使用立体相机测量轮胎下沉量并计算进入角

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
{"title":"使用立体相机测量轮胎下沉量并计算进入角","authors":"Hannah White ,&nbsp;Corina Sandu ,&nbsp;Jyotirmoy Mukherjee ,&nbsp;Andrea L’Afflitto ,&nbsp;David Gorsich ,&nbsp;Michael Cole","doi":"10.1016/j.jterra.2024.101019","DOIUrl":null,"url":null,"abstract":"<div><div>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.</div></div>","PeriodicalId":50023,"journal":{"name":"Journal of Terramechanics","volume":"117 ","pages":"Article 101019"},"PeriodicalIF":2.4000,"publicationDate":"2024-10-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Tire sinkage measurement and entry angle calculation using stereo cameras\",\"authors\":\"Hannah White ,&nbsp;Corina Sandu ,&nbsp;Jyotirmoy Mukherjee ,&nbsp;Andrea L’Afflitto ,&nbsp;David Gorsich ,&nbsp;Michael Cole\",\"doi\":\"10.1016/j.jterra.2024.101019\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"<div><div>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.</div></div>\",\"PeriodicalId\":50023,\"journal\":{\"name\":\"Journal of Terramechanics\",\"volume\":\"117 \",\"pages\":\"Article 101019\"},\"PeriodicalIF\":2.4000,\"publicationDate\":\"2024-10-07\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Journal of Terramechanics\",\"FirstCategoryId\":\"5\",\"ListUrlMain\":\"https://www.sciencedirect.com/science/article/pii/S0022489824000612\",\"RegionNum\":3,\"RegionCategory\":\"工程技术\",\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"ENGINEERING, ENVIRONMENTAL\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Journal of Terramechanics","FirstCategoryId":"5","ListUrlMain":"https://www.sciencedirect.com/science/article/pii/S0022489824000612","RegionNum":3,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"ENGINEERING, ENVIRONMENTAL","Score":null,"Total":0}
引用次数: 0

摘要

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。
查看原文
分享 分享
微信好友 朋友圈 QQ好友 复制链接
本刊更多论文
Tire sinkage measurement and entry angle calculation using stereo cameras
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.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
Journal of Terramechanics
Journal of Terramechanics 工程技术-工程:环境
CiteScore
5.90
自引率
8.30%
发文量
33
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.
期刊最新文献
Acoustic winter terrain classification for offroad autonomous vehicles Investigation of steer preview methods to improve predictive control methods on off-road vehicles with realistic actuator delays Comparison of selected tire-terrain interaction models from the aspect of accuracy and computational intensity Simulation of cohesive-frictional artificial soil-to-blade interactions using an elasto-plastic discrete element model with stress-dependent cohesion Modelling and simulation fundamentals in design for ground vehicle mobility Part II: Western approach
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
已复制链接
已复制链接
快去分享给好友吧!
我知道了
×
扫码分享
扫码分享
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1