年第12期3415-3423,共9页Journal of Jilin University:Engineering and Technology Edition

基　　金：国家自然科学基金项目(50775094);吉林省重点科技攻关项目(20150204025GX)。

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。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%.

关 键 词：车辆工程 半挂汽车列车 制动时序 单目视觉 滑移率 

分 类 号：U472.9[机械工程—车辆工程]