CN104120644B - A kind of detection method of road-surface evenness based on Gravity accelerometer - Google Patents
A kind of detection method of road-surface evenness based on Gravity accelerometer Download PDFInfo
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Abstract
The present invention relates to a kind of detection method of road-surface evenness based on Gravity accelerometer, comprise the following steps: determine to detect the speed of a motor vehicle, Gravity accelerometer and sample frequency thereof; Adopt the testing vehicle of different automobile types at different surface evenness road driving, obtain the gravity acceleration value of Gravity accelerometer; Fourier transformation is carried out to the gravity acceleration value collected, obtains power spectral density; Set up the power spectral density of vehicle of the same race and the model of fit of IRI; General applicability inspection is carried out to the model of fit of vehicle of the same race, obtains the power spectral density of different automobile types and the model of fit of IRI; General applicability inspection is carried out to the power spectral density of different automobile types and the model of fit of IRI; According to general model of fit and the gravity acceleration value that collects, carry out surface evenness detection.Compared with prior art, detection of the present invention, based on acceleration of gravity data, can solve current laser evenness inspection vehicle expensive and detect the loaded down with trivial details problem of operation.
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
While highway construction tremendous growth, highway maintenance is also increasingly important with management.2010, the medium-capital overhauling maintenance speed of China's speedway exceeded construction speed, and domestic large quantities of standard highway 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, in evaluation pavement performance index, international roughness index (internationalroughnessindex) is one of most widely used index.The World Bank calculates IRI with 1/4 vehicle model, and this car on road surface, calculates the accumulation displacement of suspension in certain operating range as IRI with the speeds of regulation.
IRI can be obtained by widely used apparatus measures (as level gauge or RTRRMS instrument), and result has validity and transferability, but level gauge etc. need manually to complete, and to measure its efficiency very low.At present, road laser evenness test carriage is generally adopted 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, thus can not referential suggestion be provided to timely maintenance of surface and administrative department.
Summary of the invention
Object of the present invention is exactly provide a kind of detection method of road-surface evenness based on Gravity accelerometer to overcome 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:
Based on a detection method of road-surface evenness for Gravity accelerometer, comprise the following steps:
(1) determine to 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 driving, obtain the gravity acceleration value of Gravity accelerometer;
(3) Fourier transformation is carried out to the gravity acceleration value collected, obtain power spectral density;
(4) power spectral density of vehicle of the same race and the model of fit of IRI is set up;
(5) general applicability inspection is carried out to the power spectral density of different automobile types and the model of fit of IRI;
(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, surface evenness detection is carried out.
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 average power spectral density first during calculating stationary vehicle, when then utilizing vehicle to travel the value of average power spectral density deduct its static time the value of average power spectral density, obtain the power spectral density in general model of fit.
Compared with prior art, the data of the different automobile types that the present invention is gathered by Gravity accelerometer carry out modeling analysis, eliminate test vehicle to the impact of model, set up versatility detection method and detection model, current laser evenness inspection vehicle can be solved 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.
Detailed description of the invention
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 to 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 driving, obtain the gravity acceleration value of Gravity accelerometer in the process of moving.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 pitched, the i.e. 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 fix on surface evenness detect in very important, according to actual needs, choose Gravity accelerometer range for ± 10g, precision is 0.001g, and selected sample frequency is 10Hz.
The out-of-flatness of Ordinary Rd longitudinal direction will much larger than the out-of-flatness of its transverse direction, and toppling and rotating of longitudinal direction of car can not be ignored, but can be similar to and think that road is transversely smooth, 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, with for-wheel vehicle representatively vehicle, because symmetrical its half desirable is as research object, should uses for reference 1/4 auto model principle, be placed in above rear axle by Gravity accelerometer.
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 in increase, but speedup is in reduction, 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) Fourier transformation is carried out to the gravity acceleration value collected, obtain power spectral density.
Power spectral density is the statistics of structure response under random dynamic loads excitation, be the relation curve of a power spectral density value-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 can cause the vibration of vehicle, in the middle of up-down vibration each time, gravity does work along vertical direction always, energy-producing change, and power spectral density is only relevant with the amplitude spectrum of signal, have nothing to do with phase spectrum, can obtain the amplitude information of signal, therefore can indicate the distribution of surface evenness energy on spatial frequency domain by power spectral density function, it depicts the structure of surface evenness.
Not only can understand road surface wave structure from power spectral density function, can also reflect the general characteristic on road surface, the place of power spectral density vary within wide limits represents the road out-of-flatness of this position all the more obviously, 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 as the power spectral density of process, random process power spectral density regards the statistical average of the power spectral density that each realizes as, obtain the average power spectral 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, after the numerical value of the acceleration of driving vehicle on numerical value direction carries out above-mentioned Fourier transformation, obtain average power spectral density to measured by each representative road.
(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) general applicability inspection is carried out to the power spectral density of different automobile types and the model of fit of IRI;
(6) owing to selecting the model of vehicle gap larger two kinds of vehicles to compare, for different vehicles, although the form of its function is very close, but need in use to demarcate the parameter of function, therefore 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 obtain due to three axle Gravity accelerometer measurements is the superposition that vehicle itself vibrates and pavement roughness cause Vehicular vibration, therefore, the value of the average power spectral density first during calculating stationary vehicle, when then utilizing vehicle to travel the value of average power spectral density deduct its static time power spectral density value, power spectral density in general model of fit, namely represents the Vehicular vibration that pavement roughness causes.
(7) according to general model of fit and the gravity acceleration value that collects, surface evenness detection is carried out.
The present invention is adopted 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, after selecting two sensors to eliminate instrument error simultaneously, be fixed in car above rear axle, come and go measurement three times, get the average of its acceleration of gravity.Test vehicle selects buick excelle three-box car, and Ford Jiangling test carriage.
For Ford Jiangling test carriage, adopt matlab software, after the numerical value of the acceleration of driving vehicle on numerical value direction carries out above-mentioned Fourier transformation, average power spectral density is obtained to measured by each representative road, in table 1, its power spectral density and IRI are carried out Fitting Analysis, and Fig. 2 is shown in matched curve.
The acceleration of gravity power spectral density of difference matching two kinds of vehicles and international roughness index model, see Fig. 3, can find that from two model of fit the form of its function also has very large approximation, but due to the impact of vehicle, article two, curve could not well overlap to together, therefore the value of average power spectral density during stationary vehicle is first calculated, when then utilizing vehicle to travel the value of average power spectral density deduct its static time power spectral density value, set up general model of fit between itself and IRI as shown in Figure 4.
Table 1
Then adopt two kinds of vehicles, measure gravity acceleration value during different representative sections of road, with the general model of fit of Fig. 4, calculate its IRI value.The index of correlation 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 preferably detailed description of the invention, but protection scope of the present invention is not limited thereto, is anyly familiar with those skilled in the art in the technical scope that the present invention discloses; the change that can expect easily or replacement, all should be encompassed within 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. based on a detection method of road-surface evenness for Gravity accelerometer, it is characterized in that, comprise the following steps:
(1) determine to 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 driving, obtain the gravity acceleration value of Gravity accelerometer;
(3) Fourier transformation is carried out to the gravity acceleration value collected, obtain power spectral density;
(4) power spectral density of vehicle of the same race and the model of fit of surface evenness index IRI is set up;
(5) general applicability inspection is carried out to the power spectral density of different automobile types and the model of fit of IRI;
(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, surface evenness detection is carried out.
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 average power spectral density first during calculating stationary vehicle, when then utilizing vehicle to travel the value of average power spectral density deduct its static time the value of average power spectral density, obtain the power spectral density in general model of fit.
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| CN104864846B (en) * | 2015-03-24 | 2017-05-03 | 江苏科技大学 | Vehicle road surface waviness collection system based on acceleration sensor, and work method thereof |
| CN104792937B (en) * | 2015-04-02 | 2017-02-22 | 同济大学 | Bridge head bump detection evaluation method based on vehicle-mounted gravitational acceleration sensor |
| CN104790283B (en) * | 2015-04-10 | 2016-11-02 | 同济大学 | A kind of surface evenness rapid detection system based on vehicle-mounted accelerometer |
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| CN106840049B (en) * | 2016-12-16 | 2019-02-05 | 东南大学 | Pavement quality ranking method based on built-in three axis acceleration sensor smart phone |
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| DE102018203071A1 (en) * | 2018-03-01 | 2019-09-05 | Ford Global Technologies, Llc | Method for determining the International Roughness Index (IRI) of a roadway |
| CN108804814B (en) * | 2018-06-08 | 2020-05-15 | 吉林大学 | Method for extracting road surface spectrum parameters |
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| CN110852542B (en) * | 2018-08-21 | 2023-06-30 | 上海汽车集团股份有限公司 | Road flatness calculation method and system |
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| CN113191291A (en) * | 2021-05-10 | 2021-07-30 | 南京金智视讯技术有限公司 | Road flatness detection method based on motion camera |
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| CN114996654B (en) * | 2022-04-28 | 2023-05-09 | 中国公路工程咨询集团有限公司 | Road surface flatness detection method and device, electronic equipment and medium |
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