肇事车辆刹车痕迹图像特征匹配技术仿真

肇事车辆刹车痕迹图像匹配的准确性,对车祸过程的复原至关重要.痕迹特征提取过程中,肇事车辆刹车痕迹受到车祸突发的影响,在距离和强度上都不同.随着车辆运动轨迹的不同,关键区域的刹车痕迹会被其它无关痕迹覆盖.造成关键区域的痕迹特征存在较大的相似性干扰.传统融合背景差法和边缘检测法的肇事车辆刹车痕迹匹配技术,无法对痕迹由于干扰形成的痕迹图像重叠区域进行准确的分割,不能实现肇事车辆刹车痕迹的有效匹配.提出了一种视觉优化的肇事车辆刹车痕迹匹配技术,通过成像光路的图像匹配方法,塑造关于双目视觉的摄像机模型,按照摄像机模型的成像光路获取摄像机视场交汇的几何模型,通过集合关系预测两幅肇事车辆刹车痕迹图像中存在的最大肇事车辆刹车痕迹图像重叠区域,采用特征匹配算法在该区域完成肇事车辆刹车痕迹的匹配分析.实验结果表明,所提方法能有效地提高肇事车辆刹车痕迹匹配精度.     

基于决策分析的高椒盐噪声轮胎痕迹图像滤波方法

决策分析能准确判断出噪声像素与信号像素,均值滤波能较好平滑噪声,而自适应中值滤波能较好地保持原始图像的细节及边缘。为了恢复被高密度椒盐噪声污染的轮胎痕迹图像,提出三者相结合的新算法。该算法结合三者的优点,与传统中值滤波器、自适应中值滤波器等非线性滤波器相比,能得到更好的图像质量。实验表明,算法能有效消除灰度轮胎痕迹图像中的高密度椒盐噪声和彩色轮胎痕迹图像中的中低密度椒盐噪声,较好地保护了图像的细节及边缘信息。     

多尺度Retinex方法在车辆胎痕图像增强方面的应用

轮胎印痕图像增强是进行车辆胎痕图像特征点提取及匹配最为关键的预处理阶段。以一次事故中现场拍摄衣物上的轮胎痕迹为研究对象,针对一些传统的图像增强方法的不足,提出了基于多尺度Retinex轮胎痕迹增强方法。为了进行对比,实验中还引入单尺度Retinex算法。实验结果表明：算法能提高胎痕图像对比度且能显著增强图像细节,且较单尺度的Retinex算法,在实现压缩动态范围的同时具有较高的色彩保真度,得到了期望的图像效果。     

基于FFT图像差值在轮胎印痕识别中的研究

轮胎印痕识别对交通事故的现场勘测及事后侦查有着十分重要的作用.介绍了轮胎印痕识别在交通肇事逃逸案侦破中的具体应用,研究了基于FFT的图像差值原理,提出了基于FFT图像差值算法的轮胎印痕识别方法,并分析了具体的试验数据,结果显示,该方法有利于提高轮胎印痕识别的成功率,为快速查找肇事逃逸车辆提供了理论基础和科学依据.     

基于深度学习SuperGlue的枪弹痕迹自动识别方法

为实现枪弹痕迹自动匹配的准确性,提出了将基于深度学习的SuperPoint特征提取和SuperGlue匹配算法引入枪弹痕迹自动识别研究。通过SuperPoint网络提取弹痕图像特征点位置与描述子向量;研究了SuperGlue的匹配机制,包括注意力机制的图神经网络(GNN)及优化匹配层,将提取的弹底窝痕迹的特征点和描述子使用SuperGlue算法进行匹配。实验表明SuperPoint特征通过SuperGlue匹配,相较于机器学习算法实现了更高的匹配准确度,正确匹配数量提高,为枪支鉴定增加科学性。     

轮胎印痕磨损特征的归一化双阈值分割应用

轮胎印痕磨损特征分割是计算机辅助轮胎印痕识别系统确定事故车辆的前提条件。根据现场采集的轮胎印痕图像的特点,提出了一种结合灰色理论和粒子群算法的归一化图像分割。该方法使用灰色关联分析来衡量像素点间的相似性,将归一化准则推导为双阈值分割准则。实验表明：该算法能对轮胎印痕图像进行有效的分割,突显出轮胎的磨损特征信息,计算速度快,为下一步特征提取和识别奠定了基础。     

嵌入式汽车轮胎规格号快速识别系统

针对汽车轮胎生产线检测的智能化管理问题,提出一种嵌入式系统以对轮胎规格号进行快速识别。对图像进行预处理,包括极坐标变换、双线性插值拉伸,利用大津法进行二值化,以连通域方法来提取规格号字符。采用基于统计的方法抽取轮廓特征进行规格号模式识别。系统硬件部分采用高速TMS320C6000系列DSP为核心的嵌入式硬件系统,使用参数预存储、软件流水线技术及双缓冲内存分配等优化方法。实验结果表明,该系统能快速有效地识别汽车轮胎规格号。     

一种新型的轮胎力级联估计方法

为了增强车辆主动安全性和底盘的集成控制,根据干扰输入观测器理论,基于简化的车轮动力学模型设计估计器,对每个轮胎纵向力进行估计.此外,基于"自行车"模型,利用车辆动力学,在纵向轮胎力估计值的基础上估计轮胎侧向力.涉及到的车载传感器测量值包括发动机扭矩和转速、轮缸压力、车轮角速度、方向盘转角、侧向加速度和横摆角速度.为验证轮胎力级联估计方法的有效性,应用高保真的车辆动力学软件ve DYNA进行了仿真研究,并与扩展卡尔曼滤波(extended Kalman filter,EKF)方法作对比分析.实验结果表明,轮胎力级联估计方法能够获得车辆轮胎力的估计效果.     

基于ADAMS/MATLAB联合仿真的LuGre动态轮胎模型研究

轮胎作为车辆与路面接触的唯一载体,其力学特性是车辆动力学响应分析和控制的重要基础.目前仿真研究中所使用的轮胎模型多为稳态模型,不能精确地描述轮胎的动态特性.因此,将动态轮胎模型应用于车辆动力学仿真软件中,对于整车动力学仿真和研究具有重要的作用.多体动力学软件Adams中自带的轮胎摩擦模型为静态模型,它将摩擦系数视为一个静态值,而实际轮胎与路面之间的摩擦是动态变化的,应为相对速度和位移的动态函数,所以本文以基于Lu Gre动态轮胎模型,应用Matlab/Simulink软件构建动态轮胎模块,通过接口与Adams/Car连接,进行整车模型与Simulink轮胎模型的同步联合仿真,实现轮胎与路面动态接触的历程的模拟,提高车辆系统仿真的精度.     

立体足迹特征数据自动采集识别系统

立体足迹是刑侦过程中的重要痕迹证据,对立体足迹进行准确的特征数据提取至关重要。依据相应痕迹检验学理论设计出立体足迹特征数据自动采集识别系统。基于Logitech公司C920摄像头完成图像采集,采用wenglor公司CP35MHT80激光测距仪提取特征数据,通过Labview实现图像处理、坐标换算、外围测距模块的控制及特征数据处理等操作,最后完成特征数据匹配。实验结果表明,该系统能快速地提取立体足迹特征数据,并得出准确的立体足迹特征识别报告。     

JSAE-SICE benchmark problem for vehicle dynamics control

Recently many new types of small vehicles for future urban societies have been proposed and developed. Such small vehicles tends to have reduced stability and handling ability than conventional vehicles because of their lighter weight and reduced tire performance. To cope with this problem by active collaboration of Japanese academia and industries, a benchmark problem of designing vehicle control logic for an articulated In-Wheel-Motor vehicle was settled by Japanese society of automotive industries and academia. For this purpose, simulation models of the new vehicle using multi-physics acausal modeling language Modelica were provided from the industry side. Challengers were requested to design controllers of tire steering angle, tire camber angle and tire driving force to satisfy requested vehicle dynamic characteristics. There also were some restrictions about the range of actuators. Four test scenarios were given to evaluate the control performance. Many challengers from Japanese Universities have tackled with this benchmark problem. Some results of their researches are also introduced in this paper.     

基于蓝牙的矿山车辆胎压监控系统①

矿山车辆胎压监测是以无损检测技术为基础,通过研究车辆胎压的实时信号,了解矿山车辆的轮胎气压的变化特性,从而达到矿山车辆安全监控提供依据。描述了以LPC2132为核心构成的胎压的监控装置的研究。通过带有蓝牙的传感器模块采集车辆胎压信号,经过调理电路后进行比较计算,若超过规定值就报警,并将数据发送到车载CAN总线上。在此基础上设计了一套基于蓝牙的胎压监控装置,硬件系统主要由传感器、LPC2132处理器,信号调理电路,蓝牙模块和报警模块等组成。软件系统由固件程序,数据收发模块等构成。     

基于模型预测控制的电动车辆队列控制研究

针对车辆队列建模时参数不确定导致控制存在误差的问题,以及队列中跟随车辆稳定性问题,分析车辆纵向动力学,设计一个鲁棒MPC控制器和滑移率控制器来提高队列车辆的控制精度和稳定性.首先对纵向MPC控制器进行改进,提高车辆队列控制精度；同时为防止跟随车辆的轮胎打滑,设计一个MPC滑移率控制器对跟随车辆的轮胎滑移率进行控制约束,保证了跟随车辆的纵向稳定性.最后,进行仿真实验验证其有效性.仿真实验结果表明,与传统的LQR、MPC控制器相比,改进的鲁棒MPC纵向控制器控制精度更高,同时MPC滑移率控制器可防止跟随车辆的轮胎打滑,保证了跟随车辆的纵向稳定性.     

Privately Finding Specifications

Buggy software is a reality and automated techniques for discovering bugs are highly desirable. A specification describes the correct behavior of a program. For example, a file must eventually be closed once it has been opened. Specifications are learned by finding patterns in normal program execution traces versus erroneous ones. With more traces, more specifications can be learned more accurately. By combining traces from multiple parties that possess distinct programs but use a common library, it is possible to obtain sufficiently many traces. However, obtaining traces from competing parties is problematic: By revealing traces, it may be possible to learn that one party writes buggier code than another. We present an algorithm by which mutually distrusting parties can work together to learn program specifications while preserving their privacy. We use a perturbation algorithm to obfuscate individual trace values while still allowing statistical trends to be mined from the data. Despite the noise introduced to safeguard privacy, empirical evidence suggests that our algorithm learns specifications that find 85 percent of the bugs that a no-privacy approach would find.     

Tire–road friction coefficient and tire cornering stiffness estimation based on longitudinal tire force difference generation

A sequential tire cornering stiffness coefficient and tire–road friction coefficient (TRFC) estimation method is proposed for some advanced vehicle architectures, such as the four-wheel independently-actuated (FWIA) electric vehicles, where longitudinal tire force difference between the left and right sides of the vehicle can be easily generated. Such a tire force difference can affect the vehicle yaw motion, and can be utilized to estimate the tire cornering stiffness coefficient and TRFC. The proposed tire cornering stiffness coefficient and TRFC identification method has the potential of estimating these parameters without affecting the vehicle desired motion control and trajectory tracking objectives. Simulation and experimental results with a FWIA electric vehicle show the effectiveness of the proposed estimation method.     

刚柔耦合重型汽车建模及通过连续减速带的平顺性分析

建立了考虑车架柔性的刚柔耦合重型汽车整车模型,通过与刚性车对比,验证了所建刚柔耦合车辆模型的正确性.依据实际需求建立了三组连续减速带模型,以车身垂向加速度和各轮垂向轮胎力为评价指标,分析车辆行驶速度、减速带高度和宽度对汽车行驶平顺性的影响.研究表明,减速带的高度与车身垂向加速度和垂向轮胎力成正比,减速带宽度与车身垂向加速度和垂向轮胎力成反比,对于限速60 km/h的道路,宽度为600 mm,高度为8 mm的减速带能起到良好的限速效果,同时还能保证车辆行驶的平顺性.     

Center of gravity height real-time estimation for lightweight vehicles using tire instant effective radius

Center of gravity (CG) height is an important parameter for lightweight vehicles (LWVs). Because of the inherently smaller weight and size, a LWV's CG height is more easily affected by loading conditions compared with conventional vehicles. This paper proposes a novel tire instant effective radius (TIER) method for real-time estimation of the CG height for LWVs. The method utilizes the mathematical correlation between the tire vertical load transfer that is proportional to the CG height, and the TIER variation. A Kalman filter based estimator is designed to simultaneously identify the vehicle CG height as well as the unknown nominal tire effective radius. To verify the performance of the proposed estimator, simulation results are first provided for several vehicles with different CG heights, and then road test results obtained on a lightweight electric ground vehicle (EGV) equipped with an advanced measurement system are given. Both simulation and experimental results show that the developed estimator is capable of providing an accurate estimation of the vehicle CG height in real-time.     

山区道路车辆动力学模型与行车安全分析

针对道路的几何线形,特别是纵坡坡度与弯道半径对车辆行驶状态的影响,建立了车路耦合的8自由度山区道路行驶的车辆动力学模型以及Dugoff轮胎力模型.结合车载GPS/IMU的测量信息,解算了不同车轮的滑移率以及垂直载荷,并通过横向载荷转移率(LLTR)对车辆的行驶稳定性进行分析.结果表明:车辆行驶过程中的侧向加速度与道路纵坡坡度以及车辆重心高度与宽度的比率h/T有关,坡度越陡,h/T越大,侧向加速度越大,车辆的行驶稳定性越差,降低车辆的行驶速度与侧向加速度可提高车辆的行驶稳定性.