CN104120644A - Gravitational acceleration sensor based road surface flatness detection method - Google Patents
Gravitational acceleration sensor based road surface flatness detection method Download PDFInfo
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Abstract
The invention relates to a gravitational acceleration sensor based road surface flatness detection method which comprises the following steps: determining the detection vehicle speed, a gravitational acceleration sensor and a sampling frequency; using different models of test vehicles to run on roads with different road surface flatness to obtain gravitational acceleration values of the gravitational acceleration sensor; performing Fourier transform on the collected gravitational acceleration values to obtain power spectral density; establishing a fitting model of the power spectral density of same model of test vehicles and IRI (international roughness index); performing general applicability tests on the fitting model of the same model of test vehicles to obtain a fitting model of the power spectral density of the different models of test vehicles and the IRI; performing general applicability tests on the fitting model of the power spectral density of the different models of test vehicles and the IRI; and according to a universal fitting model and the collected gravitational acceleration values, performing road surface flatness detection. Compared with the prior art, the road surface flatness detection method based on the gravitational acceleration values can solve the problems that a laser flatness detection vehicle in the prior art is expensive and is complicated in detection process.
Description
Technical field
The present invention relates to a kind of detection method, especially relate to a kind of detection method of road-surface evenness based on Gravity accelerometer.
Background technology
In highway construction tremendous growth, highway maintenance and management are also increasingly important.2010, the medium-capital overhauling maintenance speed of China's speedway surpassed construction speed, and domestic large quantities of standard highways also will enter medium-capital overhauling curing time, and the work of highway road conservation and management faces unprecedented challenge.Now, provide scientific and reasonable Pavement Performance detection means most important.
At present, aspect evaluation pavement performance index, international roughness index (international roughness index) is one of most widely used index.IRI calculates with 1/4 vehicle model in the World Bank, and this car travels on road surface with the speed of regulation, calculates the accumulation displacement of suspension in certain operating range as IRI.
IRI can obtain by widely used apparatus measures (as level gauge or RTRRMS instrument), and result has validity and transferability, but level gauge etc. need to manually complete, to measure its efficiency very low.At present, generally adopt road laser evenness test carriage to carry out international roughness index detection both at home and abroad, but it is expensive and detection operation is loaded down with trivial details, is unfavorable for the detection surface evenness situation of timing property, thereby can not referential suggestion is provided to timely maintenance of surface and administrative department.
Summary of the invention
Object of the present invention is exactly to provide a kind of detection method of road-surface evenness based on Gravity accelerometer in order to overcome the defect that above-mentioned prior art exists, expensive and detect the loaded down with trivial details problem of operation for solving current laser evenness inspection vehicle.
Object of the present invention can be achieved through the following technical solutions:
A detection method of road-surface evenness based on Gravity accelerometer, comprises the following steps:
(1) determine and detect the speed of a motor vehicle, Gravity accelerometer and sample frequency thereof;
(2) adopt the testing vehicle of different automobile types at different surface evenness road drivings, obtain the gravity acceleration value of Gravity accelerometer;
(3) gravity acceleration value collecting is carried out to Fourier transformation, obtain power spectral density;
(4) set up the power spectral density of vehicle of the same race and the model of fit of IRI;
(5) model of fit of the power spectral density of different automobile types and IRI is carried out to general applicability check;
(6) eliminate different automobile types for the impact of model of fit, obtain the general model of fit of power spectral density and IRI;
(7) according to general model of fit and the gravity acceleration value that collects, carry out surface evenness detection.
Described Gravity accelerometer is 3-axis acceleration sensor.
Step (6) elimination different automobile types for the concrete grammar of the impact of model of fit is: the value of the mean power spectrum density while first calculating stationary vehicle, while then utilizing Vehicle Driving Cycle, the value of mean power spectrum density deducts the value of its mean power spectrum density when static, obtains the power spectral density in general model of fit.
Compared with prior art, the data of the different automobile types that the present invention gathers by Gravity accelerometer are carried out modeling analysis, eliminate the impact of test vehicle on model, set up versatility detection method and detection model, can solve current laser evenness inspection vehicle expensive and detect the loaded down with trivial details problem of operation.
Accompanying drawing explanation
Fig. 1 is flow chart of the present invention;
Fig. 2 is the model of fit of vehicle acceleration of gravity power spectral density of the same race and IRI
Fig. 3 is the model of fit of different automobile types acceleration of gravity power spectral density and IRI;
Fig. 4 is the general model of fit of gravity acceleration power spectral density and IRI.
The specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
Embodiment
As shown in Figure 1, a kind of detection method of road-surface evenness based on Gravity accelerometer, comprises the following steps:
(1) determine and detect the speed of a motor vehicle, and selected Gravity accelerometer and sample frequency thereof;
(2) adopt the testing vehicle of different automobile types at different surface evenness road drivings, in form process, obtain the gravity acceleration value of Gravity accelerometer.In the process of driving, this unevenness on road surface can evoke the vibration of automobile, the vibration of automobile must produce the normal acceleration pitching, be the acceleration of gravity of Z axis, the size of the automobile bumpiness of the size reaction of its Z axis acceleration of gravity, thus indirectly reflect the situation of pavement roughness.Gravity accelerometer choose and required sample frequency really to fix on surface evenness very important in detecting, according to actual needs, choose Gravity accelerometer range for ± 10g, precision is 0.001g, selected sample frequency is 10Hz.
Ordinary Rd out-of-flatness longitudinally will be much larger than its horizontal out-of-flatness, and toppling and rotating and can not ignore of longitudinal direction of car, thinks that road edge is laterally smooth but can be similar to, and can suppose that left and right vehicle wheel is symmetrical.In addition, for-wheel vehicle accounts for the great majority of driving vehicle on highway, therefore, should using for-wheel vehicle as representative vehicle, due to symmetrical desirable its half as research object, use for reference 1/4 auto model principle, Gravity accelerometer is placed in to rear axle top.
According to the analysis to vibration equation, along with the increase of the speed of a motor vehicle, root mean square of weighed acceleration is increasing, but speedup is reducing, and therefore, selects the design speed of each standard highway or urban road, as the test speed of a motor vehicle.
Choose the road of representative different surface evenness, precision level or laser evenness car actual measurement surface evenness index IRI.On representative road, utilize the for-wheel vehicle of different automobile types to travel with design speed, gather Z axis gravity acceleration value.
(3) gravity acceleration value collecting is carried out to Fourier transformation, obtain power spectral density.
Power spectral density is the statistics of structure response under random dynamic loads excitation, be the relation curve of power spectral density value one frequency values, wherein power spectral density can be the forms such as acceleration power spectral density, displacement power spectral density, speed-power spectrum density, activity of force spectrum density.
In car steering process, road out-of-flatness meeting causes the vibrations of vehicle, in the middle of vertical tremor each time, gravity does work along vertical direction always, energy-producing variation, and power spectral density is only relevant with the amplitude spectrum of signal, irrelevant with phase spectrum, amplitude information that can picked up signal, therefore can express the distribution of surface evenness energy on spatial frequency domain by power spectral density function, and it depicts the structure of surface evenness.
From power spectral density function, not only can understand road surface wave structure, can also reflect the general characteristic on road surface, the place of power spectral density vary within wide limits represents that the road out-of-flatness of this position is all the more obvious, and the quality of road is low.But, each realization of signal random process is uncertain, the power spectral density of a certain realization can not be as the power spectral density of process, random process power spectral density is regarded the statistical average of the power spectral density of each realization as, obtain the mean power spectrum density of one section of road, as the irregular indirect performance of road in the driving process of this road, thus the specific features of reflection road.
Rely on matlab software, to each representative road, measured to driving vehicle, the numerical value of the acceleration in numerical value direction carries out obtaining mean power spectrum density after above-mentioned Fourier transformation.
(4) power spectral density and the IRI that choose vehicle of the same race carry out Fitting Analysis, set up the power spectral density of vehicle of the same race and the model of fit of IRI;
(5) model of fit of the power spectral density of different automobile types and IRI is carried out to general applicability check;
(6) owing to selecting the model of two kinds of vehicles that vehicle gap is larger to compare, for different vehicles, although the form of its function is very close, but need in use the parameter of function to demarcate, therefore do not there is good versatility, so eliminate different automobile types for the impact of model of fit, obtain the general model of fit of power spectral density and IRI.
What measure due to three axle Gravity accelerometers is the stack that vehicle self vibration and pavement roughness cause Vehicular vibration, therefore, the value of the mean power spectrum density while first calculating stationary vehicle, while then utilizing Vehicle Driving Cycle, the value of mean power spectrum density deducts the value of its power spectral density when static, power spectral density in general model of fit, represents the Vehicular vibration that pavement roughness causes.
(7) according to general model of fit and the gravity acceleration value that collects, carry out surface evenness detection.
Adopt the present invention to carry out planeness detection to the actual section within the scope of Shanghai Regional, choose 38, representational section, its roughness index is distributed between 1-10, urban road speed of operation is chosen as 40km/h, the road running speed of a motor vehicle is 60km/h or 80km/h according to its design speed, choosing Gravity accelerometer range is-± 10g, precision is 0.001g, selected sample frequency is 10Hz, select two sensors to eliminate after instrument error simultaneously, be fixed on rear axle top in car, come and go and measure three times, get the average of its acceleration of gravity.Test vehicle is selected buick excelle three-box car, and Ford Jiangling test carriage.
The Ford Jiangling test carriage of take is example, adopt matlab software, to each representative road, measured to driving vehicle, the numerical value of the acceleration in numerical value direction carries out obtaining mean power spectrum density after above-mentioned Fourier transformation, in Table 1, its power spectral density and IRI are carried out to Fitting Analysis, and Fig. 2 is shown in matched curve.
Acceleration of gravity power spectral density and the international roughness index model of two kinds of vehicles of difference matching, see Fig. 3, the form that can find its function from two model of fit also has very large approximation, but the impact due to vehicle, article two, curve could not well heavily be combined together, the value of the mean power spectrum density while therefore first calculating stationary vehicle, while then utilizing Vehicle Driving Cycle, the value of mean power spectrum density deducts the value of its power spectral density when static, sets up general model of fit between itself and IRI as shown in Figure 4.
Table 1
Then adopt two kinds of vehicles, the gravity acceleration value when measuring different representative sections and travelling, the general model of fit with Fig. 4, calculates its IRI value.The index of correlation of utilizing this kind of method to record IRI value and IRI actual value is 0.9642, can well meet the demand of actual measurement.
The above; be only the present invention's specific embodiment preferably, but protection scope of the present invention is not limited to this, is anyly familiar with in technical scope that those skilled in the art disclose in the present invention; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (3)
1. the detection method of road-surface evenness based on Gravity accelerometer, is characterized in that, comprises the following steps:
(1) determine and detect the speed of a motor vehicle, Gravity accelerometer and sample frequency thereof;
(2) adopt the testing vehicle of different automobile types at different surface evenness road drivings, obtain the gravity acceleration value of Gravity accelerometer;
(3) gravity acceleration value collecting is carried out to Fourier transformation, obtain power spectral density;
(4) set up the power spectral density of vehicle of the same race and the model of fit of IRI;
(5) model of fit of the power spectral density of different automobile types and IRI is carried out to general applicability check;
(6) eliminate different automobile types for the impact of model of fit, obtain the general model of fit of power spectral density and IRI;
(7) according to general model of fit and the gravity acceleration value that collects, carry out surface evenness detection.
2. a kind of detection method of road-surface evenness based on Gravity accelerometer according to claim 1, is characterized in that, described Gravity accelerometer is 3-axis acceleration sensor.
3. a kind of detection method of road-surface evenness based on Gravity accelerometer according to claim 1, it is characterized in that, step (6) elimination different automobile types for the concrete grammar of the impact of model of fit is: the value of the mean power spectrum density while first calculating stationary vehicle, while then utilizing Vehicle Driving Cycle, the value of mean power spectrum density deducts the value of its mean power spectrum density when static, obtains the power spectral density in general model of fit.
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| CN104790283A (en) * | 2015-04-10 | 2015-07-22 | 同济大学 | Quick road surface roughness detection system based on vehicle-mounted accelerometer |
| CN104792937A (en) * | 2015-04-02 | 2015-07-22 | 同济大学 | Bridge head bump detection evaluation method based on vehicle-mounted gravitational acceleration sensor |
| CN104864846A (en) * | 2015-03-24 | 2015-08-26 | 江苏科技大学 | Vehicle road surface waviness collection system based on acceleration sensor, and work method thereof |
| CN106840049A (en) * | 2016-12-16 | 2017-06-13 | 东南大学 | Pavement quality ranking method based on built-in three axles acceleration sensor smart mobile phone |
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