dc.contributor.author |
Botha, Theunis R.
|
|
dc.contributor.author |
Els, Pieter Schalk
|
|
dc.date.accessioned |
2016-03-11T07:56:39Z |
|
dc.date.issued |
2015-10 |
|
dc.description.abstract |
This paper presents inexpensive methods whereby the vehicle side-slip angle can be measured accurately at low speeds on any terrain
using cameras. Most commercial side-slip angle sensor systems and estimation techniques rely on smooth terrain and high vehicle speeds,
typically above 20 km/h, to provide accurate measurements. However, during certain in-situ tyre and vehicle testing on off-road conditions,
the vehicle may be travelling at speeds slower than required for current sensors and estimation techniques to provide sufficiently
accurate results. Terramechanics tests are typical case in point. Three algorithms capable of determining the side-slip angle from overlapping
images are presented. The first is a simple fast planar method. The second is a more complex algorithm which can extract not
only the side-slip angle but also its rotational velocities and scaled translational velocities. The last uses a calibrated stereo-rig to obtain
all rotations and translational movement in world coordinates. The last two methods are aimed more at rough terrain applications,
where the terrain induces motion components other than typical predominant yaw-plane motion. The study however found no discernible
difference in measured side-slip angle of the methods. The system allows for accurate measurement at low and higher speeds
depending on camera speed and lighting. |
en_ZA |
dc.description.embargo |
2016-10-31 |
|
dc.description.librarian |
hb2015 |
en_ZA |
dc.description.sponsorship |
National Research Foundation (DAAD-NRF). |
en_ZA |
dc.description.uri |
http://www.elsevier.com/locate/jterra |
en_ZA |
dc.identifier.citation |
Botha, TR & Els, PS 2015, 'Digital image correlation techniques for measuring tyre-road interface parameters : Part 1 - Side-slip angle measurement on rough terrain', Journal of Terramechanics, vol. 61, pp. 87-100. |
en_ZA |
dc.identifier.issn |
0022-4898 (print) |
|
dc.identifier.issn |
1879-1204 (online) |
|
dc.identifier.other |
10.1016/j.jterra.2015.04.004 |
|
dc.identifier.uri |
http://hdl.handle.net/2263/51791 |
|
dc.language.iso |
en |
en_ZA |
dc.publisher |
Elsevier |
en_ZA |
dc.rights |
© 2015 ISTVS. Published by Elsevier Ltd. All rights reserved. Notice : this is the author’s version of a work that was accepted for publication in Journal of Terramechanics. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Journal of Terramechanics, vol. 61, pp. 87-100, 2015. doi : 10.1016/j.jterra.2015.04.004. |
en_ZA |
dc.subject |
Side-slip angle |
en_ZA |
dc.subject |
Digital image correlation |
en_ZA |
dc.subject |
Camera |
en_ZA |
dc.subject |
Rough terrain |
en_ZA |
dc.subject |
In-situ |
en_ZA |
dc.title |
Digital image correlation techniques for measuring tyre-road interface parameters : Part 1 - Side-slip angle measurement on rough terrain |
en_ZA |
dc.type |
Postprint Article |
en_ZA |