Tire sinkage measurement and entry angle calculation using stereo cameras

IF 2.4 3区工程技术 Q3 ENGINEERING, ENVIRONMENTAL

Journal of Terramechanics Pub Date : 2024-10-07 DOI:10.1016/j.jterra.2024.101019

Hannah White , Corina Sandu , Jyotirmoy Mukherjee , Andrea L’Afflitto , David Gorsich , Michael Cole

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引用次数: 0

Abstract

In the modern world the use of autonomous vehicles is growing more and more common. There are many applications for autonomous vehicles on deformable terrain, such as in military, farming, and mining but the problem with most established autonomous vehicle models is that they do not take into account the effect the terrain has on vehicle performance. To be able to accurately include these values in the vehicle model, they need to be directly sensed or estimated. One of the most valuable of these values is the tire sinkage. Tire sinkage is very important when it comes to terrain-vehicle interaction. The slip-sinkage relationship is an important factor in tractive performance. This paper is part of a larger project that is working on autonomy in conditions with deformable terrain and this paper presents on the methods employed to measure and find important values for the terramechanics of the model. This study specifically focuses on measuring the rut depth left behind after a tire travels over the terrain using a set of two stereo cameras. The sinkage is then used to be able to find the entry angle of the tire in the terrain.

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使用立体相机测量轮胎下沉量并计算进入角

在现代社会，自动驾驶汽车的使用越来越普遍。自动驾驶车辆在可变形地形上有很多应用，如军事、农业和采矿，但大多数已建立的自动驾驶车辆模型的问题在于，它们没有考虑到地形对车辆性能的影响。为了能够在车辆模型中准确地包含这些值，需要直接感知或估算这些值。其中最有价值的数值之一是轮胎下沉量。在地形与车辆相互作用方面，轮胎下沉量非常重要。滑移-下沉关系是影响牵引性能的重要因素。本文是一个大型项目的一部分，该项目致力于在可变形地形条件下实现自动驾驶，本文介绍了测量和查找模型地形力学重要值的方法。这项研究的重点是使用两台立体摄像机测量轮胎碾过地形后留下的车辙深度。然后，利用下沉量可以找到轮胎在地形中的进入角。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of Terramechanics 工程技术-工程：环境

CiteScore

5.90

自引率

8.30%

发文量

审稿时长

15.3 weeks

期刊介绍： The Journal of Terramechanics is primarily devoted to scientific articles concerned with research, design, and equipment utilization in the field of terramechanics. The Journal of Terramechanics is the leading international journal serving the multidisciplinary global off-road vehicle and soil working machinery industries, and related user community, governmental agencies and universities. The Journal of Terramechanics provides a forum for those involved in research, development, design, innovation, testing, application and utilization of off-road vehicles and soil working machinery, and their sub-systems and components. The Journal presents a cross-section of technical papers, reviews, comments and discussions, and serves as a medium for recording recent progress in the field.