CN109680592B - Vehicle-mounted road surface detection device and method based on inertial measurement and radar ranging - Google Patents
Vehicle-mounted road surface detection device and method based on inertial measurement and radar ranging Download PDFInfo
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- CN109680592B CN109680592B CN201910101131.1A CN201910101131A CN109680592B CN 109680592 B CN109680592 B CN 109680592B CN 201910101131 A CN201910101131 A CN 201910101131A CN 109680592 B CN109680592 B CN 109680592B
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C23/00—Auxiliary devices or arrangements for constructing, repairing, reconditioning, or taking-up road or like surfaces
- E01C23/01—Devices or auxiliary means for setting-out or checking the configuration of new surfacing, e.g. templates, screed or reference line supports; Applications of apparatus for measuring, indicating, or recording the surface configuration of existing surfacing, e.g. profilographs
Abstract
The invention discloses a vehicle-mounted pavement detection device and method based on inertial measurement and radar ranging, which are suitable for pavement measurement of urban roads and highways. The detection device consists of a mechanical system and an electrical system. The mechanical system consists of four inertial measurement units, a millimeter wave radar unit and a mounting plate. The electric system consists of a millimeter wave radar motor driving module, a millimeter wave radar signal acquisition module, an inertia unit signal acquisition module and a driving distance signal acquisition module. Based on the structure and principle of the detection device provided by the invention, adverse effects of vehicle jolt on a measurement result can be eliminated, and the vehicle-mounted pavement detection device which is low in cost, high in precision, vibration-resistant and simple and convenient to operate is realized.
Description
Technical Field
The invention relates to a vehicle-mounted pavement detection device and method based on inertial measurement and radar ranging, which are suitable for pavement measurement of urban roads and highways.
Background
Road surface flatness is a main factor affecting road surface running quality, is one of the most important indexes of road surface service performance, and is one of the main indexes for checking urban road and expressway construction quality. In recent years, with the continuous increase of the requirements for road service quality and the continuous development of a road management system (PMS), a rapid and accurate method for testing road surface flatness becomes one of the most concerned problems in road engineering.
The current domestic equipment for detecting the index mainly comprises: 3m ruler, continuous planeness instrument, vehicle-mounted bump accumulator, etc. These devices are widely used, but have significant drawbacks. The 3m ruler has low measurement precision, low detection efficiency and large detection workload; the mechanical performance of the continuous planimeter has a larger influence on the data precision, and the test speed is still limited for large-area detection of a high-grade highway with a higher actual driving speed; the vehicle-mounted bump accumulator has poor time stability, poor performance of converting the vehicle-mounted bump accumulator into road surface geometric parameters, and can not give a direct evaluation result of road surface flatness.
In order to solve the problem that the road surface flatness measurement data is inaccurate due to up-and-down fluctuation when a vehicle runs on a bumpy road surface, a vehicle-mounted road surface detection system based on an inertial measurement unit and a laser range finder is proposed, but the system has the problem that a two-dimensional laser displacement sensor is high in cost and is difficult to popularize and use in a large scale.
Disclosure of Invention
The invention provides a vehicle-mounted pavement detection device and method based on inertial measurement and radar ranging, which can overcome the defects of the prior art and provide a vehicle-mounted pavement detection device with low cost, sufficient precision, vibration resistance and simple operation.
The vehicle-mounted road surface detection device consists of a mechanical system and an electrical system;
the mechanical system consists of four inertial measurement units, a millimeter wave radar unit and a mounting plate; the millimeter wave radar unit and the four inertial measurement units are all arranged on the mounting plate; the installation positions of the four inertial measurement units are arranged into a rectangle, and the installation position of the millimeter wave radar unit is in the center of the rectangle; holes are formed in the edge of the mounting plate, the whole device is fixed on a vehicle through the holes, and the vehicle drives the whole device to move along a road so as to realize measurement of the road surface; an inertial measurement unit in the vehicle-mounted road surface detection device gives 3-axis acceleration, 3-axis angular velocity, 3-axis angle and 3-axis geomagnetic field information; the millimeter wave radar unit is provided with a rotating measuring head, gives the current rotation angle of the measuring head and gives the distance between the rotation center of the measuring head and an obstacle in the current measurement direction;
the electric system consists of a millimeter wave radar motor driving module, a millimeter wave radar signal acquisition module, an inertia unit signal acquisition module and a driving distance signal acquisition module; the millimeter wave radar motor driving module controls the millimeter wave radar measuring head to rotate according to the designated direction and speed, the millimeter wave radar signal acquisition module collects and records the rotation angle information of the measuring head and the distance information between the rotation center of the measuring head and an obstacle in real time, the inertia unit signal acquisition module collects and records the acceleration, angular velocity, angle and geomagnetic field information of each inertia measurement unit in real time, and the driving distance signal acquisition module receives driving mileage pulse information from a vehicle.
The invention realizes the detection of the road surface flatness by arranging the four inertia measuring units and the millimeter wave radar on the mounting plate, has simple structure, is easy to mount on a detection vehicle, has simple calculation in the detection process, and can solve the problem of inaccurate detection result caused by the jolt of the vehicle.
The invention provides a detection device for detecting road surface unevenness, which comprises the following steps:
step one, mounting a detection device; fixing the detection device on a detection vehicle, enabling the detection direction of the measuring head to be vertically downward, and aligning the road surface to be detected; the distance between the detection device and the road surface is regulated, so that the width of the detection area on the road surface meets the requirement; the length and the width of a rectangle formed by arranging the mounting positions of the four inertial measurement units are respectively aligned with the horizontal direction and the vertical direction;
calibrating a detection device; after the detected vehicle is started to the starting point of the road to be detected, stopping the vehicle, paving a flat plate at the detected area on the road surface, starting the detection device and entering a calibration mode, and after the number of the detected vehicles is stable, reading and recording the output signals of each inertia measurement unit and each millimeter wave radar unit; an inertial reference coordinate system is established by the output signal of the inertial measurement unit, and a zero reference of a rotation angle is established by the output signal of the millimeter wave radar unit, and the method comprises the following steps:
(1) Establishing an inertial reference coordinate system O-XYZ by taking the rotation center of a measuring head of the millimeter wave radar unit as an origin O during calibration, wherein a Y axis is the running direction of the vehicle, a Z axis is the vertical upward direction, and an X axis is the direction vertical to the Y axis and the Z axis; taking the average value of the measurement data of all four inertial measurement units as inertial measurement data at the rotation center of the measuring head of the millimeter wave radar unit, wherein the average value comprises acceleration, angular velocity and angle of 3 axes of X, Y and Z and geomagnetic field information; the inertial measurement data at the rotation center of the measuring head of the millimeter wave radar unit is used for calculating the position and posture information of the millimeter wave radar unit at any moment in subsequent measurement, and comprises the following steps: a movement distance Tx along the X-axis, a movement distance Ty along the Y-axis, a movement distance Tz along the Z-axis, an angle Rx about the X-axis, an angle Ry about the Y-axis, an angle Rz about the Z-axis;
(2) The angular position measured by the rotation of the millimeter wave radar unit is represented by theta, the distance value measured by the millimeter wave radar unit is represented by r, and the sector measuring area of the measuring head is represented by interval [ theta min, theta max ]; defining the angle position which takes the minimum distance value in the fan-shaped measuring area as the zero position of the rotation angle, wherein θ=0; the measured value r of the millimeter wave radar unit represents the distance OA between the rotation center O of the measuring head and the intersection point A of the measuring line and the measured pavement;
step three, running detection; switching the detection device from a calibration mode to a detection mode, starting the detection vehicle to run along the road to be detected for one time, and acquiring and recording measurement data of the four inertial measurement units and the millimeter wave radar unit in real time during running; a group of measurement data is obtained by Tx, ty, tz, rx, ry, rz at a certain moment and the rotation angle theta of the measuring head i Distance reading r i Composition;
step four, data calculation and error compensation; for any set of measurement data recorded in the measurement process, the height difference Vz of the road surface at the current measurement position relative to the road surface at the standard time is calculated according to the following formula:
V z ＝T z +OA-r i ·cos(θ i -R y )
and then completing calculation and evaluation according to a conventional calculation method of the road surface unevenness, and giving out a detection result of the road surface unevenness.
According to the detection device provided by the invention, the road surface flatness is detected, the position and the posture information of the millimeter wave radar are determined by the four inertia measurement units, so that whether the vehicle jolts or not is determined, and the compensation quantity of the road surface flatness detection value is further calculated according to the position and the posture information, so that the road surface flatness is detected, the calculation is simple in the detection process, and the problem of inaccurate detection results caused by the jolts of the vehicle can be solved.
Drawings
FIG. 1 is a schematic diagram of the components of a vehicle-mounted road surface detection device of the present invention;
FIG. 2 is a schematic diagram of the definition of the measurement coordinate system of the vehicle-mounted road surface detection device of the present invention;
FIG. 3 is a schematic diagram of a road surface height difference calculation method for eliminating the influence of vehicle jolts;
FIG. 4 is a flowchart of the operation of the on-board road surface unevenness detecting apparatus of the invention.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
The present invention is described below based on examples, but the present invention is not limited to only these examples. In the following detailed description of the present invention, certain specific details are set forth in detail. The present invention will be fully understood by those skilled in the art without the details described herein. Well-known methods, procedures, flows, components and circuits have not been described in detail so as not to obscure the nature of the invention. Moreover, those of ordinary skill in the art will appreciate that the drawings are provided herein for illustrative purposes and that the drawings are not necessarily drawn to scale.
Unless the context clearly requires otherwise, throughout the description and the claims, the words "comprise", "comprising", and the like, are to be construed in an inclusive sense as opposed to an exclusive or exhaustive sense: that is, it is the meaning of "including but not limited to". In the description of the present invention, it should be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, in the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
The invention is further described below with reference to the accompanying drawings:
the invention provides a vehicle-mounted pavement detection device and method based on inertial measurement and radar ranging.
As shown in fig. 1, the vehicle-mounted road surface detection device is composed of a mechanical system and an electrical system.
The mechanical system consists of an inertial measurement unit 1, an inertial measurement unit 2, an inertial measurement unit 3, an inertial measurement unit 4, a millimeter wave radar unit 5 and a mounting plate 6, wherein 7 in fig. 1 represents a sector measurement area of a measuring head of the millimeter wave radar unit. The millimeter wave radar unit and the four inertial measurement units are all mounted on the mounting plate. The installation positions of the four inertial measurement units are arranged into a rectangle, and the installation position of the millimeter wave radar unit is in the center of the rectangle. Holes are formed in the edge of the mounting plate, the whole device can be fixed on a vehicle through the holes, and the vehicle drives the whole device to move along a road, so that the measurement of the road surface is realized. The inertial measurement unit in the vehicle-mounted road surface detection device can adopt a low-cost gyroscope module with the price of only hundreds of yuan, such as a 9-axis attitude angle sensor with the model number of WT931, and the gyroscope module can give out 3-axis acceleration, 3-axis angular velocity, 3-axis angle and 3-axis magnetic field information which can be used for measuring and compensating the motion parameters of a vehicle carrying the detection device in the running process, so that adverse effects on road surface measurement results caused by vehicle jolt are reduced. The millimeter wave ranging function can be realized by adopting a low-cost millimeter wave radar unit with the price less than two thousand yuan, such as a vehicle-mounted millimeter wave radar with the model number of 3iLIDAR Delta3. The millimeter wave radar unit is provided with the measuring head rotating at a high speed, the accurate rotating angle of the measuring head can be provided, the distance between the rotation center of the measuring head and an obstacle in the current measuring direction can be obtained through millimeter wave ranging, the ranging precision can reach millimeter level, the resolution can reach below 0.5 millimeter, and the requirement of detecting the unevenness of the road surface can be met. Compared with a two-dimensional laser displacement sensor with the cost generally above hundred thousand yuan, the device has the advantages that the cost is remarkably lower, the precision is enough to meet the measurement requirement, and the device is a more reasonable technical scheme.
The electric system consists of a millimeter wave radar motor driving module, a millimeter wave radar signal acquisition module, an inertia unit signal acquisition module and a driving distance signal acquisition module. The millimeter wave radar motor driving module controls the millimeter wave radar measuring head to rotate according to the designated direction and speed, the millimeter wave radar signal acquisition module collects and records the rotation angle information of the measuring head and the distance information between the rotation center of the measuring head and an obstacle in real time, the inertia unit signal acquisition module collects and records the acceleration, angular velocity, angle and geomagnetic field information of each inertia measurement unit in real time, and the driving distance signal acquisition module receives driving mileage pulse information from a vehicle.
As shown in fig. 2, a coordinate system O-XYZ of the detection device may be established. The coordinate system takes the rotation center O of a measuring head of the millimeter wave radar as an origin of the coordinate system, takes the running direction of the vehicle as the Y-axis forward direction, takes the direction vertical to the upward direction of the ground as the Z-axis forward direction, and obtains the X-axis forward direction according to the right-hand Cartesian rule.
The invention provides a detection device for detecting road surface unevenness, which comprises the following steps:
step one, a detection device is installed. Fixing the detection device on a detection vehicle, enabling the detection direction of the measuring head to be vertical downwards, and aligning the road surface to be detected; the distance between the detection device and the road surface is regulated, so that the width of the detection area on the road surface meets the requirement; the rectangular shape in which the mounting positions of the four inertial measurement units are arranged is aligned with the X-axis and the Z-axis of the coordinate system shown in fig. 2, respectively.
And step two, calibrating the detection device. And (3) starting the detection vehicle to a starting point of a road to be detected, stopping the vehicle, paving a flat plate at a detectable area on the road surface, starting the detection device and entering a calibration mode, and reading and recording output signals of a group of current inertia measurement units and millimeter wave radar units after the number of the detected vehicle is stable.
An inertial reference coordinate system is established by signals of an inertial measurement unit, and a zero reference of a rotation angle is established by signals of a millimeter wave radar, wherein the method comprises the following steps:
(1) And (3) establishing an inertial reference coordinate system O-XYZ by taking the rotation center of the measuring head of the millimeter wave radar unit as an origin O during calibration (see figure 2). And taking the average value of the measurement data of all four inertial units as inertial measurement data at the rotation center of the millimeter wave radar unit measuring head, wherein the inertial measurement data comprises acceleration, angular velocity and angle of the 3 axes of X, Y and Z and geomagnetic field information. Based on inertial measurement data at the rotation center of the millimeter wave radar unit measuring head, the six-degree-of-freedom position and attitude information of the millimeter wave radar unit at any moment in subsequent measurement can be calculated by using a conventional digital integration method; the geomagnetic field information can be used for judging whether obvious errors occur in the calculation process or not, so that the reliability of the whole device is improved; the three moving distances along the coordinate axis are Tx, ty, tz, and the three angles around the coordinate axis are Rx, ry, and Rz. Since the inertial reference coordinate system is established with the six data at the time of calibration, in the inertial reference coordinate system, the values of Tx, ty, tz, rx, ry and Rz at the time of calibration are both 0.
(2) The angular position measured by rotation of the millimeter wave radar unit is represented by θ, the distance value measured by the millimeter wave radar is represented by r, and the sector measuring area is represented by the interval [ θmin, θmax ]. The angular position at which the smallest distance value is taken in the measuring region can be taken as the zero position of the rotation angle, i.e. here defined as θ=0, since in theory the measuring line at this angular position is closest to perpendicular to the road surface to be measured. The measured value r of the millimeter wave radar represents the distance OA between the rotation center O of the measuring head and the intersection point a of the measuring line and the measured road surface.
And step three, detecting running. The detection device is switched from a calibration mode to a detection mode, the detection vehicle is started to run along the road to be detected for one time, and measurement data of the four inertial measurement units and the millimeter wave radar unit are collected and recorded in real time during running. In the running detection, the six data Tx, ty, tz, rx, ry and Rz at any time represent the position and the posture of the millimeter wave radar unit in the reference coordinate system. Millimeter wave radar rotates to angle theta i Distance reading at the point r i . A group of measurement data is obtained by Tx, ty, tz, rx, ry, rz at a certain moment and the rotation angle theta of the measuring head i Distance reading r i Composition is prepared.
And step four, data calculation and error compensation.
For any set of measurement data recorded during the measurement process, the following analysis and calculation can be performed.
Since the motion represented by the position coordinates Tx, ty of the millimeter wave radar unit is parallel to the road surface to be measured, the influence of these two values on the distance value r is negligible; since the motion represented by the attitude coordinate Rz is parallel to the road surface to be measured, the influence of the value on the distance value r is negligible; because the motion represented by the gesture coordinate Rx is tangential to the road surface to be tested, only a cosine error with small influence is introduced, so that the influence of the value on the distance value r can be ignored; however, the influence of the position coordinates Tz and the attitude coordinates Ry of the millimeter wave radar unit on the distance measurement value r is not negligible, and the method of compensating for the adverse influence thereof is as follows.
As shown in fig. 3, it is assumed that when the vehicle runs to a certain point in time, due to the influence of the bump of the vehicle, the rotational center of the probe of the millimeter wave radar unit generates a positional deviation amount Tz and an attitude deviation amount Ry with respect to the inertial reference coordinate system at the fixed time, the actual position thereof reaches the O' point in the figure, and the rotational angle of the millimeter wave radar probe is θ i The radar ranging reading is r i . The road surface height difference Vz of the present measurement position of the millimeter wave radar with respect to the road surface height at the time of calibration can be calculated as follows:
V z ＝T z +OA-r i ·cos(θ i -R y )
wherein θ i The value of Ry is positive in the direction shown in fig. 3.
The Vz calculated from the above equation is the road surface height difference after compensating for adverse effects caused by vehicle jolts. If the Vz values calculated in the whole measuring process are all 0, the measured road surface is an ideal plane, and the vehicle does not have any jolt, and the road surface unevenness is 0. If the Vz value calculated in the whole measuring process is not 0, the calculation and evaluation can be completed according to the conventional calculation method of the road surface unevenness, and the detection result of the road surface unevenness is given.
The general flow of the detection of road surface irregularities by the vehicle-mounted detection device based on the invention is shown in fig. 4.
What is not described in detail in the present specification belongs to the prior art known to those skilled in the art.
The above gives a specific embodiment to which the present invention relates, but the present invention is not limited to the described embodiment. Under the thought of the invention, the technical means in the embodiment are changed, replaced and modified in a manner which is easily thought to a person skilled in the art, and the technical means have basically the same functions as the corresponding technical means in the invention, and the aim of the invention is also basically the same, so that the technical scheme is formed by fine tuning the embodiment, and the technical scheme still falls within the protection scope of the invention.
Claims (1)
1. The vehicle-mounted road surface detection device based on inertial measurement and radar ranging is characterized by comprising a mechanical system and an electrical system;
the mechanical system consists of four inertial measurement units, a millimeter wave radar unit and a mounting plate; the millimeter wave radar unit and the four inertial measurement units are all arranged on the mounting plate; the installation positions of the four inertial measurement units are arranged into a rectangle, and the installation position of the millimeter wave radar unit is in the center of the rectangle; holes are formed in the edge of the mounting plate, the whole device is fixed on a vehicle through the holes, and the vehicle drives the whole device to move along a road so as to realize measurement of the road surface; an inertial measurement unit in the vehicle-mounted road surface detection device gives 3-axis acceleration, 3-axis angular velocity, 3-axis angle and 3-axis geomagnetic field information; the millimeter wave radar unit is provided with a rotating measuring head, gives the current rotation angle of the measuring head and gives the distance between the rotation center of the measuring head and an obstacle in the current measurement direction;
the electric system consists of a millimeter wave radar motor driving module, a millimeter wave radar signal acquisition module, an inertia unit signal acquisition module and a driving distance signal acquisition module; the millimeter wave radar motor driving module controls the millimeter wave radar measuring head to rotate according to a designated direction and speed, the millimeter wave radar signal acquisition module collects and records the rotation angle information of the measuring head and the distance information between the rotation center of the measuring head and an obstacle in real time, the inertia unit signal acquisition module collects and records the acceleration, angular velocity, angle and geomagnetic field information of each inertia measurement unit in real time, and the driving distance signal acquisition module receives driving mileage pulse information from a vehicle;
the step of detecting the road surface unevenness is as follows:
step one, mounting a detection device; fixing the detection device on a detection vehicle, enabling the detection direction of the measuring head to be vertically downward, and aligning the road surface to be detected; the distance between the detection device and the road surface is regulated, so that the width of the detection area on the road surface meets the requirement; the length and the width of a rectangle formed by arranging the mounting positions of the four inertial measurement units are respectively aligned with the horizontal direction and the vertical direction;
calibrating a detection device; after the detected vehicle is started to the starting point of the road to be detected, stopping the vehicle, paving a flat plate at the detected area on the road surface, starting the detection device and entering a calibration mode, and after the number of the detected vehicles is stable, reading and recording the output signals of each inertia measurement unit and each millimeter wave radar unit; an inertial reference coordinate system is established by the output signal of the inertial measurement unit, and a zero reference of a rotation angle is established by the output signal of the millimeter wave radar unit, and the method comprises the following steps:
(1) Establishing an inertial reference coordinate system O-XYZ by taking the rotation center of a measuring head of the millimeter wave radar unit as an origin O during calibration, wherein a Y axis is the running direction of the vehicle, a Z axis is the vertical upward direction, and an X axis is the direction vertical to the Y axis and the Z axis; taking the average value of the measurement data of all four inertial measurement units as inertial measurement data at the rotation center of the measuring head of the millimeter wave radar unit, wherein the average value comprises acceleration, angular velocity and angle of 3 axes of X, Y and Z and geomagnetic field information; the inertial measurement data at the rotation center of the measuring head of the millimeter wave radar unit is used for calculating the position and posture information of the millimeter wave radar unit at any moment in subsequent measurement, and comprises the following steps: a movement distance Tx along the X-axis, a movement distance Ty along the Y-axis, a movement distance Tz along the Z-axis, an angle Rx about the X-axis, an angle Ry about the Y-axis, an angle Rz about the Z-axis;
(2) The angular position measured by the rotation of the millimeter wave radar unit is represented by theta, the distance value measured by the millimeter wave radar unit is represented by r, and the sector measuring area of the measuring head is represented by interval [ theta min, theta max ]; defining the angle position which takes the minimum distance value in the fan-shaped measuring area as the zero position of the rotation angle, wherein θ=0; the measured value r of the millimeter wave radar unit represents the distance OA between the rotation center O of the measuring head and the intersection point A of the measuring line and the measured pavement;
step three, running detection; switching the detection device from a calibration mode to a detection mode, starting the detection vehicle to run along the road to be detected for one time, and acquiring and recording measurement data of the four inertial measurement units and the millimeter wave radar unit in real time during running; a group of measurement data is composed of Tx, ty, tz at a certain moment,Rx, ry, rz and probe rotation angle θ i Distance reading r i Composition;
step four, data calculation and error compensation; for any set of measurement data recorded in the measurement process, the height difference Vz of the road surface at the current measurement position relative to the road surface at the standard time is calculated according to the following formula:
V z ＝T z +OA-r i ·cos(θ i -R y )
and then completing calculation and evaluation according to a conventional calculation method of the road surface unevenness, and giving out a detection result of the road surface unevenness.
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| CN111879287B (en) * | 2020-07-08 | 2022-07-15 | 河南科技大学 | Forward terrain three-dimensional construction method of low-speed vehicle based on multiple sensors |
| CN113096387B (en) * | 2021-03-22 | 2022-07-22 | 中国第一汽车股份有限公司 | Vehicle-mounted road surface monitoring and early warning method, system, terminal and storage medium |
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| CN107168338A (en) * | 2017-07-07 | 2017-09-15 | 中国计量大学 | Inertial guide car air navigation aid and inertial guide car based on millimetre-wave radar |
| CN209523100U (en) * | 2019-01-31 | 2019-10-22 | 河南科技大学 | A kind of vehicle-mounted road surface detection device based on inertia measurement and radar range finding |
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