Laser and image processing based vehicular side skewing angle dynamic measurement method and device

Abstract

The invention discloses a laser and image processing based vehicular side skewing angle dynamic measurement method and device. The method comprises the steps of: arranging two lasers and one imaging unit on the vehicle in parallel laterally on a vehicle as measurement units, wherein the lasers and the imaging unit are collinear horizontally and the line type light spot irradiated on the ground by the laser is within a viewing field of the imaging unit; vertically emitting line laser downwards by the laser and forming line type light spots parallel to the direction of the longitudinal axis of the vehicle on the ground; and vertically shooting a video downwards by the imaging unit; reading video data in real time by a processing unit, extracting each frame of image, and extracting the center position of the laser light spots in the images; and calculating the side skewing angle of the vehicle relative to the ground according to the relative positions of two laser light spots.

Description

technical field [0001] The invention relates to the field of vehicle motion state detection, and more specifically, to a method and device for dynamically measuring vehicle roll angles based on laser and image processing. Background technique [0002] The vehicle roll angle is an important parameter in the process of vehicle motion. The study of the dynamic change of the vehicle roll angle can increase the understanding of the vehicle motion law and provide the basis for the vehicle safety control strategy. At present, many vehicle safety control technologies and devices have been applied to vehicles, such as anti-lock braking system ABS, vehicle stability control system VSC and so on. The good operation of these devices relies on accurate vehicle motion state data. In addition, the vehicle roll angle is closely related to parameters such as the vehicle load and the height of the vehicle's center of mass. Knowing the vehicle roll angle is of great help to understand the ove...

AI Technical Summary

Problems solved by technology

[0004] In order to overcome the shortcomings of insufficient precision and instability in measuring the vehicle roll angle by the current vehicle inertial sensor, the present invention proposes a dynamic measurement method for the vehicle roll angle based on laser and image processing. The measuring unit of the present invention has relatively high precision and is subject to The interference of vehicle movement is small, which can effectively reduce the measurement noise, and the complexity of data processing and calculation is relatively low, and the roll angle of the vehicle can be calculated in real time and conveniently

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