Tractor-trailer-train braking time sequence detection based on monocular vision

Abstract

The tractor-trailer-train at the braking process prone to braking instability caused by asynchronous braking between the shafts. With respect to the lack of intelligent detection of Braking Time Sequence (BTS), a non-contact dynamic detection scheme of intelligent vehicle BTS is proposed. Based on the monocular vision principle, the edge markers of tractor-trailer train tires are identified, and the tire slip rate is solved. The noise reduction of the collected image is processed. The marker area is obtained by Blob analysis. This region at the image to be matched is identified by the template matching algorithm based on contour. The camera is calibrated by Zhang’s calibration method. In order to verify the effectiveness of the detection scheme, the real vehicle test was carried out. The test results show that the error of slip rate solution is below 4.2%.