Measuring Turning Trajectory of 4WD-4WS Vehicle using Single Camera View

In order to understand the driving performance of a vehicle, accurate measurements of its position and posture are required. In this study, a method was proposed for measuring the position of a turning vehicle using a camera at an arbitrary position, along with 6 markers on the vehicle. The trajectory of a 4-wheel drive and 4-wheel-steering vehicle during steady-state circular turning was then measured using the proposed method. Although it was confirmed that there was an error in the depth direction from the camera, the turning trajectory of the vehicle could be measured with high precision. However, a variation in the measurement of the vehicle posture was recognized.