CN103093088B - The safety evaluation method of abrupt slope and crankcase ventilaton - Google Patents
The safety evaluation method of abrupt slope and crankcase ventilaton Download PDFInfo
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- CN103093088B CN103093088B CN201310008140.9A CN201310008140A CN103093088B CN 103093088 B CN103093088 B CN 103093088B CN 201310008140 A CN201310008140 A CN 201310008140A CN 103093088 B CN103093088 B CN 103093088B
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- 238000011156 evaluation Methods 0.000 title claims abstract description 10
- 230000011218 segmentation Effects 0.000 claims abstract description 33
- 238000005259 measurement Methods 0.000 claims abstract description 31
- 238000000034 method Methods 0.000 claims abstract description 16
- 238000013461 design Methods 0.000 claims description 4
- 230000005484 gravity Effects 0.000 claims description 3
- 230000009897 systematic effect Effects 0.000 claims description 3
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- 230000001186 cumulative effect Effects 0.000 abstract description 8
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- 238000001514 detection method Methods 0.000 abstract description 2
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Abstract
The invention discloses the safety evaluation method of a kind of abrupt slope and crankcase ventilaton, the technical matters cannot measured during for solving the comparatively large and shortage of data of stochastic error and cumulative errors in existing road slope measuring, belongs to road driving security fields.The safety evaluation method of abrupt slope and crankcase ventilaton in the present invention, metrical information according to vehicle GPS carries out segmentation description and piecewise fitting to detection section, when GPS record is not enough to smoothing process or GPS record lacks as travelled in cavern, spline interpolation and smoothing processing are carried out in the section less to GPS survey record in conjunction with IMU metrical information, obtain the fitting surface equation of road, and then calculate the radius of turn of road, the gradient, then utilize recurrence estimation by road forward piecemeal, the impact of cumulative errors in measurement is eliminated by restricted memory length, improve road grade, the computational accuracy of the geometric parameters such as camber, solve the technical matters that existing hill path is difficult to measure, for vehicle supervision department carries out pavement of road monitoring and inspect for acceptance providing foundation, in this section safety traffic, load-carrying is provided to vehicle simultaneously, rate request.
Description
Technical field
The present invention relates to a kind of road safety appraisal procedure, particularly the safety evaluation method of a kind of abrupt slope and crankcase ventilaton Dangerous Area, belong to road driving security fields.
Background technology
The crankcase ventilaton on abrupt slope is had to be the multiple area of traffic hazard, higher road accident rate and zig zag, the road alignment of continuous turning is relevant, and the traffic hazard of bend is even more serious than the traffic hazard result of straight-line segment, in addition, on continuous print is long, the road accident rate in descending section is apparently higher than the road accident rate of level road, visible, unreasonable and the bad linear combination of road geometric element design, it is the immediate cause causing traffic hazard to occur, the linear feature of real road is evaluated, in conjunction with the feature of road to the load-carrying of driving vehicle, speed limits, contribute to the generation reducing traffic hazard, improve the safety traffic performance of road.
Relate generally to the measurement to road grade and camber to the linear feature evaluation of real road, the measuring method of the existing pavement of road gradient and camber mainly contains mapping method, based on digital elevation model (DEM) graticule mesh computing method, the computing method etc. measured based on onboard sensor.Mapping method according to the principle of spirit-leveling instrument, the point-to-point measurement of artificial stepping, and then calculate the gradient on road surface; Obtaining the angle of gradient on road surface based on the graticule mesh method of digital elevation model by calculating on road surface certain any gradient, needing the surface equation knowing road surface, or utilizing the coordinate that road surface is put to carry out matching to realize to local surface; The computing method measured based on onboard sensor mainly install different sensors on vehicle, as GPS, gyroscope, laser sensor, displacement transducer etc., according to the metrical information of sensor and the grade information of geometric relationship reckoning road.
Document " based on any direction gradient computing method of DEM, Liu Xuejun, Ren Zhifeng, Wang Yanfang, Jin Bei, Areal Research and Development, 2009,28(4): 139-141 " gives gradient computation model and the calculation process of any direction case site in Grid DEM; Patent 201110125126.2, date of publication 2011.11.23, disclose a kind of car-mounted road surface gradient measuring method based on laser sensor, by installing gyroscope in vehicle centroid position, in the left and right sides symmetry of vehicle body front and back end, laser displacement sensor is installed, utilizes the geometric relationship of road to obtain the road surface horizontal wall inscription gradient and the longitudinal gradient gradient of road according to metrical information.
Need when utilizing mapping method to measure to consume a large amount of manpower and materials, be difficult to carry out, and have cumulative errors in measuring, measurement efficiency is low, DEM graticule mesh computing method, the surface equation of road pavement is needed to carry out matching, during the computing method that onboard sensor carries out measuring mainly travel according to vehicle, the prompting message of measured single locus calculates, because the stochastic error in measuring is inevitable, single-point information is utilized merely to calculate the gradient not necessarily continuous and derivable of the road obtained, and the impact that when not considering in existing Algorithm of road slope estimation to measure, stochastic error and cumulative errors cause, computing method when sensor failure does not have a measurement data situation are not considered yet, the technical matters cannot measured when cannot solve the comparatively large and shortage of data of stochastic error and cumulative errors in measurement.
Summary of the invention
In order to overcome the technological deficiency that in existing road slope measuring method, stochastic error and cumulative errors cannot be measured more greatly and when data is missing, the present invention proposes the safety evaluation method of a kind of abrupt slope and crankcase ventilaton, metrical information according to GPS carries out segmentation description and piecewise fitting to detected section, eliminate the impact of spot measurement stochastic error, when GPS record is not enough to smoothing process or GPS record lacks as travelled in cavern, spline interpolation and smoothing processing are carried out in the section less to GPS survey record in conjunction with IMU metrical information, obtain the fitting surface equation of road, and then calculate the radius of turn of road, the gradient, then utilize recurrence estimation by road forward piecemeal, the impact of cumulative errors in measurement is eliminated by restricted memory length, improve road grade, the computational accuracy of the geometric parameters such as camber, solve the technical matters that existing Mountain Pass Geomtry feature is difficult to measure, for vehicle supervision department carries out pavement of road monitoring and inspect for acceptance providing foundation, in this section safety traffic, load-carrying is provided to vehicle simultaneously, rate request.
The technical solution adopted for the present invention to solve the technical problems is, the safety evaluation method of a kind of abrupt slope and crankcase ventilaton, and its feature comprises the following steps:
1) according to the linear feature of road, segmentation description and modeling are carried out to road: with the initial point measured for true origin sets up geographical rectangular coordinate system, and the change in coordinate axis direction of set up rectangular coordinate system is calibrated, make it consistent with the direction of terrestrial coordinate system, under the measurement data of sensor record is converted to geographical rectangular coordinate system
relation, according to the plots changes in detected section, in the following manner segmentation description and modeling are carried out to section:
In formula,
represent with the coordinate measured under geographical rectangular coordinate system that initial point is true origin,
and
be respectively
waypoint position on direction,
for the number in divided section,
the
individual (
) functional relation in section;
When carrying out segmentation to detected section, follow following principle: 1. each segmentation section only has a turning, and be corresponding height
single-valued function; 2. turning waits Dangerous Area section length less, and linear section section length can be relatively large;
2) the rectangular coordinate system state equation that segmentation section GPS expresses is set up, for different segmentation sections, because its length is different, the record number of sensor gained measured value is also not quite similar, when GPS record value is not enough to fitting surface equation, or gps data lack as vehicle travel in cavern time, the metrical information of IMU is utilized to carry out spline interpolation and level and smooth estimation to state equation, each segmentation section obtains enough multiple multiple measurement estimated value, realize the spline smooth process to segmentation section, choose
for state variable,
for input variable, set up the state equation in segmentation section:
In formula,
for the coordinate components under geographical rectangular coordinate system,
be respectively the speed in lower three directions of vehicle carrier coordinate system,
be respectively the longitude of vehicle position, latitude and height,
for the angular velocity of rotation in earth relative inertness space
,
for the radius-of-curvature of prime vertical plane,
for the radius-of-curvature of meridian ellipse,
for the first excentricity of the earth,
for major semi-axis is long,
for the length of minor semi-axis,
for gravity angular velocity,
for the overload in carrier coordinate system three directions,
for systematic error, average is zero, and variance is respectively
;
3) according to matching least square index:
According to the following formula piecewise polynomial fitting is carried out to the multiple measurement estimated value adopting GPS/IMU jointly to obtain section rectangular coordinate system:
In formula,
for front
the number of the multiple measurement estimated value adopted during individual section matching,
the multiple measurement estimated value number in order to smooth curve translation backward,
be
individual multiple measurement estimated value,
be
the estimated value that section is obtained by model,
for the coefficient to be determined of model;
With
the function expression in individual segmentation section
for example illustrates coefficient
determination, if for this section of matching multiple measurement estimated value have
individual, in order to represent convenient, be expressed as
,
In formula,
for noise vector;
4) is calculated according to the following formula
the gradient in individual section
and radius of turn
5) according to the design standards of road geometric linear, for certain road grade angle, radius of turn, driving vehicle speed, load-carrying quantitative limitation requirement is provided.
The invention has the beneficial effects as follows, when GPS records disappearance in cavern or record number is not enough, the measurement of another kind of sensor as IMU is utilized to supplement it, multiple onboard sensor is utilized to measure road information, by to the segmentation description of road and piecewise fitting, eliminate the impact of spot measurement on geometric parameter enchancement factors such as road grades, recursion is utilized smoothly to estimate to eliminate the impact of cumulative errors, by the process to a mobile unit metrical information, accurately can obtain the geometric parameter information of road, Dangerous Area is judged according to constructing road standard, for vehicle supervision department is to the pavement detection of road and inspect for acceptance and provide foundation, simultaneously to the load-carrying of Dangerous Area driving vehicle, speed claims, reduce the generation of traffic hazard, improve the safety traffic performance of road.
Below in conjunction with drawings and Examples, invention is elaborated.
Accompanying drawing explanation
Fig. 1 is the process flow diagram of safety evaluation method;
Fig. 2 is the plots changes figure in section in specific embodiment;
Fig. 3 is the longitudinal gradient gradient in section in specific embodiment;
Fig. 4 is the radius of turn in section in specific embodiment.
Embodiment
With reference to accompanying drawing.
1) according to the linear feature of road, segmentation description and modeling are carried out to road: with the initial point measured for true origin sets up geographical rectangular coordinate system, and the change in coordinate axis direction of set up rectangular coordinate system is calibrated, make it consistent with the direction of terrestrial coordinate system, under the measurement data of sensor record is converted to geographical rectangular coordinate system
relation, draw out the changing trend diagram in detected section, see accompanying drawing 2, as follows segmentation description and modeling are carried out to section:
In formula,
represent with the coordinate measured under geographical rectangular coordinate system that initial point is true origin,
and
be respectively
waypoint position on direction,
for the number in divided section,
the
individual (
) functional relation in section;
When carrying out segmentation to detected section, follow following principle: 1. each segmentation section only has a turning, and be corresponding height
single-valued function; 2. turning waits Dangerous Area section length less, and linear section section length can be relatively large;
2) the rectangular coordinate system state equation that the GPS setting up segmentation section expresses, for different segmentation sections, because its length is different, the record number of sensor gained measured value is also not quite similar, when GPS record value is not enough to matched curve, or gps data lack as vehicle travel in cavern time, the metrical information of IMU is utilized to carry out spline interpolation and level and smooth estimation to state equation, each segmentation section obtains enough multiple multiple measurement estimated value, realize the spline smooth process to segmentation section
Choose
for state variable,
for input variable, set up the state equation in segmentation section:
In formula,
for the coordinate components under geographic coordinate system,
be respectively the speed in lower three directions of carrier coordinate system,
be respectively the longitude of target position, latitude and height,
for the angular velocity of rotation in earth relative inertness space
,
for the radius-of-curvature of prime vertical plane,
for the radius-of-curvature of meridian ellipse,
for the first excentricity of the earth,
for major semi-axis is long,
for the length of minor semi-axis,
for gravity angular velocity,
for the overload in carrier coordinate system three directions,
for systematic error, average is zero, and variance is respectively
;
3) according to matching least square index:
According to the following formula piecewise polynomial fitting is carried out to the multiple measurement estimated value adopting GPS/IMU jointly to obtain section rectangular coordinate system:
In formula,
for front
the number of the multiple measurement estimated value adopted during individual section matching,
the multiple measurement estimated value number in order to smooth curve translation backward,
be
individual multiple measurement estimated value,
be
the estimated value that section is obtained by model,
for the coefficient to be determined of model;
With
the function expression in individual segmentation section
for example illustrates coefficient
determination, if for this section of matching multiple measurement estimated value have
individual, in order to represent convenient, be expressed as
,
In formula,
for noise vector;
By carrying out fitting of a polynomial to the data under road section selected rectangular coordinate system, obtain
the coefficient of polynomial fitting in section,
4) is calculated according to the following formula
the gradient in individual section
and radius of turn
Known by calculating, the slope change curve in this section is shown in accompanying drawing 3, and the corresponding radius of turn in section is shown in accompanying drawing 4, visible, and the ruling grade in this section is 1.1428%, and minimal curve radius is 8.1786 meters;
5) according to the design standards of road geometric linear, for certain road grade angle, radius of turn, driving vehicle speed, load-carrying quantitative limitation requirement is provided.
Claims (1)
1. a safety evaluation method for abrupt slope and crankcase ventilaton, its feature comprises the following steps:
1) according to the linear feature of road, segmentation description and modeling are carried out to road: with the initial point measured for true origin sets up geographical rectangular coordinate system, and the change in coordinate axis direction of set up rectangular coordinate system is calibrated, make it consistent with the direction of terrestrial coordinate system, under the measurement data of sensor record is converted to geographical rectangular coordinate system
relation, according to the plots changes in detected section, in the following manner segmentation description and modeling are carried out to section:
In formula,
represent with the coordinate measured under geographical rectangular coordinate system that initial point is true origin,
and
be respectively
waypoint position on direction,
for the number in divided section,
the
individual (
) functional relation in section;
When carrying out segmentation to detected section, follow following principle: 1. each segmentation section only has a turning, and be corresponding height
single-valued function; 2. turning waits Dangerous Area section length less, and linear section section length can be relatively large;
2) the rectangular coordinate system state equation that segmentation section GPS expresses is set up, for different segmentation sections, because its length is different, the record number of sensor gained measured value is also not quite similar, when GPS record value is not enough to fitting surface equation, or gps data lack as vehicle travel in cavern time, the metrical information of IMU is utilized to carry out spline interpolation and level and smooth estimation to state equation, each segmentation section obtains enough multiple multiple measurement estimated value, realize the spline smooth process to segmentation section, choose
for state variable,
for input variable, set up the state equation in segmentation section:
In formula,
for the coordinate components under geographical rectangular coordinate system,
be respectively the speed in lower three directions of vehicle carrier coordinate system,
be respectively the longitude of vehicle position, latitude and height,
for the angular velocity of rotation in earth relative inertness space
,
for the radius-of-curvature of prime vertical plane,
for the radius-of-curvature of meridian ellipse,
for the first excentricity of the earth,
for major semi-axis is long,
for the length of minor semi-axis,
for gravity angular velocity,
for the overload in carrier coordinate system three directions,
for systematic error, average is zero, and variance is respectively
;
3) according to matching least square index:
According to the following formula piecewise polynomial fitting is carried out to the multiple measurement estimated value adopting GPS/IMU jointly to obtain section rectangular coordinate system:
In formula,
for front
the number of the multiple measurement estimated value adopted during individual section matching,
the multiple measurement estimated value number in order to smooth curve translation backward,
be
individual multiple measurement estimated value,
be
the estimated value that section is obtained by model,
for the coefficient to be determined of model;
With
the function expression in individual segmentation section
for example illustrates coefficient
determination, if for this section of matching multiple measurement estimated value have
individual, in order to represent convenient, be expressed as
,
In formula,
for noise vector;
4) is calculated according to the following formula
the gradient in individual section
and radius of turn
5) according to the design standards of road geometric linear, for certain road grade angle, radius of turn, driving vehicle speed, load-carrying quantitative limitation requirement is provided.
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