Multi-train splice angle measurement method based on rear-view binocular camera

Abstract

The invention discloses a multi-train splice angle measurement method based on a rear-view binocular camera. According to the invention, a binocular visual system is adopted; by extracting and fitting a point cloud profile of a front panel or a side panel of a trailer, information output of a splice angle of the trailer is obtained. In the method, the camera is installed on a back plane of the trail by facing the trailer, and can be integrated into a sensing system of the trailer, and can be applicable to different trailer systems without changing installation positions. The method is suitable for all multiple vehicles.

Description

technical field

[0001] The invention relates to the field of vehicle control, in particular to a multi-train articulation angle measurement method based on a rear-view binocular camera. Background technique

[0002] The articulation angle is an important dynamic state of multiple trains. Accurate measurement of the articulation angle of multiple trains can be beneficial to the development of active safety systems for such vehicles, such as multi-train active steering and multi-train reversing systems. The prior art relevant to the present invention is divided into following two categories:

[0003] 1. Contact measuring sensor: such as a rotary potentiometer installed at the fifth wheel position of a heavy-duty vehicle.

[0004] 2. Non-contact measuring sensors: such as ultrasonic sensors and visual sensors.

[0005] Contact measurement sensors or ultrasonic sensors are only suitable for a certain type of articulation (such as the fifth wheel articulation); the existing vis...

Examples

Embodiment

[0036] Embodiment: A kind of multi-train articulation angle measurement method based on the rear-view binocular camera of this embodiment, the flow chart is as follows figure 1 shown. The image of the binocular rear-view camera is the input of the system, and the articulation angle of multi-row container vehicles is the output of the system. The detailed algorithm module functions are introduced as follows:

[0037] 1. Acquire images in binocular RGB format.

[0038] 2. Preprocess the image, mainly including grayscale, distortion removal and binocular alignment.

[0039] 3. Calculate the matching cost based on the sum of absolute differences (SAD), and calculate the final disparity map based on the semi-global optimization (SGBM) method.

[0040] 4. Use the depth information calculated above to obtain 3D point cloud information. Since the roll and pitch motion of the trailer is relatively small (usually less than 5 degrees), the 3D point cloud can be approximately replaced...

technical field

[0001] The invention relates to the field of vehicle control, in particular to a multi-train articulation angle measurement method based on a rear-view binocular camera. Background technique

[0002] The articulation angle is an important dynamic state of multiple trains. Accurate measurement of the articulation angle of multiple trains can be beneficial to the development of active safety systems for such vehicles, such as multi-train active steering and multi-train reversing systems. The prior art relevant to the present invention is divided into following two categories:

[0003] 1. Contact measuring sensor: such as a rotary potentiometer installed at the fifth wheel position of a heavy-duty vehicle.

[0004] 2. Non-contact measuring sensors: such as ultrasonic sensors and visual sensors.

[0005] Contact measurement sensors or ultrasonic sensors are only suitable for a certain type of articulation (such as the fifth wheel articulation); the existing vis...

Examples

Embodiment

[0036] Embodiment: A kind of multi-train articulation angle measurement method based on the rear-view binocular camera of this embodiment, the flow chart is as follows figure 1 shown. The image of the binocular rear-view camera is the input of the system, and the articulation angle of multi-row container vehicles is the output of the system. The detailed algorithm module functions are introduced as follows:

[0037] 1. Acquire images in binocular RGB format.

[0038] 2. Preprocess the image, mainly including grayscale, distortion removal and binocular alignment.

[0039] 3. Calculate the matching cost based on the sum of absolute differences (SAD), and calculate the final disparity map based on the semi-global optimization (SGBM) method.

[0040] 4. Use the depth information calculated above to obtain 3D point cloud information. Since the roll and pitch motion of the trailer is relatively small (usually less than 5 degrees), the 3D point cloud can be approximately replaced...

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