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Article history: The accurate determination of a vehicle’s lateral behaviour is necessary in the domain of vehicle dynamics
Received 15 June 2009 to improve vehicle safety. Its interaction with the road surface must be understood thoroughly, which
Received in revised form 13 March 2010 requires the integration of a force model, representing the tyre–ground interface, into the global vehicle
Accepted 12 April 2010
model. The validity of such a model directly depends on its nature and more particularly on the accurate
Available online 7 May 2010
determination of its inputs and outputs. This paper focuses on one input: the wheel camber angle. Studies
in collaboration with a car maker have shown that a measurement error below 0.1◦ is necessary to identify
Keywords:
the tyre model parameters from real data accurately. At the same time, measurement performance must
Vehicle dynamics
Tyre modelling
be insensitive to the test conditions, and more particularly to the road surface (tyre–road grip). For
Wheel camber angle these reasons, a novel vision-based method for direct camber determination has been developed and a
Tyre loaded radius measurement prototype has been designed. Its vision-based principle is mainly aimed at giving accurate
Measurement prototype measurement. Its precision is robust to the road’s unevenness and the vehicle’s velocity; the tyre loaded
Camera vision radius is determined at the same time. The novel method’s feasibility and the measurement performance
of the designed prototype have been studied from real vehicle-on-track measurements with a test car.
© 2010 Elsevier B.V. All rights reserved.
0924-4247/$ – see front matter © 2010 Elsevier B.V. All rights reserved.
doi:10.1016/j.sna.2010.04.004
C. Lamy, M. Basset / Sensors and Actuators A 161 (2010) 134–142 135
Fig. 1. Selected definitions of wheel camber angle and tyre loaded radius.
Fig. 3. Diagram of the measurement prototype: front view (a) and side view (b).
in the images are detected through post processing using a common As long as the laser is only rotated around the wheel vertical
line detection technique: the Hough Transform (HT), as described axis (variations of the wheel camber) or is subject to pure lateral or
in Section 3.2.5. Once the pattern lines have been detected in the longitudinal displacements (lateral or longitudinal tyre slips), the
images, a number of pattern parameters are computed (distances pattern is not deformed (see Fig. 3).
and angles). So, it is possible to simultaneously determine the vertical
A mathematical model is then used for the calculation of the displacement and the rotation angle (around the wheel’s ver-
wheel camber angle and the tyre loaded radius RL from the tical axis) of the laser from the pattern deformation. To do
considered pattern parameters values. The two only variables so, some pattern characteristics (side lengths, corner angles,
of the mathematical model are and RL . The model equations positioning) which represent the pattern deformation must be
are based on geometrical equations and a homographic matrix, computed.
whose constant parameters (camera characteristics, camera-wheel In a real context, the laser vertical displacement corresponds
centre position and orientation, laser-camera position and orien- to the tyre normal deflection (in the road axis system), while its
tation, laser inter beam angle) are accurately known. Indeed, they rotation around the wheel’s longitudinal axis is due to wheel cam-
were accurately determined in advance and a specific mechani- bering. So, the wheel camber angle () and the tyre vertical position
cal adapter was manufactured for mounting all the measurement of the camera according to the road (tzc ) can be determined with
devices (camera and laser) ‘on the wheel’, more precisely in a plane a number of pattern parameters. The loaded radius (RL ) can be
parallel to the wheel rim edge plane. This mechanical adapter helps deduced from , tzc and the nominal tyre radius (R0 ), following Eq.
to ensure that the position and the orientation of the three mea- (3).
surement devices are always the same, whatever the test car –
and consequently the wheel – equipped with it. This is detailed RL = R0 + (tzc − R0 ) · cos (3)
in Section 3.2.3. At the same time, this ensures that the constant
parameters of the mathematical model are defined accurately. 3.2.4. Vision-based tracking of the dynamic laser pattern
The main interest of using such a measurement method is that deformation
the line detection technique is virtually insensitive to the road The proposed solution is based on the use of a camera fitted into
unevenness and to the vehicle speed. a plane parallel to the wheel rim plane. So, the camera positioning
according to the laser is not time variant, despite the wheel motion.
3.2.3. Projection of a laser pattern ahead of the tyre–road contact The laser pattern deformation can be followed by the camera, while
patch the wheel cornering, the tyre loaded radius and the wheel camber
A laser is fitted into a plane parallel to the wheel rim plane via vary respectively in their full variation range. The characteristics
a specific mechanical hub adapter developed by the MIPS-MIAM and positioning of the camera and the laser (focal distance and inter
laboratory. The characteristics and the validity of the adapter have beam angle) must be defined accurately.
already been investigated and presented in [5]. The laser integrates The measurement accuracy and precision of and RL are rel-
a refractive beam shaper which projects a laser pattern on the road ative to the determination accuracy and precision of the pattern
surface. When the laser is orthogonal to the projection surface, the characteristics used. The measurement sensitivity depends on the
laser pattern shape is a square. As the laser is not orthogonal to the level of the pattern deformation (variation of the pattern parame-
road surface (see Figs. 3 and 7), the pattern shape is a rhombus. The ters used) according to the variations of and RL (in their full range).
only variation of the distance (no rotation around the tyre longi- The measurement resolution is relative to the camera resolution (in
tudinal axis), causes a relative homothetic variation of the pattern pixels) and to the resolution of the method used to determine the
dimensions. In this case, there is no variation of the pattern corner pattern parameters. The data acquisition rate is equal to the camera
angles. Conversely, if the laser is rotated around the wheel longitu- frame rate. So, the measurement rate is equal to the camera frame
dinal axis and its distance from the road surface does not change, rate, if data processing (image processing + computation of and
the values of the 4 pattern corner angles vary. RL ) occurs between two instants of image acquisition. In the case
C. Lamy, M. Basset / Sensors and Actuators A 161 (2010) 134–142 137
Fig. 4. Straight line test at 22 m/s: image before (a) and after (b) detection of the 4 pattern lines.
of a camera frame rate of 100 Hz, the total computation time must the road (road axis system), using two geometrical functions, called
be below 10 ms. Fg1 and Fg2 . The second step consists in calculating and RL from
As far as vision is concerned, it is clear that the measurement D1pix and D2pix . The computation uses a homographic matrix (H),
precision is highly dependent on the noise of the images. Therefore, as described in the second following subsection.
the Signal to Noise Ratio (SNR) must be optimized, which is possible
with the use of a laser with a wavelength of 650 nm (red light) and 3.3.1. Determination of 2 geometrical functions: Fg1 and Fg2
a Near Infra Red (NIR) camera with an integrated optical band-pass D1 and D2 can be determined from and RL with two geomet-
filter around 650 nm. rical functions, respectively called Fg1 and Fg2 . Both functions use
constant parameters which are the position and the orientation of
3.2.5. Detection of the pattern lines in the images the laser in the wheel axis system and the inter beam angle (ı)
To determine the required pattern parameters, one solution is of the beam shaper. The only variables which correspond to the
to detect the pattern lines in the images acquired with the camera. variations of the laser positioning in the road axis system are ␥
However, image noise is caused by the road texture and ambient and RL . The constant positioning parameters are ty0 , tz0 and ˇ0 , as
light. Indeed, most reflective objects of the road surface (typically shown in Fig. 3. They were measured with high accuracy using a
white gravel) can be mistaken for with pixels corresponding to 3D-measurement machine whose measurement accuracies are:
the laser pattern in the images. Here, the HT technique has been
selected, particularly for reasons of computation time and robust- • Orientation: 0.001◦
ness against image noise [6–8]. Once the lines have been detected • Position: 1 m
and reconstructed, the coordinates of the 4 pattern corners can be
deduced from their intersections. The knowledge of these coordi- The value of the inter beam angle ı was determined through
nates allows the computation of the lengths of the 4 pattern lines static measurements. The determined value is very close to the
and the 4 corner angles between two consecutive lines which con- value given by the manufacturer (here 6.13◦ instead of 6◦ ).
stitute the pattern. Once all the constant parameters were determined, both geo-
metrical functions, Fg1 and Fg2 , were identified. So, D1 and D2 can
3.2.5.1. Adaptive thresholding and application of the Hough Trans- be expressed as follows:
form. An adaptive thresholding is applied to each image before the
D1 = Fg1 (, RL , ˛d0 , ˇd0 , d0 , txd0 , tyd0 , tzd0 , ı)
line detection, in order to improve the SNR. Here, the SNR is the
D2 = Fg2 (, RL , ˛d0 , ˇd0 , d0 , txd0 , tyd0 , tzd0 , ı)
ratio between the sum of the pixel amplitudes corresponding to
the pattern and the sum of the pixel amplitudes corresponding to Note that Fg1 and Fg2 were validated through static tests once
the other pixels in the image. the laser inter beam angle ı was determined through specific tests
A number of tests have shown that the developed method gives and the constant orientation and position parameters were mea-
good results up to a certain SNR level: typically, tests in sunlight sured by the 3D-measurement machine. The 3D-measurement of
conditions and on a white gravel surface. In this case, the SNR is the camera centre and the laser centre consisted in measuring 4
too low to detect the pattern lines efficiently. For this reason, the points at the two extreme planes of each, then in calculating the
feasibility study of the present method was performed for different centre from the coordinates of the 4 points.
classic road surfaces (concrete, asphalt, etc.) and normal ambient
luminosities. Fig. 4 shows an example of line detection in normal 3.3.2. Homographic matrix: H
test conditions. H is the product of two matrices: the first one, called A (3 × 3
matrix), is composed of constant parameters which are the camera
3.3. Computation of and RL characteristics:
Two parameters of the pattern in the image are determined to • focal distance (f);
compute and RL : they are the lengths of both pattern diagonals • pixel size (px × py );
in the images, called D1pix and D2pix . So, the computation of and • coordinates of the reference point in the image axis system (u0
RL is equivalent to solving a system of two geometrical equations and v0 ).
whose variables are and the variation of the tyre loaded radius
(RL ), following Eq. (7). The first step in the computation method All the parameters are shown in Fig. 5. The values of these
is to determine both pattern diagonals in the road axis system (in parameters are those given by the camera manufacturer. A cali-
metres), called D1 and D2, as functions of and RL . They are com- bration phase led to the conclusion that the values given by the
puted from the position and the orientation of the laser relative to manufacturer can be used in the computation of the homographic
138 C. Lamy, M. Basset / Sensors and Actuators A 161 (2010) 134–142
Fig. 5. Homogeneous axis system transformation: extrinsic (a) and intrinsic (b) parameters.
matrix. Indeed, the evaluated differences were below 5% for each Homographic matrix: H = A × P
camera parameter, which finally causes errors in the computation
of and RL below 1%. u xr
v =H yr , (6)
1 1
Intrinsic matrix: A
⎡ ⎤
xc D1pix D1(, RL )
U = H(, RL ) ·
⎢y ⎥ D2pix D2(, RL ) , (7)
V =A·⎣ c⎦ (4) 1 1
zc
W
1
The two only variables of matrix P are the vertical translation (tx )
→
with and the rotation around the longitudinal axis (Ow X ) of the road
axis system (˛). tz and ˛ are directly deduced from the camera
⎡ 1 ⎤
0 u0 position in the wheel axis system, and from and RL , following
⎢ px ⎥ f 0 0 0 Eq. (5). Consequently, matrix P can be considered as a function of
A=⎢ 0 1 ⎥· 0 f 0 0
⎣ v0 ⎦ and RL , and can be expressed as P(,RL ).
py 0 0 1 0 As D1 and D2 are two geometrical functions of and RL (respec-
0 0 1 tively called Fg2 (, RL ) and Fg2 (, RL )), and RL can be determined
by solving the first two equations of the following system of equa-
Extrinsic matrix: P tions (7).
The second matrix, called P, is the product of two matrices, R Fig. 6 shows an example of the variations of and RL with respect
and T (respectively 3 × 3 and 3 × 1 matrices), which respectively to D1pix and D2pix for a 205/55R16 tyre with a nominal normal load
correspond to the rotations and to the translations of the camera of 3618 N and an inflation pressure of 2.4 bars.
axis system relative to the road axis system. In the assumption of
a flat road (Z = 1), the coordinates of the pixels corresponding to 3.3.3. H matrix computation requirements
the laser pattern in the camera images (u and v) are relative to the D1pix and D2pix are computed once the pattern lines have been
corresponding coordinates in the road axis system (xr and yr ) from detected in the image. As the acquired images are noisy, the deter-
Eq. (6). mination of the inclination angles of the pattern lines is affected by
⎡ ⎤ ⎡ ⎤ the noise. Consequently, the computation of H (including the deter-
xc xr
mined values of D1pix and D2pix ) is also affected by the noise, which
⎢ yc ⎥ ⎢ yr ⎥
⎣ z ⎦ = P · ⎣ z ⎦, (5) causes a direct measurement error in the calculation of and RL .
c r
This is why a sensitivity study was carried out through sim-
1 1
ulation (in Matlab) to determine the maximum error in the
with determination of the pattern line inclination angles in the images,
corresponding to the maximum (tolerable) measurement errors of
⎡ ⎤
rxx rxy rxz tx and RL (including precision and accuracy −0.2◦ and 2 mm respec-
[R] [T ] ⎢ ryx ryy rvz ty ⎥ tively).
=⎣
tz ⎦
P= , The simulation results show that the maximum error is ±0.3◦ in
0 1 rzx rzy rzz
0 0 0 1 the worst case, as this error is applied to the determination of the 4
pattern lines simultaneously. The error in the calculation of and
⎡ ⎤
cos ˇ cos sin ˛ sin ˇ cos − cos ˛ sin cos ˛ sin ˇ cos + sin ˛ sin tx
⎢ cos ˇ sin sin ˛ sin ˇ sin + cos ˛ cos cos ˛ sin ˇ sin − sin ˛ cos ty ⎥
P=⎣
− sin ˇ sin ˛ cos ˇ cos ˛ cos ˇ tz ⎦
0 0 0 1
C. Lamy, M. Basset / Sensors and Actuators A 161 (2010) 134–142 139
Fig. 6. Example of variations of D1pix (a) and D2pix (b) according to and RL .
RL directly depends on the nominal value of D1pix and D2pix , which 4.1. Test environment
are related to and RL . So, the value of ±0.3◦ is related to the
worst case, i.e. when the values of D1pix and D2pix are the small- 4.1.1. Measurement prototype
est, which corresponds to the smallest values and RL : −10◦ and Fig. 7 shows two pictures of the measurement prototype
250 mm respectively. The corresponding errors in the calculation mounted on a test car of the MIPS laboratory using the designed
of and RL were more precisely evaluated at 0.19◦ and 0.91 mm wheel hub adapter.
respectively. The measurement prototype was manufactured once the geo-
metrical parameters (distances and angles) have been identified
from simulation. Their values were accurately measured with the
3D-measurement machine presented in Section 3.3.1. These mea-
4. Feasibility study and evaluation of measurement surements led to the conclusion that the manufactured adapter had
performance geometrical parameters very close to those determined through
simulation. So, the mechanical adapter ensures the accurate
A number of vehicle manoeuvres were carried out for feasi- mounting of the measurement prototype ‘on the wheel’, which in
bility study and evaluation of measurement performance. Firstly, turn maintains the geometrical values in the tests. The measured
different (indoor) tests were carried out in a steady state for geometrical parameter values are the following:
evaluation of the prototype measurement accuracy. Secondly,
the novel method feasibility was proven and the prototype • Camera-wheel geometrical parameters:
measurement precision was determined from (vehicle-on-track) - ˛c0 = 39◦ ;
quasi steady state tests. The next sections describe the test - ˇc0 = 37◦ ;
environment (prototype, hardware, software and overall com- - txc0 = 200 mm;
putation time), the vehicle manoeuvres and the test result - tyc0 = 150 mm;
analysis. - tzc0 = 76 mm.
1
Laser data sheet available at www.stockeryale.com/i/lasers/products/snf.pdf.
2
The square becomes a rhombus in the present application as the laser is not
orthogonal to the projection (road) surface.
3
Camera data sheet available at www.subtechnique.com/pulnix/PDFs/tm1400.pdf. Fig. 9. Measured steering angle in the ramp steer manoeuvre of 60 ◦ /s at 22 m/s.
C. Lamy, M. Basset / Sensors and Actuators A 161 (2010) 134–142 141
in the straight line phase of the ramp steer manoeuvre. The incli-
nation measurement precision (at ±3) was evaluated at ±0.4◦ in
the straight line phase. This uncertainty directly causes a measure-
ment error (precision) in and RL . Note that 0.4◦ is also the value
which was determined (in the sensitivity study) through simula-
tion by fixing and RL at −0.2◦ and 300 mm respectively, as is
the case in the straight line of the test. This helped to validate the
results obtained in the sensitivity study on the H matrix computa-
tion requirements, i.e. on the necessary line detection requirements
in the determination of D1pix and D2pix .
Finally, all the quasi steady state tests have helped to determine
a measurement precision of 0.2◦ for the wheel camber angle and
1 mm for the tyre loaded radius.
4.3.3. Robustness
All the tests have shown the robustness of the proposed method
to road unevenness and vehicle speed. Indeed, the pattern is not
Fig. 10. Wheel camber angle computed in post processing in the ramp steer
deformed by the road unevenness in the images even for small vehi-
manoeuvre of 60◦ /s at 22 m/s.
cle speeds (higher than 0.5 m/s). Consequently, the measurement
error (accuracy and precision) is independent on the speed.
5. Conclusion
with the lending of test tracks in Aubevoye (France) and the possi- (Oc , Xc , Yc , Zc ): wheel axis system (rim edge plan)
r , Yw , Zw ): camera axis system
(Oc , X
bility to carry out tests with a test car driver. → → →
(Od , Xd , Yd , Zd ): laser axis system
→ → →
(Oi , U , V , W ): image axis system
References → →
(O, , ): Hough plane (polar axis system)
[1] A. Porcel, P. Laurence, M. Basset, G.L. Gissinger, Tyre model for vehicle simula- (xr , yr , zr ): coordinates of a point in the road axis system
tion: overview and real time solution for critical situations, in: IEEE International (xw , yw , zw ): coordinates of a point in the wheel axis system
Conference on Control Applications, 2001. (xc , yx , zc ): coordinates of a point in the camera axis system
[2] H. Pacejka, E. Bakker, The magic formula tyre model, in: International Colloquium (u, v, w): coordinates of a point in the image axis system
on Tyre models for Vehicle Dynamics Analysis, 1991, pp. 1–18. (, ): coordinates of a line in the Hough plane
[3] B. Zami, Contribution à l’identification de la liaison véhicule/sol d’un véhicule txc0 : longitudinal shift between the camera axis system and the wheel axis system
automobile. estimation des paramètres de modèles de pneumatiques, Ph.D. the- tyc0 : lateral shift between the camera axis system and the wheel axis system
sis, Université de Haute Alsace, 2005. tzc0 : vertical shift between the camera axis system and the wheel axis system
[4] C. Lamy, M. Basset, Vision-based determination of wheel camber angle and tire → →
deflection, in: IFAC WC 08, 2008. tzc : normal distance from 0c to the road plane (Xr , Yr )
[5] C. Lamy, J. Caroux, M. Basset, J.L. Gissinger, P. Romieu, D. Poli, Comparison of txd0 : longitudinal shift between the laser axis system and the wheel axis system
optical and gps/ins based tire slip angle estimation, in: 5th IFAC Symposium on txd0 : lateral shift between the camera axis system and the wheel axis system
Advances in Automotive Control, 2007. tzd0 : vertical shift between the laser axis system and the wheel axis system
→ →
[6] P. Hough, Methods and means for recognizing patterns, U.S. Patent 3,069,654
tzd : normal distance from 0d to the road plane (Xr , Yr )
(December 1962).
˛c0 : angle between the camera axis system and the wheel axis system, around
[7] R.O. Duda, P.E. Hart, Use of the Hough transformation to detect lines and curves →
in pictures, Communications of the ACM 15 (1972) 11–15. (0w , Xw )
[8] Y. Furukawa, Y. Shinagawa, Accurate and robust line segment extraction by ana- ˇc0 : angle between the camera axis system and the wheel axis system, around
lyzing distribution around peaks in Hough space, Computer Vision and Image →
: wheel camber angle measurement accuracy He is an active reviewer of papers and articles (CEP, VSD, JESA, etc.). In his carrier,
: wheel camber angle measurement precision Michel Basset has communicated more than 100 papers/articles and is the co-author
RL : tyre loaded radius measurement accuracy of 7 patents; one is international (Europe, USA, Japan).