CN108229803B - Feature road section extraction method and dangerous road section judgment method and system - Google Patents

Feature road section extraction method and dangerous road section judgment method and system Download PDF

Info

Publication number
CN108229803B
CN108229803B CN201711420700.6A CN201711420700A CN108229803B CN 108229803 B CN108229803 B CN 108229803B CN 201711420700 A CN201711420700 A CN 201711420700A CN 108229803 B CN108229803 B CN 108229803B
Authority
CN
China
Prior art keywords
road
section
curve
interval
value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201711420700.6A
Other languages
Chinese (zh)
Other versions
CN108229803A (en
Inventor
常成利
车霄宇
杜赓
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Roadmaint Maintenance Technology Co ltd
Original Assignee
Roadmaint Maintenance Technology Co ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Roadmaint Maintenance Technology Co ltd filed Critical Roadmaint Maintenance Technology Co ltd
Priority to CN201711420700.6A priority Critical patent/CN108229803B/en
Publication of CN108229803A publication Critical patent/CN108229803A/en
Application granted granted Critical
Publication of CN108229803B publication Critical patent/CN108229803B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0639—Performance analysis of employees; Performance analysis of enterprise or organisation operations
    • G06Q10/06393—Score-carding, benchmarking or key performance indicator [KPI] analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/10—Services
    • G06Q50/26—Government or public services
    • G06Q50/265—Personal security, identity or safety
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/40—Business processes related to the transportation industry

Landscapes

  • Business, Economics & Management (AREA)
  • Human Resources & Organizations (AREA)
  • Engineering & Computer Science (AREA)
  • Economics (AREA)
  • Strategic Management (AREA)
  • Tourism & Hospitality (AREA)
  • Marketing (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Educational Administration (AREA)
  • Development Economics (AREA)
  • General Physics & Mathematics (AREA)
  • General Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Primary Health Care (AREA)
  • General Health & Medical Sciences (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Computer Security & Cryptography (AREA)
  • Game Theory and Decision Science (AREA)
  • Operations Research (AREA)
  • Quality & Reliability (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)

Abstract

The embodiment of the invention discloses a method for extracting a characteristic road section, a method for judging a dangerous road section and a system, wherein the method for extracting the characteristic road section comprises the following steps: measuring a road to be measured by adopting an inertial measurement instrument to obtain attitude parameters corresponding to each continuous sampling point of the road to be measured, wherein the attitude parameters are acquired by the inertial measurement instrument, the installation surface of the inertial measurement instrument is parallel to the pavement of the road to be measured, and the attitude parameters comprise: a pitch angle and a course angle; determining shape parameters contained in the road to be detected according to the attitude parameters, wherein the shape parameters comprise: vertical curve radius and flat curve radius; extracting a characteristic road section contained in the road to be detected according to the shape parameter of the section road section contained in the road to be detected, wherein the characteristic road section comprises: a convex curve section, a concave curve section, a longitudinal slope section, a left curve section, a right curve section and a straight line section. The embodiment of the invention has the advantages of high efficiency and good stability.

Description

Feature road section extraction method and dangerous road section judgment method and system
Technical Field
The invention relates to the technical field of road detection, in particular to a method for extracting a characteristic road section, a method for judging a dangerous road section and a system.
Background
The safety detection of roads of all levels across the country is required in the road safety and life protection project. In which requirements are placed on some characteristic road sections of the road. Including "straight line", "circular curve", "convolution line", "flat curve", "longitudinal slope", "slope length", "vertical curve", and the like. The evaluation indexes of the characteristic road sections are all related to the design speed. At present, in the fields of transportation, road patrol and road safety detection, the method for measuring straight curve and flat curve characteristics of a road is generally as follows: and inquiring according to the construction drawing and measuring by using a total station. According to the method for inquiring the construction drawing, on one hand, the drawing is absent or incomplete; on the other hand, even if the drawings are prepared, the actual road section still needs to be detected when the road risk is checked so as to determine whether the road risk is consistent with the description of the drawings. Therefore, the detection requirements of the whole life protection project on sections with sharp curves, steep slopes and continuous downhill cannot be met only by inquiring through the construction drawing. For the measurement method using the traditional engineering measurement equipment such as the total station and the like, a series of inevitable defects such as low detection speed, traffic influence caused by road closing work, incapability of guaranteeing the safety of operating personnel and the like exist in large-scale line safety investigation work, and the method is difficult to be suitable for the work requirement facing large-scale road section investigation. Therefore, the methods in the prior art cannot conveniently and quickly extract the characteristic road sections.
Disclosure of Invention
The embodiment of the invention provides a method for extracting a characteristic road section, a method and a system for judging a dangerous road section, and aims to solve the problem that the characteristic road section cannot be conveniently and quickly extracted in the prior art.
In a first aspect, a method for extracting a feature road segment is provided, including: measuring a road to be measured by adopting an inertial measurement instrument to obtain attitude parameters corresponding to each continuous sampling point of the road to be measured, wherein the attitude parameters are acquired by the inertial measurement instrument, the installation surface of the inertial measurement instrument is parallel to the pavement of the road to be measured, and the attitude parameters comprise: a pitch angle and a course angle; determining shape parameters contained in the road to be detected according to the attitude parameters, wherein the shape parameters comprise: vertical curve radius and flat curve radius; extracting a characteristic road section contained in the road to be detected according to the shape parameter of the section road section contained in the road to be detected, wherein the characteristic road section comprises: a convex curve section, a concave curve section, a longitudinal slope section, a left curve section, a right curve section and a straight line section.
In a second aspect, there is provided a system for extracting a characteristic road segment, including: the measuring module is used for measuring a road to be measured by adopting an inertial measuring instrument to obtain attitude parameters corresponding to each continuous sampling point of the road to be measured, wherein the attitude parameters are acquired by the inertial measuring instrument, the mounting surface of the inertial measuring instrument is parallel to the pavement of the road to be measured, and the attitude parameters comprise: a pitch angle and a course angle; the first determining module is configured to determine a shape parameter included in the road to be detected according to the attitude parameter, where the shape parameter includes: vertical curve radius and flat curve radius; the first extraction module is used for extracting a characteristic road section contained in the road to be detected according to the shape parameter of the section road section contained in the road to be detected, wherein the characteristic road section comprises: a convex curve section, a concave curve section, a longitudinal slope section, a left curve section, a right curve section and a straight line section.
In a third aspect, a method for determining a dangerous segment is provided, including: extracting the characteristic road section contained in the road to be detected by adopting the extraction method of the characteristic road section; acquiring characteristic parameters of a characteristic road section contained in the road to be detected; acquiring a characteristic threshold value of the road to be detected corresponding to the design speed according to the design speed of the road to be detected; and determining whether the characteristic road section contained in the road to be detected is a dangerous road section or not according to the comparison result of the characteristic parameter and the characteristic threshold.
In a fourth aspect, a system for determining a dangerous segment is provided, including: the second extraction module is used for extracting the characteristic road section contained in the road to be detected by adopting the extraction method of the characteristic road section; the first acquisition module is used for acquiring the characteristic parameters of the characteristic road sections contained in the road to be detected; the second acquisition module is used for acquiring a characteristic threshold value of the road to be detected corresponding to the design speed according to the design speed of the road to be detected; and the second determining module is used for determining whether the characteristic road section contained in the road to be detected is a dangerous road section according to the comparison result of the characteristic parameter and the characteristic threshold.
Therefore, according to the embodiment of the invention, the characteristic road section included in the road to be detected can be extracted through mathematical calculation directly according to the attitude parameters collected by the inertial measurement instrument, and the method has the advantages of high efficiency and good stability; and whether the characteristic road section is a dangerous road section can be simply and quickly judged according to the extracted characteristic road section.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a flowchart of a feature road segment extraction method of an embodiment of the present invention;
fig. 2 is a block diagram of a structure of a feature road section extraction system of an embodiment of the present invention;
fig. 3 is a flowchart of a dangerous segment determining method according to an embodiment of the present invention;
fig. 4 is a block diagram of a dangerous segment determination system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a method for extracting a characteristic road section. Specifically, as shown in fig. 1, the extraction method includes the following steps:
step S101: and measuring the road to be measured by using the inertial measurement instrument to obtain the attitude parameters corresponding to each continuous sampling point of the road to be measured, which are acquired by the inertial measurement instrument.
Wherein, the inertia measuring instrument is arranged on the detection vehicle. The detection vehicle runs along the road to be detected to carry out detection. The mounting surface of the inertia measuring instrument is parallel to the road surface of the road to be measured. The attitude parameters include: pitch angle and heading angle.
Step S102: and determining the shape parameters contained in the road to be detected according to the attitude parameters.
Wherein the shape parameters include: vertical curve radius and flat curve radius.
Step S103: and extracting the characteristic road section contained in the road to be detected according to the shape parameter of the section road section contained in the road to be detected.
Wherein, the characteristic road section includes: a convex curve section, a concave curve section, a longitudinal slope section, a left curve section, a right curve section and a straight line section.
Through the steps, the method provided by the embodiment of the invention can finally obtain the characteristic road section contained in the road to be detected by obtaining the discrete attitude parameter of each continuous sampling point, and is simple and rapid.
Specifically, for step S102, when the attitude parameter is a pitch angle, the step specifically includes the following processes:
step 1: and according to the sequence of the continuous sampling points from the starting point of the road to be detected to the distance from the starting point, carrying out mean value filtering on the pitch angle of each continuous sampling point by a sliding window with a first threshold value in sequence to obtain a pitch angle filtering value.
Preferably, to reduce the calculation amount, the pitch angle may be approximated, for example, a significant number of three decimal places is reserved for the pitch angle. Specifically, the first threshold may be calibrated in advance. The calibrated standard can comprehensively consider the grade road construction standard, the number of pitch angles, the first threshold value corresponding to the best effect determined through experiments, and the like. In the embodiment of the invention, the first threshold can be specifically selected as 401, and then mean value filtering is performed on every 401 pitch angles in sequence to obtain a pitch angle filtering value.
Step 2: the method comprises the following steps of sequentially dividing a road to be detected into at least two first interval road sections from a starting point of the road to be detected.
And the distance of each first block section is a first distance. The first distance may be specifically selected according to the length of the road to be measured. For example, if the first distance is 5m in the embodiment of the present invention, a first block section is divided every 5m from the start point of the road to be measured.
And step 3: and calculating to obtain a first arithmetic mean value of the pitch angle filtering data of each first interval road section.
For example, for a first distance of 5m, the pitch angle filtered data of consecutive sampling points within 5m are summed, and an arithmetic mean is calculated to obtain a first arithmetic mean.
And 4, step 4: and calculating to obtain the absolute value of the difference value of the first arithmetic mean value of the ith first interval road section and the (i + 1) th first interval road section which are adjacent.
And the ith first interval road section is closer to the starting point of the road to be detected than the (i + 1) th first interval road section.
And 5: it is determined whether the absolute value of the difference value of the first arithmetic mean is smaller than a second threshold.
The second threshold may be an empirical value. The second threshold value in the embodiment of the present invention is 0.0001. If so, performing step 6; if not, go to step 7.
Step 6: and determining the vertical curve radius of the ith first interval road section as a first vertical curve radius threshold value.
The first vertical curve radius threshold is typically an empirical value. The first vertical curve radius threshold value of the embodiment of the invention is 10000.
And 7: according to
Figure BDA0001522968040000051
And calculating to obtain the radius of the vertical curve of the ith first interval road section.
Wherein, BiIs the radius of the vertical curve of the ith first block section, AiIs a first arithmetic mean value, A, of the ith first block sectioni+1Is a first arithmetic mean value of the (i + 1) th first block section, and a is a first distance. For example, the first distance a is 5.
Through the above process, the radius of the vertical curve of each first block section can be obtained.
When the shape parameter is the radius of the vertical curve, step S103 specifically includes the following steps:
step 1: and judging whether the radius of the vertical curve of at least a first number of continuous first interval road sections is larger than a second vertical curve radius threshold value.
The second vertical curve radius threshold may be an empirical value, and in the embodiment of the present invention, the second vertical curve radius threshold is 5000. The first number may be an empirical value, and the first number in the embodiment of the present invention is 4. Therefore, in the embodiment of the present invention, it is specifically determined whether the radii of the vertical curves of at least 4 consecutive first block sections are all greater than 5000.
If yes, go to step 2.
Step 2: at least a first number of consecutive first block sections is extracted as longitudinal slope sections.
For example, if the radius of the vertical curve of at least 4 consecutive first block sections is greater than 5000, the at least 4 first block sections are longitudinal slope sections.
For the longitudinal slope section, the method of the embodiment of the invention can further obtain the relevant parameters of the longitudinal slope section, and the process is as follows:
(1) according to
Figure BDA0001522968040000052
And acquiring the longitudinal slope value of each first interval road section.
Wherein, CiIs the longitudinal slope value (i.e., the longitudinal slope gradient) of the first block section.
(2) And acquiring the distance of the longitudinal slope section.
It should be understood that the distance is a positive number. The distance of the longitudinal slope section can be obtained as follows:
A. if the starting point position and the end point position of the longitudinal slope section just correspond to pile numbers, the absolute value of the difference between the two pile numbers is the distance of the longitudinal slope section.
Specifically, each road has road condition surveys. The road condition survey can obtain the stake number. The pile number is divided into a kilometer pile and a hectometer pile, is an accessory facility for marking and positioning the highway, and means the distance from the position of the pile number to the starting point of the highway section. For example, G6 jinggu high speed k357+100 uniquely represents the position of a road 357 kilometers (kilometer posts) +100 meters (hectomet posts). For example, if the pile number of the start position of the longitudinal slope section is k100+100 and the pile number of the end position is k200+100, the absolute value of the difference between the two is 100km, that is, the distance of the longitudinal slope section is 100 km. The pile number is obtained by adopting the following method: the area-array camera triggered by the distance signal and arranged on the detection vehicle is used for collecting road area environment information on two sides of a road, processing collected images and identifying mileage stake number information and speed limit information data. The technology for identifying the stake numbers is the prior art and is not described herein again. A positioning device (Distance Measurement Instrument) arranged on the detection vehicle inputs starting point mileage when the detection starts, and mileage data can be accumulated in the driving process of the positioning device by emitting laser and other non-contact Measurement modes. By the mode, the mileage stake mark information, the speed limit information data and the like can be corresponding to the actual road position, so that dangerous road sections and the like can be conveniently judged in the future.
B. The distance of the longitudinal slope section can also be obtained by calculating the product of the first distance of the first section between the starting position and the ending position of the longitudinal slope section and the number of the first section sections.
(3) According to
Figure BDA0001522968040000061
And acquiring the longitudinal slope value of each longitudinal slope section.
Wherein D ismIs the longitudinal slope value of the longitudinal slope section, EmDistance of longitudinal slope section, ∑ CiThe sum of the longitudinal gradient values of all the first block sections within the longitudinal gradient section is represented.
(4) According to Fm＝a×Em×cos(arctanDm) And acquiring the longitudinal slope length of each longitudinal slope section.
Wherein, FmThe longitudinal slope length of the longitudinal slope section. For example, if the first distance a is 5 in the embodiment of the present invention, Fm＝5Em×cos(arctanDm)。
Through the steps, the distance of the longitudinal slope section, the longitudinal slope value and the longitudinal slope length can be obtained.
And step 3: and determining the first section road section except the longitudinal slope road section as a vertical curve section road section.
For example, if at least 4 consecutive first block sections each have a radius of the vertical curve greater than 5000, the at least 4 first block sections are longitudinal slope sections, and the first block sections other than the longitudinal slope sections are vertical curve block sections.
And 4, step 4: and judging whether the vertical curve radiuses of the sections of each vertical curve interval have the same positive and negative polarities.
Through the step, whether a point with deflection in the turning direction exists in each vertical curve section can be judged.
If yes, the turning direction deflection point does not exist, and then the step 5 is carried out. If not, the point that the turning direction deflects exists, and then the step 6 is carried out.
And 5: and determining the section of the data line interval as a concave curve section or a convex curve section according to the positive and negative properties of the radius of the vertical curve of the section of the vertical curve interval.
Specifically, according to the difference in calibration of the adopted inertial measurement instrument, it can be determined that all vertical curve interval sections with positive vertical curve radii are concave curve sections, and all vertical curve interval sections with negative vertical curve radii are convex curve sections; or determining that all vertical curve interval sections with positive vertical curve radiuses are convex curve sections and all vertical curve interval sections with negative vertical curve radiuses are concave curve sections. In the embodiment of the invention, if not particularly indicated, all the vertical curve interval sections with positive vertical curve radiuses are concave curve sections, and all the vertical curve interval sections with negative vertical curve radiuses are convex curve sections.
Further, whether the concave curve section or the convex curve section is adopted, the distance of the section can be obtained by adopting the method for calculating the distance of the longitudinal slope section, and the distance of the corresponding concave curve section or convex curve section is not described herein again.
Step 6: and sequentially splitting the sections of the vertical curve intervals from the starting point of the section of the vertical curve interval until all the vertical curve radiuses of each split section of the vertical curve interval have the same positive and negative properties, and determining that the section of the vertical curve interval is a concave curve section or a convex curve section according to the positive and negative properties of the vertical curve radiuses of the sections of the vertical curve interval.
In the step, the vertical curve interval road section is divided into a plurality of interval road sections with the same positive and negative polarities through continuous splitting, so that whether each split interval road section is a convex curve road section or a concave curve road section can be determined specifically.
Further, whether the convex curve section or the concave curve section is used, the distance of the corresponding concave curve section or the convex curve section can be obtained by adopting the method for calculating the distance of the longitudinal slope section, and details are not repeated herein.
Specifically, for step S102, when the attitude parameter is a heading angle, the step specifically includes the following steps:
step 1: if G isj-Gj+1If the sampling time is more than 300, calculating to obtain a corrected value G 'of the course angle of the jth continuous sampling point'j＝Gj-360。
Step 2: if G isj+1-GjIf the sampling time is more than 300, calculating to obtain a corrected value G 'of the course angle of the jth continuous sampling point'j＝Gj+360。
And step 3: if not satisfying Gj-Gj+1> 300 and Gj+1-GjIf the sampling angle is more than 300, the corrected value G 'of the course angle of the jth continuous sampling point is'j＝Gj。
Wherein G isjCourse angle, G, of the jth successive sampling pointj+1The heading angle of the j +1 th continuous sampling point adjacent to the j continuous sampling point is obtained, and the j continuous sampling point is closer to the starting point of the road to be detected than the j +1 th continuous sampling point. Since the course angles of 0 degree and 360 degrees are actually the same, the course angles can be corrected according to different results through the judgment of the steps 1-3, so that a uniform course angle can be obtained, and errors are avoided.
It should be understood that steps 1-3 described above are selected in parallel. Preferably, in order to reduce the computation amount, before performing the above steps 1 to 3, the heading angle may be approximated, for example, the heading angle may be retained with three significant digits after the decimal point.
And 4, step 4: and according to the sequence of the continuous sampling points from the beginning of the road to be measured to the distance, carrying out mean filtering on the corrected value of the course angle of each continuous sampling point by a sliding window of a third threshold value in sequence to obtain a course angle filtering value.
Specifically, the third threshold may be calibrated in advance. The calibrated standard can comprehensively consider the construction standard of the grade road, the number of the course angles and a third threshold value corresponding to the best effect determined through experiments. In the embodiment of the present invention, the third threshold may be specifically selected as 401, and then, average filtering is performed on every 401 course angle correction values in sequence to obtain a course angle filtering value.
And 5: and sequentially dividing the road to be detected into at least two second interval road sections from the starting point of the road to be detected.
Wherein the distance of each second block section is a second distance. The second distance may be specifically selected according to the length of the road to be measured. For example, if the second distance is 5m in the embodiment of the present invention, a second block section is divided every 5m from the start point of the road to be measured. It should be understood that, for the same road to be measured, if the first distance and the second distance are equal, the first block section is the second block section.
Step 6: and calculating to obtain a second arithmetic mean value of the course angle filtering data of each second interval road section.
For example, for a second distance of 5m, the heading angle filtered data of consecutive sampling points within 5m are summed, and the arithmetic mean is calculated to obtain a second arithmetic mean.
And 7: and calculating to obtain the absolute value of the difference value of the second arithmetic mean value of the adjacent nth second interval road section and the (n + 1) th second interval road section.
And the nth second interval road section is closer to the starting point of the road to be detected than the (n + 1) th second interval road section.
And 8: it is determined whether the absolute value of the difference value of the second arithmetic mean is smaller than a fourth threshold.
The fourth threshold may be an empirical value. The fourth threshold value in the embodiment of the present invention is 0.0001. If so, performing step 9; if not, go to step 10.
And step 9: and determining the flat curve radius of the nth second interval road section as the first flat curve radius threshold value.
The first flat curve radius threshold is typically an empirical value. The first flat curve radius threshold value of the embodiment of the invention is 10000.
Step 10: according to
Figure BDA0001522968040000091
And calculating to obtain the radius of the flat curve of the nth second interval road section.
Wherein, InIs the radius of the flat curve of the nth second block section, HnIs the second arithmetic mean, H, of the nth second block sectionn+1Is a second arithmetic mean of the (n + 1) th second block section, and b is a second distance. For example, the second distance b is 5.
Through the above-described process, the flat curve radius of each second block section can be obtained.
When the shape parameter is a flat curve radius, step 103 specifically includes the following processes:
step 1: and judging whether the flat curve radiuses of at least a second continuous number of second interval road sections are all larger than a second flat curve radius threshold value.
The second flat curve radius threshold may be an empirical value, and the second flat curve radius threshold in the embodiment of the present invention is 500. The second number may be an empirical value, and the second number in the embodiment of the present invention is 4. Therefore, in the embodiment of the present invention, it is specifically determined whether the flat curve radii of at least 4 consecutive second block sections are all greater than 500.
If yes, go to step 2. If not, go to step 3.
Step 2: and extracting at least a second number of continuous second interval road sections as straight road sections.
For example, if the radius of the vertical curve of at least 4 consecutive second block sections is greater than 500, the at least 4 second block sections are straight sections.
And step 3: and determining that the second interval road section except the straight line section is a flat curve interval road section.
For example, the second block section other than the at least 4 second block sections is a flat-curve block section.
And 4, step 4: and judging whether the flat curve radiuses of the sections of each flat curve interval have the same positive and negative polarities.
Through this step, it is possible to determine whether or not there is a point at which the turning direction is deflected in each of the flat curve section links.
If yes, the turning direction deflection point does not exist, and then the step 5 is carried out. If not, the point that the turning direction deflects exists, and then the step 6 is carried out.
And 5: and determining the flat curve section as a left curve section or a right curve section according to the positive and negative of the flat curve radius of the flat curve section.
Specifically, according to the difference in calibration of the adopted inertial measurement instrument, it can be determined that a flat curve section with all positive flat curve radii is a right curve section, and a flat curve section with all negative flat curve radii is a left curve section; or determining that all the flat curve section road sections with positive flat curve radiuses are left curve road sections and all the flat curve section road sections with negative flat curve radiuses are right curve road sections. In the embodiment of the present invention, if not specifically indicated, all the flat curve section segments with positive flat curve radii are right curve segments, and all the flat curve section segments with negative flat curve radii are left curve segments.
Step 6: and sequentially splitting the sections of the flat curve intervals from the starting point of the section of the flat curve interval until all the radii of the flat curves of each split section of the flat curve interval have the same positive and negative properties, and determining the section of the flat curve interval as a left curve section or a right curve section according to the positive and negative properties of the radius of the flat curve of the section of the flat curve interval.
In the step, the flat curve interval road section is divided into a plurality of interval road sections with the same positive and negative through continuous division, so that whether each divided interval road section is a left curve road section or a right curve road section can be determined specifically.
Preferably, after the step of determining whether the radius of the flat curve of each flat curve section segment has the same positive or negative, if the determination result is no, that is, if the flat curve of each flat curve section segment does not have the same positive or negative, the method may further extract the characteristic segment, which is the clothoid segment, by the following steps:
step 1: and iterating the radius of the flat curve of the section of the flat curve interval by adopting a least square method from the starting point and the end point of the section of the flat curve interval to obtain a first mean square error.
And if the positive and negative of the radius of the flat curve of the section of the flat curve interval are inconsistent, iterating the radius of the flat curve of the section of the flat curve interval from the starting point and the end point of the section of the flat curve interval by adopting a least square method to obtain a first mean square error. This iterative process continues until the first mean square error is less than 90%.
Step 2: and dividing a third interval road section of which the first mean square deviation is more than 90% in the flat curve interval road sections into the easement curve road sections.
By this step, a part of the flat curve section links is determined as the easement curve link.
And step 3: the distance of the easement curve section is acquired.
Specifically, the distance of the easement curve section may be obtained by using the method for calculating the distance of the longitudinal slope section, which is not described herein again.
And 4, step 4: and if the distance of the moderate curve section is smaller than the fifth threshold value, extracting the moderate curve section as a continuous curve.
The fifth threshold may be an empirical value, and the fifth threshold in the embodiment of the present invention is 20. For example, if the distance of the easement curve section is less than 20, the easement curve section is determined to be a continuous curve.
Through the above steps, it is possible to determine whether the easement curve section is a continuous curve.
Specifically, after the steps of sequentially splitting the flat curve interval road sections from the starting point of the flat curve interval road section until all the flat curve radii of each split flat curve interval road section have the same positive and negative properties, and determining that the flat curve interval road section is the left curve road section or the right curve road section according to the positive and negative properties of the flat curve radii of the flat curve interval road sections, the method can also determine whether the left curve road section or the right curve road section contains the clothoid road section by adopting the following steps:
step 1: and for each left curve section or each right curve section, respectively starting from the starting point and the end point of the left curve section or the right curve section, iterating the flat curve radius of the left curve section or the right curve section by adopting a least square method to obtain a second mean square error.
This iterative process continues until the second mean square error is less than 90%.
Step 2: and after the fourth interval road section with the second mean square deviation larger than 90% in the left curve road section or the right curve road section is removed from the left curve road section or the right curve road section, dividing the rest part of the left curve road section or the right curve road section into circular curve road sections.
Through this step, a circular curve section in the left curve section or the right curve section can be found. Because the left curve section or the right curve section is bent along one direction, the circle curve section can be found out, and whether the circle curve section is a gyroid section can be further judged.
Further, a fourth block section in which the second mean square error is greater than 90% in the left or right curve section is divided into the easement curve section.
And step 3: and calculating the arithmetic mean value of all the flat curve radiuses in the circular curve section to obtain the circular curve radius of the circular curve section.
By this step, a circular curve radius can be obtained from the discrete flat curve radii.
And 4, step 4: and acquiring the distance of the circular curve section.
Specifically, the distance of the circular curve section may be obtained by using the method for calculating the distance of the longitudinal slope section, which is not described herein again.
And 5: judging whether the distance of the circular curve meets the requirement
Figure BDA0001522968040000121
Wherein K is the distance of the circular curve and J is the radius of the circular curve.
If yes, go to step 6. If not, the circular curve section is not a clothoid section.
Step 6: and determining the circular curve section as a clothoid section.
Through the above steps, it can be further determined whether the left curve segment or the right curve segment has a clothoid segment.
Preferably, the attitude parameters further include a roll angle, and a cross slope value of the road to be measured can be obtained through the roll angle. The cross slope value is the slope from the center of the road or from one end to the other end, taking the cross section of the road as a visual angle. Any road may have a cross slope value. The value of the cross slope is 0, the center or one end of the road is horizontal to the other end. The method of the embodiment of the invention also comprises the following steps:
step 1: and according to the sequence of the continuous sampling points from the starting point of the road to be detected to the far distance, performing median filtering on the roll angle of each continuous sampling point by sequentially using a sliding window and a first step length of a sixth threshold value to obtain a first roll angle filtering value.
Preferably, to reduce the amount of computation, the roll angle may be approximated, for example, a significant number of three digits after the decimal point is reserved for the roll angle.
Specifically, the sixth threshold is an empirical value, and in the embodiment of the present invention, the sixth threshold may be specifically selected to be 3; the first step length is an empirical value, and in the embodiment of the invention, the first step length can be specifically selected to be 1; then, the embodiment of the present invention may sequentially perform a median filtering on the first 3 roll angles to obtain a first roll angle filtering value; then moving 1 step length, and carrying out one-time median filtering on the last 3 roll angles; and so on. For example, if the roll angles are 1, 2, 3, 4, 5, and 6 in this order, then 1, 2, and 3 are median filtered, then 2, 3, and 4 are median filtered, then 3, 4, and 5 are median filtered, and finally 4, 5, and 6 are median filtered.
Step 2: and carrying out mean value filtering on the first roll angle filtering value by sequentially using a sliding window with a seventh threshold value and a second step length to obtain a second roll angle filtering value.
Specifically, the seventh threshold is an empirical value, and in the embodiment of the present invention, the seventh threshold may be specifically selected to be 5; the second step size is an empirical value, and in the embodiment of the present invention, the second step size may be specifically selected to be 1. This step is the same as step 1, except that it employs mean filtering.
And step 3: and sequentially dividing a third number of second roll angle filtering values into a group, and calculating a third arithmetic average value of the second roll angle filtering values of the group.
The third quantity is an empirical value, and in the embodiment of the present invention, the third quantity may be specifically selected to be 10, so that in the embodiment of the present invention, a third arithmetic average value is obtained every 10 second roll angle filtering values according to the order.
And 4, step 4: according to
Figure BDA0001522968040000131
And calculating to obtain a cross slope value of the fifth section of the road to be detected corresponding to the third arithmetic average value.
Wherein L iskThe cross slope value M of the fifth section of the road to be measured corresponding to the third arithmetic mean valuekIs the third arithmetic mean.
Therefore, the cross slope value of the section link included in the road to be measured can be obtained through the steps.
In summary, the method provided by the embodiment of the invention can directly extract the characteristic road section included in the road to be detected through mathematical calculation according to the attitude parameter acquired by the inertial measurement instrument, and the method has the advantages of high efficiency and good stability.
The embodiment of the invention also discloses a system for extracting the characteristic road section. As shown in fig. 2, the system includes the following modules:
the measuring module 201 is configured to measure the road to be measured by using the inertial measurement unit, and obtain an attitude parameter corresponding to each continuous sampling point of the road to be measured, which is acquired by the inertial measurement unit.
Wherein, inertial measurement appearance's installation face is parallel with the road surface of the road that awaits measuring, and the attitude parameter includes: pitch angle and heading angle.
The first determining module 202 is configured to determine, according to the attitude parameter, a shape parameter included in the road to be measured.
Wherein the shape parameters include: vertical curve radius and flat curve radius.
The first extraction module 203 is configured to extract a feature road segment included in the road to be detected according to the shape parameter of the section road segment included in the road to be detected.
Wherein, the characteristic road section includes: a convex curve section, a concave curve section, a longitudinal slope section, a left curve section, a right curve section and a straight line section.
Preferably, when the attitude parameter is a pitch angle, the first determining module 202 includes:
and the first filtering submodule is used for sequentially carrying out mean value filtering on the pitch angle of each continuous sampling point by using a sliding window of a first threshold value according to the sequence that the continuous sampling point is far away from the starting point of the road to be detected, so as to obtain a pitch angle filtering value.
The first dividing module is used for sequentially dividing the road to be detected into at least two first interval road sections from the starting point of the road to be detected.
And the distance of each first block section is a first distance.
And the first calculation submodule is used for calculating and obtaining a first arithmetic mean value of the pitch angle filtering data of each first interval road section.
And the second calculation submodule is used for calculating and obtaining the absolute value of the difference value of the first arithmetic mean value of the ith first interval road section and the (i + 1) th first interval road section which are adjacent.
And the ith first interval road section is closer to the starting point of the road to be detected than the (i + 1) th first interval road section.
And the first judgment submodule is used for judging whether the absolute value of the difference value of the first arithmetic mean value is smaller than a second threshold value.
And the first determining submodule is used for determining that the vertical curve radius of the ith first interval road section is the first vertical curve radius threshold value if the vertical curve radius is smaller than the first vertical curve radius threshold value.
A second determination submodule for, if not less than, determining
Figure BDA0001522968040000151
And calculating to obtain the radius of the vertical curve of the ith first interval road section.
Wherein, BiIs the radius of the vertical curve of the ith first block section, AiIs a first arithmetic mean value, A, of the ith first block sectioni+1Is a first arithmetic mean value of the (i + 1) th first block section, and a is a first distance.
Preferably, the first extraction module 203 comprises:
and the second judgment submodule is used for judging whether the vertical curve radiuses of at least a first number of continuous first interval road sections are all larger than a second vertical curve radius threshold value.
And the first extraction submodule is used for extracting at least a first number of continuous first interval road sections as longitudinal slope road sections if the first interval road sections are the longitudinal slope road sections.
And the third determining submodule is used for determining the first section road section except the longitudinal slope road section as the vertical curve section road section.
And the third judgment submodule is used for judging whether the vertical curve radiuses of the sections of each vertical curve interval have the same positive and negative polarities.
The fourth determining submodule is used for determining that the vertical curve interval road section is a concave curve section or a convex curve section according to the positive and negative properties of the vertical curve radius of the vertical curve interval road section if the vertical curve interval road section is the concave curve section or the convex curve section;
and the fifth determining submodule is used for sequentially splitting the vertical curve interval road sections from the starting point of the vertical curve interval road section until all vertical curve radiuses of each split vertical curve interval road section have the same positive and negative properties if the vertical curve interval road sections are not the same, and determining that the vertical curve interval road sections are the concave curve road sections or the convex curve road sections according to the positive and negative properties of the vertical curve radiuses of the vertical curve interval road sections.
Preferably, the system further comprises:
a third obtaining module, configured to extract at least a first number of consecutive first interval road segments as longitudinal slope road segments, according to
Figure BDA0001522968040000152
And acquiring the longitudinal slope value of each first interval road section.
Wherein, CiIs the longitudinal slope value of the first section road section.
And the fourth acquisition module is used for acquiring the distance of the longitudinal slope section.
A fifth obtaining module for obtaining
Figure BDA0001522968040000161
And acquiring the longitudinal slope value of each longitudinal slope section.
Wherein D ismIs the longitudinal slope value of the longitudinal slope section, EmDistance of longitudinal slope section, ∑ CiThe sum of the longitudinal gradient values of all the first block sections within the longitudinal gradient section is represented.
A sixth obtaining module for obtaining the data according to Fm＝a×Em×cos(arctanDm) And acquiring the longitudinal slope length of each longitudinal slope section.
Wherein, FmThe longitudinal slope length of the longitudinal slope section.
Preferably, when the attitude parameter is a heading angle, the first determining module 902 includes:
a first modifier submodule for if Gj-Gj+1If the sampling time is more than 300, calculating to obtain a corrected value G 'of the course angle of the jth continuous sampling point'j＝Gj-360。
A second modifier submodule for if Gj+1-GjIf the sampling time is more than 300, calculating to obtain a corrected value G 'of the course angle of the jth continuous sampling point'j＝Gj+360。
A third modifier submodule for if G is not satisfiedj-Gj+1> 300 and Gj+1-GjIf the sampling angle is more than 300, the corrected value G 'of the course angle of the jth continuous sampling point is'j＝Gj。
Wherein G isjCourse angle, G, of the jth successive sampling pointj+1The heading angle of the j +1 th continuous sampling point adjacent to the j continuous sampling point is obtained, and the j continuous sampling point is closer to the starting point of the road to be detected than the j +1 th continuous sampling point.
And the second filtering submodule is used for sequentially carrying out mean filtering on the corrected value of the course angle of each continuous sampling point by using a sliding window of a third threshold value according to the sequence that the continuous sampling point is far from the starting point of the road to be detected, so as to obtain a course angle filtering value.
And the second division submodule is used for sequentially dividing the road to be detected into at least two second interval road sections from the starting point of the road to be detected.
Wherein the distance of each second block section is a second distance.
And the third calculation submodule is used for calculating to obtain a second arithmetic mean value of the course angle filtering data of each second interval road section.
And the fourth calculation submodule is used for calculating and obtaining the absolute value of the difference value of the second arithmetic mean value of the adjacent nth second interval road section and the (n + 1) th second interval road section.
And the nth second interval road section is closer to the starting point of the road to be detected than the (n + 1) th second interval road section.
A fourth judgment sub-module for judging whether the absolute value of the difference value of the second arithmetic mean is smaller than a fourth threshold;
and the sixth determining submodule is used for determining that the flat curve radius of the nth second interval road section is the first flat curve radius threshold value if the first interval road section is smaller than the second interval road section.
A fifth calculation submodule for, if not less than
Figure BDA0001522968040000171
And calculating to obtain the radius of the flat curve of the nth second interval road section.
Wherein, InIs the radius of the flat curve of the nth second block section, HnIs the second arithmetic mean, H, of the nth second block sectionn+1Is a second arithmetic mean of the (n + 1) th second block section, and b is a second distance.
Preferably, the first extraction module 203 comprises:
and the fifth judgment submodule is used for judging whether the flat curve radiuses of at least a second number of continuous second interval road sections are all larger than the second flat curve radius threshold value.
And the third extraction submodule is used for extracting at least a second number of continuous second interval road sections as straight line road sections if the second interval road sections are the straight line road sections.
And the seventh determining submodule is used for determining that the second interval road section except the straight line section is a flat curve interval road section.
And the sixth judgment submodule is used for judging whether the flat curve radiuses of the sections of each flat curve interval have the same positive and negative polarities.
And the eighth determining submodule is used for determining the flat curve section road section as the left curve road section or the right curve road section according to the positive and negative properties of the flat curve radius of the flat curve section road section if the straight curve section is the left curve road section or the right curve road section.
And the ninth determining submodule is used for sequentially splitting the flat curve interval road sections from the starting point of the flat curve interval road section until all the flat curve radiuses of each split flat curve interval road section have the same positive and negative properties if the flat curve interval road sections are not the left curve road section or the right curve road section, and determining that the flat curve interval road sections are the left curve road section or the right curve road section according to the positive and negative properties of the flat curve radiuses of the flat curve interval road sections.
Preferably, the system further comprises:
the first iteration module is used for judging whether the flat curve radius of each flat curve interval road section has the same positive and negative, if not, iterating the flat curve radius of the flat curve interval road section by adopting a least square method from the starting point and the end point of the flat curve interval road section to obtain a first mean square error;
and the first dividing module is used for dividing a third interval road section of which the first mean square deviation is more than 90% in the flat curve interval road section into a moderate curve road section.
And the seventh acquisition module is used for acquiring the distance of the easement curve road section.
And the third extraction module is used for extracting the moderate curve road section as the continuous curve if the distance of the moderate curve road section is less than a fifth threshold value.
Preferably, the system further comprises:
and the second iteration module is used for iterating the flat curve radius of the left curve road section or the right curve road section by adopting a least square method from the starting point and the end point of the left curve road section or the right curve road section of each left curve road section or right curve road section respectively to obtain a second mean square error after the step of determining that the flat curve section is the left curve road section or the right curve road section according to the positive and negative of the flat curve radius of the flat curve section.
And the second dividing module is used for dividing the rest part of the left curve road section or the right curve road section into circular curve road sections after the fourth interval road section of which the second mean square deviation is more than 90% in the left curve road section or the right curve road section is removed from the left curve road section or the right curve road section.
And the second calculation module is used for calculating the arithmetic mean of all the flat curve radiuses in the circular curve section to obtain the circular curve radius of the circular curve section.
And the eighth acquisition module is used for acquiring the distance of the circular curve section.
A judging module for judging whether the distance of the circular curve satisfies
Figure BDA0001522968040000181
Wherein K is the distance of the circular curve and J is the radius of the circular curve.
And the third determining module is used for determining the circular curve section as the clothoid section if the first determining module meets the requirement.
Preferably, the attitude parameters further include roll angle, and the system further includes:
and the first filtering module is used for performing median filtering on the roll angle of each continuous sampling point sequentially according to the sequence of the continuous sampling point from the beginning to the end of the road to be detected, wherein the roll angle of each continuous sampling point is sequentially subjected to the median filtering by using a sliding window and a first step length of a sixth threshold value, so that a first roll angle filtering value is obtained.
And the second filtering module is used for carrying out mean filtering on the first roll angle filtering value sequentially by using a sliding window with a seventh threshold value and a second step length to obtain a second roll angle filtering value.
And the fourth calculation module is used for sequentially dividing the second roll angle filtering values of the third quantity into a group and calculating a third arithmetic average value of the second roll angle filtering values of the group.
A fifth calculating module for calculating
Figure BDA0001522968040000191
And calculating to obtain a cross slope value of the fifth section of the road to be detected corresponding to the third arithmetic average value.
Wherein L iskThe cross slope value M of the fifth section of the road to be measured corresponding to the third arithmetic mean valuekIs the third arithmetic mean.
In summary, the device provided by the embodiment of the invention can directly extract the characteristic road section included in the road to be detected through mathematical calculation according to the attitude parameter acquired by the inertial measurement instrument, and the method has the advantages of high efficiency and good stability.
The embodiment of the invention also discloses a method for judging the dangerous road section. As shown in fig. 3, the method comprises the steps of:
step S301: by adopting the method for extracting the characteristic road section, the characteristic road section contained in the road to be detected is extracted.
Step S302: and acquiring the characteristic parameters of the characteristic road sections contained in the road to be detected.
Specifically, the characteristic parameters include: a radius of a circular curve, a distance of a circular curve section, a corresponding cross slope value of a circular curve section, a start point position of a circular curve section, an end point position of a circular curve section, a start point position of a straight line section, an end point position of a straight line section, a start point position of a clothoid line section, an end point position of a clothoid line section, and the like.
Step S303: and acquiring a characteristic threshold value of the road to be detected corresponding to the designed speed according to the designed speed of the road to be detected.
The design speed of the road to be measured is generally planned in advance when the road is built. The characteristic threshold value of the road to be measured corresponding to the designed speed is generally an empirical value. The type of the feature threshold is generally the same as the feature parameter, or can be obtained by transforming the feature parameter.
Step S304: and determining whether the characteristic road section contained in the road to be detected is a dangerous road section or not according to the comparison result of the characteristic parameter and the characteristic threshold.
The determination of the different characteristic road sections is further explained below.
1. When designing a road, circular curve sections are arranged on each level of road plane no matter the size of a corner. Therefore, the radius of the circular curve is selected to be suitable for the design speed. Preferably, for the characteristic road section being a circular curve section, the method specifically comprises the following steps:
(1) and extracting the circular curve section contained in the road to be detected.
(2) And acquiring the radius of the circular curve section.
(3) And acquiring a circular curve radius threshold value of the road to be detected corresponding to the pre-stored design speed according to the design speed of the road to be detected.
The circular curve radius threshold of the road to be measured corresponding to the designed speed is shown in table 1. The radius threshold of the circular curve in the embodiment of the invention is a general value of the minimum radius of the circular curve.
TABLE 1 circular curve radius threshold of road to be measured corresponding to design speed
Figure BDA0001522968040000201
(4) And determining whether the characteristic road section contained in the road to be detected is a dangerous road section or not according to the comparison result of the radius of the circular curve and the radius threshold of the circular curve.
And when the radius of the circular curve is smaller than the threshold value of the radius of the circular curve, the circular curve section of the road to be detected is a dangerous curve section.
For example, if the designed speed of the road to be measured is 120, the corresponding threshold value of the radius of the circular curve is 1000. And if the radius of the circular curve of the road to be detected is less than 1000, recording the circular curve section of the road to be detected as a dangerous curve section.
2. When designing a road, a clothoid section is arranged at the radial connection position of the straight line of the expressway, the first-level highway, the second-level highway and the third-level highway and the minimum radius of the circular curve which is smaller than the minimum radius of the ultrahigh circular curve of the meter 2. The radial junction between the straight line of the four-level road and the minimum radius of the circular curve which is smaller than the table 2 and is not provided with the superelevation is provided with a superelevation and widening transition section. Therefore, preferably, for the characteristic road segment being a clothoid segment, the method is specifically as follows:
(1) and extracting a circular curve section and a straight line section contained in the road to be detected.
(2) The method comprises the steps of obtaining the radius of a circular curve section, the corresponding transverse slope value of the circular curve section, the starting position of the circular curve section, the end position of the circular curve section, the starting position of a straight line section, the end position of the straight line section, the starting position of a gyroid line section and the end position of the gyroid line section.
The cross slope value corresponding to the circular curve section
Figure BDA0001522968040000211
Wherein, the cross slope corresponding to the circular curve section is LqFor each cross slope section of the circular curve section, the value of LqAre discrete cross slope values. Sigma LqWhich represents the sum of the cross-slope values of all the cross-slope segments contained in the circular curve segment. In the process of extracting the circular curve section, the distance of each divided flat curve section and the distance of the cross slope section corresponding to each cross slope value may be different. It should therefore be understood that the discrete cross-slope value is not necessarily the cross-slope value for each flat curve block segment. For example, if the distance of each flat-curve block section is 5m and the distance of each cross-slope section is 1m, L isqIt should be a value of cross slope per 1m cross slope section, rather than a value of cross slope per 5m block section. MpIs the distance of the circular curve segment. b is the second distance described above, e.g. 5 m.
The cross slope value corresponding to the circular curve section is the road arch.
(3) And acquiring a circular curve radius threshold value of the road to be detected corresponding to the pre-stored design speed according to the design speed of the road to be detected.
The circular curve radius threshold of the road to be measured corresponding to the designed speed is shown in table 2. In the embodiment, the radius threshold of the circular curve corresponding to the road to be detected is determined by combining the cross slope value corresponding to the circular curve section. Specifically, if the cross slope value corresponding to the circular curve section is greater than 2%, querying a circular curve radius threshold value when the road arch corresponding to the design speed is greater than 2%; and if the cross slope value corresponding to the circular curve section is not more than 2%, inquiring the circular curve radius threshold value when the road arch corresponding to the design speed is not more than 2%.
TABLE 2 circular curve radius threshold of road to be measured corresponding to design speed
Figure BDA0001522968040000212
(4) And determining whether the characteristic road section contained in the road to be detected is a dangerous road section or not according to the comparison result of the radius of the circular curve and the radius threshold of the circular curve.
Specifically, if the radius of the circular curve is smaller than the threshold value of the radius of the circular curve, it is determined whether a clothoid section is connected between the circular curve section and the straight line section.
For example, it may be determined by calculating whether a distance between an end point position of the circular curve segment and a start point position of the straight line segment is equal to 0 or not, or calculating whether a distance between an end point position of the straight line segment and a start point position of the circular curve segment is equal to 0 or not. When the value is equal to 0, a gyroid section is not connected between the circular curve section and the straight line section, and the circular curve section and the straight line section contained in the road to be tested are recorded as dangerous curve sections. When the value is not equal to 0, whether the following four characteristic parameters satisfy the ordering from small to large needs to be further judged: the distance value corresponding to the starting point position of the circular curve line section, the distance value corresponding to the end point position of the convolution line section, the distance value corresponding to the starting point position of the convolution line section and the distance value corresponding to the end point position of the straight line section are the starting point position of the circular curve line section, the end point position of the convolution line section, the starting point position of the convolution line section and the end point position of the straight line section in sequence from the starting point of the road section to be judged. If not, the circular curve section and the straight line section contained in the road to be detected are dangerous curve sections.
3. In designing the road, the minimum length of the flat curve should be as shown in table 3. Therefore, preferably, for the characteristic road section being a circular curve section, the method specifically comprises the following steps:
(1) and extracting the circular curve section contained in the road to be detected.
(2) And acquiring the distance of the circular curve section.
(3) And acquiring a flat curve length threshold of the road to be detected corresponding to the pre-stored design speed according to the design speed of the road to be detected.
The flat curve length threshold of the road to be measured corresponding to the designed speed is shown in table 3. In the embodiment of the invention, the flat curve length threshold value is a general value of the minimum length of the flat curve.
TABLE 3 Flat Curve Length threshold of road to be tested corresponding to design speed
Figure BDA0001522968040000221
(4) And determining whether the characteristic road section contained in the road to be detected is a dangerous curve section or not according to the comparison result of the distance of the circular curve section and the flat curve length threshold.
And when the distance of the circular curve section is smaller than the length threshold of the flat curve, the circular curve section contained in the road to be detected is a dangerous curve section.
4. When designing a road, when the road rotation angle is equal to or less than 7 °, a long flat curve should be set, the length of which is shown in table 4.
(1) And extracting the circular curve section contained in the road to be detected.
(2) And acquiring the distance of the circular curve section, the circular curve radius of the circular curve section and the corresponding turning angle value of the circular curve section.
Specifically, the rotation angle value corresponding to the circular curve section is calculated by the following formula:
Figure BDA0001522968040000231
wherein, Delta is a corresponding rotation angle value of the circular curve section, MpIs the distance of the section of the circular curve, JpIs the radius of the circular curve segment.
(3) And acquiring a flat curve length threshold of the road to be detected corresponding to the pre-stored design speed according to the design speed of the road to be detected.
The flat curve length threshold of the road to be measured corresponding to the designed speed is shown in table 4. In the embodiment of the invention, the flat curve length threshold value is a general value of the minimum length of the flat curve.
Table 4 design speed corresponding flat curve length threshold of road to be measured
Design speed (km/h) 120 100 80 60 40 30 20
Flat curve length (m) 1400/△ 85/△ 70/△ 50/△ 35/△ 25/△ 20/△
In table 4, Δ is a course turning angle value (°), and when Δ is <2 °, Δ is calculated as 2 °.
(4) And determining whether the characteristic road section contained in the road to be detected is a dangerous curve section or not according to the comparison result of the distance of the circular curve section and the flat curve length threshold.
And obtaining the quotient of the flat curve length threshold value divided by the corresponding turning angle value of the circular curve section. And when the distance of the circular curve section is smaller than the obtained quotient, the circular curve section contained in the road to be detected is a dangerous curve section.
5. The maximum longitudinal slope value of the road is specified in table 5 when designing the road. Further, there are also the following provisions:
A. the designed speed of the road is 40km/h, 30km/h and 20km/h, the reconstruction project utilizes the road section of the original road, and the maximum longitudinal slope value can be increased by 1% according to the technical and economic demonstration.
B. The designed speed of the road is 120km/h, 100km/h and 80km/h, and the maximum longitudinal slope value can be increased by 1% through technical and economic demonstration when the design speed is limited by terrain conditions or other special conditions.
C. The maximum longitudinal slope value of the four-level road is not more than 8% on the road section with the altitude of more than 2000m or in the area with frozen snow.
(1) And extracting the longitudinal slope section contained in the road to be detected.
(2) And acquiring a longitudinal slope value of the longitudinal slope section.
(3) And acquiring a longitudinal slope value threshold value of the road to be detected corresponding to the pre-stored design speed according to the design speed of the road to be detected.
The longitudinal slope value threshold of the road to be measured corresponding to the designed speed is shown in table 5.
TABLE 5 longitudinal slope threshold of road to be measured corresponding to design speed
Design speed (km/h) 120 100 80 60 40 30 20
Maximum longitudinal slope value (m) 3 4 5 6 7 8 9
(4) And determining whether the characteristic road section contained in the road to be detected is a dangerous longitudinal slope or not according to the comparison result of the longitudinal slope value and the longitudinal slope value threshold.
And when the longitudinal slope value is greater than the longitudinal slope value threshold value, the longitudinal slope section contained in the road to be detected is a dangerous curve section.
6. In designing the road, the minimum longitudinal slope length of the highway longitudinal slope is specified as shown in table 6. The maximum longitudinal slope length of the different longitudinal slopes of the road is specified in table 7. When the road continuously goes up or down the slope, a gentle slope section is arranged between longitudinal slope lengths which are not greater than the length specified in the table 7. The longitudinal slope value of the gentle slope section should be not more than 3%, and the length thereof should meet the minimum longitudinal slope length specification of table 6.
(1) And extracting the longitudinal slope section contained in the road to be detected.
(2) And acquiring a longitudinal slope value and a longitudinal slope length of the longitudinal slope section.
(3) And acquiring a longitudinal slope length threshold value of the road to be detected corresponding to the pre-stored design speed according to the design speed of the road to be detected.
The longitudinal slope value threshold of the road to be measured corresponding to the designed speed is shown in table 6.
Table 6 longitudinal slope length threshold of road to be measured corresponding to design speed
Design speed (km/h) 120 100 80 60 40 30 20
Minimum longitudinal slope length (m) 300 250 200 150 120 100 60
Table 7 shows longitudinal slope length threshold values of road to be measured corresponding to speed and longitudinal slope value
Figure BDA0001522968040000241
Figure BDA0001522968040000251
(4) And determining whether the characteristic road section contained in the road to be detected is a dangerous longitudinal slope or not according to the comparison result of the longitudinal slope length and the longitudinal slope length threshold value.
And when the longitudinal slope value of the longitudinal slope is less than 3, obtaining the corresponding minimum longitudinal slope length in the table 6 according to the design speed, and judging whether the longitudinal slope length of the longitudinal slope section included in the road to be detected is less than the minimum longitudinal slope length. If the measured value is less than the preset threshold value, the longitudinal slope section contained in the road to be measured is an unqualified gentle slope.
And when the longitudinal slope value of the longitudinal slope section is not less than 3, determining the corresponding maximum longitudinal slope length in the table 7 according to the longitudinal slope value of the longitudinal slope section and the design speed, and judging whether the longitudinal slope length of the longitudinal slope section contained in the road to be detected is greater than the maximum longitudinal slope length. And if the current value is larger than the preset threshold value, the longitudinal slope section contained in the road to be detected is a dangerous longitudinal slope.
7. When designing a road, a vertical curve section should be set at a change point of a longitudinal slope of the road, and the minimum vertical curve radius and the vertical curve length threshold of the vertical curve section are specified as shown in table 8. The vertical curve segment in the embodiment of the present invention has been divided into a convex curve segment or a concave curve segment.
(1) And extracting a convex curve section or a concave curve section contained in the road to be detected.
(2) And acquiring the distance and the vertical curve radius of the convex curve section or the concave curve section.
(3) And acquiring a vertical curve length threshold value and a vertical curve radius threshold value of the road to be detected corresponding to the pre-stored design speed according to the design speed of the road to be detected.
The vertical curve length threshold and the vertical curve radius threshold of the road to be measured corresponding to the designed speed are shown in table 8.
Table 8 shows vertical curve length threshold and vertical curve radius threshold of road to be measured corresponding to design speed
Figure BDA0001522968040000252
Figure BDA0001522968040000261
(4) And determining whether the characteristic road section contained in the road to be detected is a dangerous vertical curve section or not according to the comparison result of the distance of the convex curve section or the concave curve section and the vertical curve length threshold value, or according to the comparison result of the vertical curve radius of the convex curve section or the concave curve section and the vertical curve radius threshold value.
And judging whether the distance of the convex curve section or the concave curve section contained in the road to be detected is smaller than a vertical curve length threshold value. If the current road section is smaller than the dangerous vertical curve section, the convex curve section or the concave curve section contained in the road to be detected is the dangerous vertical curve section.
And judging whether the vertical curve radius of the convex curve section or the concave curve section included in the road to be detected is smaller than a vertical curve radius threshold value (it should be understood that, in the comparison, corresponding vertical curve radius threshold values need to be respectively compared according to whether the convex curve section or the concave curve section. If the current road section is smaller than the dangerous vertical curve section, the convex curve section or the concave curve section contained in the road to be detected is the dangerous vertical curve section.
8. In designing a road, a single sharp curve means that the radius of the circular curve of a single curve is less than or equal to the minimum radius of the circular curve listed in table 9, and the radius of the circular curve of the clothoid is less than the minimum radius of the circular curve listed in table 10. The continuous sharp bend means that three or more circular curves having a minimum radius smaller than or equal to the circular curves listed in table 9 are continuously provided, and the distance between the circular curves is smaller than the minimum distance between the circular curves listed in table 9; or two or more continuous convolution lines with the radius of the circular curve smaller than the minimum radius of the circular curve listed in table 10, and the distance from the end point of one convolution line to the starting point of the next convolution line is smaller than the minimum distance between the convolution lines listed in table 10.
(1) And extracting a clothoid section and a circular curve section contained in the road to be detected.
(2) The method comprises the steps of obtaining the radius of a circular curve of a clothoid section, a distance value corresponding to the position of a starting point of the clothoid section, a distance value corresponding to the position of an end point of the clothoid section, the radius of the circular curve section, a distance value corresponding to the position of the starting point of the circular curve section and a distance value corresponding to the position of the end point of the circular curve section.
The distance value corresponding to the starting point position of the clothoid segment and the distance value corresponding to the end point of the clothoid segment are used for calculating the distance between the two clothoid segments, for example, the distance value corresponding to the end point position of the previous clothoid segment is subtracted by the distance value corresponding to the starting point position of the next clothoid segment to obtain the distance between the two clothoid segments. Similarly, the distance value corresponding to the starting point position of the circular curve segment and the distance value corresponding to the end point position of the circular curve segment are used for calculating the distance between the two circular curves.
(3) According to the design speed of the road to be detected, a circular curve radius threshold value, a distance threshold value between circular curves and a distance threshold value between rotary lines of the road to be detected corresponding to the pre-stored design speed are obtained.
The threshold values of the radius of the circular curve, the distance between the circular curves and the distance between the clothoids of the road to be measured corresponding to the designed speed are shown in tables 9 and 10, respectively. In this embodiment, the threshold value of the radius of the circular curve is the minimum radius of the circular curve. The distance threshold between the circular curves is the minimum distance between the circular curves. The distance threshold value between the rotary lines is the minimum distance between the rotary lines.
TABLE 9 radius threshold of circular curve and distance threshold between circular curves of road to be measured corresponding to designed speed
Design speed 40 30 20
Minimum radius of circular curve 60 30 15
Minimum distance between circular curves 80 60 40
TABLE 10 design speed corresponding threshold of radius of convolution line and distance between circular curves of road to be measured
Figure BDA0001522968040000271
(4) And determining whether the single curved road section contained in the road to be detected is a single sharp bend or not according to the comparison result of the radius of the circular curve road section and the threshold value of the radius of the circular curve or according to the comparison result of the radius of the circular curve of the clothoid line section and the threshold value of the radius of the circular curve.
And judging whether the radius of the circular curve section or the radius of the circular curve of the convoluted line section contained in the road to be detected is not more than the corresponding minimum radius of the circular curve. If the curve is not larger than the preset curve, a single circular curve section or a single convolution section contained in the road to be detected is a single sharp bend.
(5) According to the comparison results of the radius of the circular curve of more than three continuous circular curve segments and the threshold value of the radius of the circular curve, and the comparison results of the distance between the circular curves and the threshold value of the distance between the circular curves; or, determining whether the continuous curve road section included in the road to be detected is a continuous sharp curve or not according to the comparison result of the radius of the circular curve and the radius threshold of the circular curve of more than two continuous clothoid sections and the comparison result of the distance between the clothoids and the distance threshold between the clothoid sections.
And judging whether the radius of the circular curve of more than three continuous circular curve sections included in the road to be detected is not more than the corresponding minimum radius of the circular curve or not, and the distance between the circular curves is less than the minimum distance between the circular curves listed in the table 9. And if the distance is not more than the minimum radius of the corresponding circular curve and is less than the minimum distance between the circular curves listed in the table 9, determining that the continuous curve section included in the road to be detected is a continuous sharp curve.
And judging whether the radius of the circular curve of more than two continuous convoluted line sections contained in the road to be detected is not more than the corresponding minimum radius of the circular curve or not, and the distance between the convolutes is less than the minimum distance between the convolutes listed in the table 10. And if the distance is not more than the minimum radius of the corresponding circular curve and is less than the minimum distance between the rotary lines listed in the table 10, determining that the continuous curve section included in the road to be detected is a continuous sharp curve.
In summary, the method for judging a dangerous road segment according to the embodiment of the present invention may obtain the characteristic parameter of the characteristic road segment based on an efficient and fast method for extracting the characteristic road segment, so that the characteristic parameter may be compared with the characteristic threshold of the road to be detected corresponding to the designed speed of the road segment, so as to determine whether the road segment is a dangerous road segment according to the comparison result.
The embodiment of the invention also discloses a system for judging the dangerous road section. As shown in fig. 4, the system includes:
the second extraction module 401 is configured to extract the feature road segment included in the road to be detected by using the above feature road segment extraction method.
A first obtaining module 402, configured to obtain a characteristic parameter of a characteristic road segment included in the road to be detected.
A second obtaining module 403, configured to obtain, according to the design speed of the road to be detected, a characteristic threshold of the road to be detected, where the characteristic threshold corresponds to the design speed.
A second determining module 404, configured to determine whether a characteristic road segment included in the road to be detected is a dangerous road segment according to a comparison result between the characteristic parameter and the characteristic threshold.
To sum up, the system for judging a dangerous road segment according to the embodiment of the present invention may obtain the characteristic parameter of the characteristic road segment based on an efficient and fast method for extracting the characteristic road segment, so that the characteristic parameter may be compared with the characteristic threshold of the road to be detected corresponding to the designed speed of the road segment, and it is determined whether the road segment is a dangerous road segment according to the comparison result.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (9)

1. A method for extracting a characteristic road section is characterized by comprising the following steps:
measuring a road to be measured by adopting an inertial measurement instrument to obtain attitude parameters corresponding to each continuous sampling point of the road to be measured, wherein the attitude parameters are acquired by the inertial measurement instrument, the installation surface of the inertial measurement instrument is parallel to the pavement of the road to be measured, and the attitude parameters comprise: a pitch angle and a course angle;
determining shape parameters contained in the road to be detected according to the attitude parameters, wherein the shape parameters comprise: vertical curve radius and flat curve radius;
extracting a characteristic road section contained in the road to be detected according to the shape parameter of the section road section contained in the road to be detected, wherein the characteristic road section comprises: a convex curve section, a concave curve section, a longitudinal slope section, a left curve section, a right curve section and a straight line section,
when the attitude parameter is a pitch angle, the step of determining the shape parameter included in the road to be detected according to the attitude parameter comprises the following steps:
according to the sequence that the continuous sampling points are far away from the starting point of the road to be detected from near, carrying out mean value filtering on the pitch angle of each continuous sampling point in sequence by using a sliding window with a first threshold value to obtain a pitch angle filtering value;
dividing the road to be detected into at least two first interval road sections in sequence from the starting point of the road to be detected, wherein the distance of each first interval road section is a first distance;
calculating to obtain a first arithmetic mean value of the pitch angle filtering value of each first interval section;
calculating to obtain an absolute value of a difference value of the first arithmetic mean values of the ith first interval road section and the (i + 1) th first interval road section which are adjacent, wherein the ith first interval road section is closer to the starting point of the road to be detected than the (i + 1) th first interval road section;
judging whether the absolute value of the difference value of the first arithmetic mean value is smaller than a second threshold value;
if the number of the section segments is smaller than the preset value, determining that the vertical curve radius of the ith section segment is a first vertical curve radius threshold value;
if not less than
Figure FDA0002907295900000011
Calculating to obtain the vertical curve radius B of the ith first interval road sectioniWherein A isiIs a first arithmetic mean, A, of the ith said first block sectioni+1A first arithmetic mean value of the (i + 1) th first block section, a being the first distance;
the step of extracting the characteristic road section included in the road to be detected according to the shape parameter of the section road section included in the road to be detected comprises the following steps:
judging whether the radiuses of the continuous vertical curves of at least a first number of the first interval road sections are all larger than a second vertical curve radius threshold value;
if so, extracting at least a first number of continuous first interval road sections as longitudinal slope road sections;
determining the first section road section except the longitudinal slope road section as a vertical curve section road section;
judging whether the vertical curve radius of each vertical curve interval section has the same positive and negative;
if so, determining that the vertical curve interval road section is a concave curve section or a convex curve section according to the positive and negative of the vertical curve radius of the vertical curve interval road section;
and if not, sequentially splitting the vertical curve interval road sections from the starting points of the vertical curve interval road sections until all the vertical curve radiuses of each split vertical curve interval road section have the same positive and negative properties, and determining that the vertical curve interval road sections are concave curve sections or convex curve sections according to the positive and negative properties of the vertical curve radiuses of the vertical curve interval road sections.
2. The method according to claim 1, wherein after the step of extracting at least a first number of consecutive first block sections being longitudinal slope sections, the method further comprises:
according to
Figure FDA0002907295900000021
Acquiring a longitudinal slope value C of each first interval road sectioni；
Acquiring the distance of the longitudinal slope section;
according to
Figure FDA0002907295900000022
Obtaining each longitudinal slope sectionLongitudinal slope value D ofmWherein E ismIs the distance, Σ C, of the longitudinal sectioniRepresenting a sum of longitudinal slope values of all of the first block sections within the longitudinal slope section;
according to Fm＝a×Em×cos(arctan Dm) Acquiring the longitudinal slope length F of each longitudinal slope sectionm。
3. The method according to claim 1, wherein when the attitude parameter is a heading angle, the step of determining the shape parameter included in the road to be measured according to the attitude parameter comprises:
if G isj-Gj+1If the sampling time is more than 300, calculating to obtain a corrected value G 'of the course angle of the jth continuous sampling point'j＝Gj-360; wherein G isjIs the course angle, G, of the jth successive sampling pointj+1The heading angle of the j +1 th continuous sampling point adjacent to the j th continuous sampling point is obtained, and the j th continuous sampling point is closer to the starting point of the road to be detected than the j +1 th continuous sampling point;
if G isj+1-GjIf the sampling time is more than 300, calculating to obtain a corrected value G 'of the course angle of the jth continuous sampling point'j＝Gj+360；
If not satisfying Gj-Gj+1> 300 and Gj+1-GjIf the sampling position is more than 300, the correction value G 'of the course angle of the jth continuous sampling point is'j＝Gj；
According to the sequence of the continuous sampling points from the beginning of the road to be measured to the distance, carrying out mean filtering on the corrected value of the course angle of each continuous sampling point by a sliding window of a third threshold value in sequence to obtain a course angle filtering value;
dividing the road to be detected into at least two second interval road sections in sequence from the starting point of the road to be detected, wherein the distance of each second interval road section is a second distance;
calculating to obtain a second arithmetic mean value of the course angle filtering value of each second interval section;
calculating to obtain an absolute value of a difference value of the second arithmetic mean values of the nth second interval road section and the (n + 1) th second interval road section which are adjacent, wherein the nth second interval road section is closer to the starting point of the road to be detected than the (n + 1) th second interval road section;
judging whether the absolute value of the difference value of the second arithmetic mean value is smaller than a fourth threshold value;
if the radius of the straight curve of the nth second interval road section is smaller than the first straight curve radius threshold value, determining that the straight curve radius of the nth second interval road section is the first straight curve radius threshold value;
if not less than
Figure FDA0002907295900000031
Calculating to obtain the radius I of the flat curve of the nth second interval road sectionnWherein H isnIs a second arithmetic mean, H, of the nth of said second block sectionsn+1Is a second arithmetic mean of the (n + 1) th second block section, b is the second distance;
the step of extracting the characteristic road section included in the road to be detected according to the shape parameter of the section road section included in the road to be detected comprises the following steps:
judging whether the radius of the flat curves of at least a second continuous number of the second interval road sections is larger than a second flat curve radius threshold value;
if so, extracting at least a second number of continuous second interval road sections as straight road sections;
determining the second interval road section except the straight line road section as a flat curve interval road section;
judging whether the flat curve radius of each flat curve interval section has the same positive and negative;
if so, determining that the flat curve interval road section is a left curve road section or a right curve road section according to the positive and negative of the flat curve radius of the flat curve interval road section;
if not, sequentially splitting the flat curve interval road sections from the starting points of the flat curve interval road sections until all the flat curve radiuses of each split flat curve interval road section have the same positive and negative properties, and determining that the flat curve interval road sections are left curve road sections or right curve road sections according to the positive and negative properties of the flat curve radiuses of the flat curve interval road sections.
4. The method of claim 3, wherein after the step of determining whether the flat curve radii of each of the flat curve block segments have the same positive or negative polarity, the method further comprises:
if not, iterating the radius of the flat curve of the section of the flat curve interval by adopting a least square method from the starting point and the end point of the section of the flat curve interval to obtain a first mean square error;
dividing a third interval road section of which the first mean square error is more than 90% in the flat-curve interval road sections into a moderate curve road section;
acquiring the distance of the easement curve section;
and if the distance of the moderate curve section is smaller than a fifth threshold value, extracting the moderate curve section as a continuous curve.
5. The method of claim 3, wherein after the step of determining whether the flat curve block segment is a left curve segment or a right curve segment according to the positivity or negativity of the flat curve radius of the flat curve block segment, the method further comprises:
for each left curve section or each right curve section, respectively starting from the starting point and the end point of the left curve section or the right curve section, iterating the flat curve radius of the left curve section or the right curve section by adopting a least square method to obtain a second mean square error;
removing a fourth interval road section of which the second mean square deviation is more than 90% in the left curve road section or the right curve road section from the left curve road section or the right curve road section, and dividing the rest of the left curve road section or the right curve road section into circular curve road sections;
calculating the arithmetic mean value of all the flat curve radiuses in the circular curve section to obtain the circular curve radius of the circular curve section;
obtaining the distance of the circular curve section;
judging whether the distance of the circular curve meets the requirement
Figure FDA0002907295900000051
Wherein K is the distance of the circular curve, and J is the radius of the circular curve;
and if so, determining that the circular curve section is a clothoid section.
6. The method of claim 1, wherein the pose parameters further include roll angle, the method further comprising:
according to the sequence from the near to the far from the starting point of the road to be detected, performing median filtering on the roll angle of each continuous sampling point by using a sliding window of a sixth threshold value and a first step length in sequence to obtain a first roll angle filtering value;
performing mean value filtering on the first roll angle filtering value sequentially by using a sliding window with a seventh threshold value and a second step length to obtain a second roll angle filtering value;
sequentially dividing a third number of the second roll angle filtering values into a group, and calculating a third arithmetic average value of the second roll angle filtering values of the group;
according to
Figure FDA0002907295900000052
Calculating to obtain a cross slope value L of a fifth section road section of the road to be detected corresponding to the third arithmetic mean valuekWherein M iskThe third arithmetic mean value.
7. An extraction system of a characteristic section, comprising:
the measuring module is used for measuring a road to be measured by adopting an inertial measuring instrument to obtain attitude parameters corresponding to each continuous sampling point of the road to be measured, wherein the attitude parameters are acquired by the inertial measuring instrument, the mounting surface of the inertial measuring instrument is parallel to the pavement of the road to be measured, and the attitude parameters comprise: a pitch angle and a course angle;
the first extraction module is used for extracting a characteristic road section contained in the road to be detected according to the shape parameter of the section road section contained in the road to be detected, wherein the characteristic road section comprises: a convex curve section, a concave curve section, a longitudinal slope section, a left curve section, a right curve section and a straight line section;
the first determining module is configured to determine a shape parameter included in the road to be detected according to the attitude parameter, where the shape parameter includes: vertical curve radius and flat curve radius;
when the attitude parameter is a pitch angle, determining the shape parameter included in the road to be detected according to the attitude parameter comprises:
according to the sequence that the continuous sampling points are far away from the starting point of the road to be detected from near, carrying out mean value filtering on the pitch angle of each continuous sampling point in sequence by using a sliding window with a first threshold value to obtain a pitch angle filtering value;
dividing the road to be detected into at least two first interval road sections in sequence from the starting point of the road to be detected, wherein the distance of each first interval road section is a first distance;
calculating to obtain a first arithmetic mean value of the pitch angle filtering value of each first interval section;
calculating to obtain an absolute value of a difference value of the first arithmetic mean values of the ith first interval road section and the (i + 1) th first interval road section which are adjacent, wherein the ith first interval road section is closer to the starting point of the road to be detected than the (i + 1) th first interval road section;
judging whether the absolute value of the difference value of the first arithmetic mean value is smaller than a second threshold value;
if the number of the section segments is smaller than the preset value, determining that the vertical curve radius of the ith section segment is a first vertical curve radius threshold value;
if not less than
Figure FDA0002907295900000061
Calculating to obtain the vertical curve radius B of the ith first interval road sectioniWherein A isiIs a first arithmetic mean, A, of the ith said first block sectioni+1A first arithmetic mean value of the (i + 1) th first block section, a being the first distance;
the extracting the characteristic road section included in the road to be detected according to the shape parameter of the section road section included in the road to be detected comprises the following steps:
judging whether the radiuses of the continuous vertical curves of at least a first number of the first interval road sections are all larger than a second vertical curve radius threshold value;
if so, extracting at least a first number of continuous first interval road sections as longitudinal slope road sections;
determining the first section road section except the longitudinal slope road section as a vertical curve section road section;
judging whether the vertical curve radius of each vertical curve interval section has the same positive and negative;
if so, determining that the vertical curve interval road section is a concave curve section or a convex curve section according to the positive and negative of the vertical curve radius of the vertical curve interval road section;
and if not, sequentially splitting the vertical curve interval road sections from the starting points of the vertical curve interval road sections until all the vertical curve radiuses of each split vertical curve interval road section have the same positive and negative properties, and determining that the vertical curve interval road sections are concave curve sections or convex curve sections according to the positive and negative properties of the vertical curve radiuses of the vertical curve interval road sections.
8. A method for determining a dangerous segment, comprising:
extracting the characteristic road section contained in the road to be detected by adopting the method for extracting the characteristic road section as claimed in any one of claims 1 to 6;
acquiring characteristic parameters of a characteristic road section contained in the road to be detected;
acquiring a characteristic threshold value of the road to be detected corresponding to the design speed according to the design speed of the road to be detected;
and determining whether the characteristic road section contained in the road to be detected is a dangerous road section or not according to the comparison result of the characteristic parameter and the characteristic threshold.
9. A judgment system for a dangerous segment, comprising:
the second extraction module is used for extracting the characteristic road section contained in the road to be detected by adopting the extraction method of the characteristic road section as claimed in any one of claims 1 to 6;
the first acquisition module is used for acquiring the characteristic parameters of the characteristic road sections contained in the road to be detected;
the second acquisition module is used for acquiring a characteristic threshold value of the road to be detected corresponding to the design speed according to the design speed of the road to be detected;
and the second determining module is used for determining whether the characteristic road section contained in the road to be detected is a dangerous road section according to the comparison result of the characteristic parameter and the characteristic threshold.
CN201711420700.6A 2017-12-25 2017-12-25 Feature road section extraction method and dangerous road section judgment method and system Active CN108229803B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201711420700.6A CN108229803B (en) 2017-12-25 2017-12-25 Feature road section extraction method and dangerous road section judgment method and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201711420700.6A CN108229803B (en) 2017-12-25 2017-12-25 Feature road section extraction method and dangerous road section judgment method and system

Publications (2)

Publication Number Publication Date
CN108229803A CN108229803A (en) 2018-06-29
CN108229803B true CN108229803B (en) 2021-04-09

Family

ID=62648766

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201711420700.6A Active CN108229803B (en) 2017-12-25 2017-12-25 Feature road section extraction method and dangerous road section judgment method and system

Country Status (1)

Country Link
CN (1) CN108229803B (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110046425B (en) * 2019-04-15 2021-07-06 长江空间信息技术工程有限公司(武汉) Long-line engineering mileage pile integrated measuring and setting method adapting to path change
CN110617831B (en) * 2019-09-27 2022-01-04 百度在线网络技术（北京）有限公司 Method, device and equipment for generating navigation route
CN111189424B (en) * 2019-12-27 2021-08-17 中国交通通信信息中心 Road data bending degree detection method based on multistage search radius
CN111340908B (en) * 2020-02-10 2023-07-25 兰州交通大学 Rail electronic map generation method
CN113280786B (en) * 2021-05-21 2022-10-21 中铁二局集团有限公司 Method for acquiring elevation of road surface characteristic point through road surface rotating shaft

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101487220A (en) * 2008-01-18 2009-07-22 南京理工大学 Fast automatic measurement method for road structural parameter and its implementing apparatus
CN104950313A (en) * 2015-06-11 2015-09-30 同济大学 Road-surface abstraction and road gradient recognition method

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
HUE061012T2 (en) * 2012-04-13 2023-05-28 Wi Tronix Llc Method for recording, processing and transmitting data from a mobile asset

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101487220A (en) * 2008-01-18 2009-07-22 南京理工大学 Fast automatic measurement method for road structural parameter and its implementing apparatus
CN104950313A (en) * 2015-06-11 2015-09-30 同济大学 Road-surface abstraction and road gradient recognition method

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
基于车辆动力学仿真模拟和风险分析的道路危险路段识别;第1期;《东南大学学报( 自然科学版)》;20120131;第42卷;第150-155页 *

Also Published As

Publication number Publication date
CN108229803A (en) 2018-06-29

Similar Documents

Publication Publication Date Title
CN108229803B (en) Feature road section extraction method and dangerous road section judgment method and system
CN110160550B (en) Urban route guiding method based on road ponding prediction
CN104240536B (en) A kind of device and method for detecting the lane position of the vehicle on driveway
JP4654823B2 (en) Road map data update system and road detection system
EP2079984B1 (en) Method of constructing a digital road model
US6856897B1 (en) Method and system for computing road grade data
CN107560599B (en) Road gradient data processing method based on feature point sampling and curve fitting
CN110008872B (en) Road network extraction method combining vehicle track and remote sensing image
Ai et al. Automatic horizontal curve identification and measurement method using GPS data
US20120121206A1 (en) Method and system for reducing shape points in a geographic data information system
CN101776438A (en) Measuring device and method of road mark
CN110909711A (en) Method, device, electronic equipment and storage medium for detecting lane line position change
CN104011294B (en) Grade information acquirement method and grade information acquisition device
CN103927437A (en) Method for measuring space headway at nonlinear road section
CN107978151A (en) A kind of vehicle checking method and system
CN116299442A (en) Mining-induced surface deformation monitoring method and device, electronic equipment and storage medium
CN113758501B (en) Method for detecting abnormal lane line in map and readable storage medium
KR101379599B1 (en) Apparatus and method for calculating mobile emission
CN115366899A (en) Long-range on-vehicle route identification system based on big dipper
CN116242774A (en) Light three-dimensional detection method and device suitable for rural highways
CN110502797B (en) Lane acquisition modeling system and method based on GNSS
CN111047863A (en) Road condition determining method, device, equipment and storage medium
CN117351338B (en) Automatic pile correction method, system and equipment
CN115035185B (en) Method for identifying flat curve by using curvature and curvature change rate
CN117268424B (en) Multi-sensor fusion automatic driving hunting method and device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant