In order to monitor the vehicle's vertical bouncing during driving,a vehicle body vertical vibration measurement sys-tem based on binocular visual motion decoupling is proposed.The binocular camera collects the change of the reference object mark in the image sequence during the driving of the vehicle,records the body attitude fluctuation response caused by the low-fre-quency long-wave road unevenness excitation,and uses the inertial measurement unit(IMU)to synchronously collect the body angle change.Decoupling calculation based on the two measurement signals obtains the vertical vibration information of the vehi-cle body.A seven-degree-of-freedom vehicle model was established to calculate the body attitude response under the same work-ing conditions.The effectiveness of the proposed method was verified by comparing the simulation and test results.Research shows that the method based on binocular visual motion decoupling can effectively identify the vehicle body bounce response caused by low-frequency and long-wave road roughness excitation,which provides method support for online vehicle attitude monitoring and fault diagnosis.
关键词
运动解耦/车身振动/双目视觉/仿真模型
Key words
Motion Uncouple/Body Vibration/Binocular Vision/Simulation Model
维普
万方数据