ステレオビジョンを用いた車両横すべり角の計測

抄録

In this paper, we describe about the measurement technique of vehicle sideslip angle using stereovision system. The vehicle sideslip angle is one of the vehicle state quantities. Moreover, this parameter is very important for control system of vehicles such as the dynamics stability control system. We propose measurement technique for sideslip angle using stereovision system. This technique uses the disparity and the optical flow to measure the relative movement of the vehicle. Moreover, it only uses two cameras, PC and the rate gyro. So, this measurement system can be realized inexpensive. Additionally, we propose using the predicted image based on vehicle motion model, in optical flow analysis. The result of the optical flow analysis has been improved by proposal method. It is confirmed that proposed technique can measure the movement distance and the sideslip angle by the experiment.