Method for detecting vehicle sideslip movement by image hub mark

Abstract

The invention discloses a method for detecting vehicle sideslip movement by an image hub mark, and the technical problem that the existing vehicle sideslip movement detection method is bad in instantaneity can be solved. The technical scheme comprises the following steps of: obtaining a steering wheel image and a back wheel road surface image with artificial marks by four CCD (charge coupled device) image sensors fixed on a vehicle body, and processing the obtained steering wheel image to obtain the real detection corner of the vehicle; analyzing by comparing the real detection corner of the vehicle with the theoretical output corner of an ensured mathematical model taking the steering wheel corner value as input and the steering wheel corner as output, to judge whether the vehicle sideslips or not; and processing the back wheel road surface image at the same time to obtain the scratch information of the vehicle, wherein if the vehicle sideslips, the scratch information is the sideslip quantity of the vehicle. According to the method, the difficulty of the detection of the real-time sideslip quantity when the vehicle runs or turns can be solved, and the negative effects caused by the deformation of the wheel can be overcome.

Description

technical field [0001] The invention relates to an image detection method, in particular to an image wheel hub mark detection method for vehicle sideslip motion. Background technique [0002] The movement of the vehicle is closely related to the output steering angle of the steering wheels. Understeering or oversteering of the vehicle may cause the vehicle to skid, especially when the vehicle is overweight or the tires are insufficiently inflated, it may cause the whole vehicle to skid, or even suddenly. Turning or overturning, the occurrence of this side slip can easily lead to traffic accidents, which is not conducive to the safety of the vehicle. The output steering angle data of the vehicle's steered wheels is the key to modeling the vehicle system and performing safety analysis. If the real-time steering angle of the vehicle can be obtained, it can be combined with the vehicle dynamics model to analyze whether the vehicle has skidded, and take corresponding driving mea...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the shortcomings of poor real-time performance of existing vehicle sideslip motion detection methods, and to eliminate the influence of different degrees of elastic deformation of tires on vehicle sideslip detection, the invention provides an image wheel hub logo detection of vehicle sideslip motion method, the method obtains the steered wheel image with artificial marking and the rear wheel road surface image through the four-way CCD image sensor fixed on the vehicle body, and processes the obtained steered wheel image to obtain the real detected corner of the vehicle; By comparing and analyzing the detected angle with the theoretical output angle of the mathematical model that takes the steering wheel angle value as input and the steering wheel angle as output, it can be known whether the vehicle has skidded; scratch information, if the vehicle skids, the scratch information is the amount of sideslip of the vehicle

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