CN112182896A - Landform and landform local environment complexity calculation method - Google Patents
Landform and landform local environment complexity calculation method Download PDFInfo
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Abstract
The method for calculating the complexity of the local environment of the landform obtains the complexity of the longitudinal landform according to the weighted combination of the height difference of longitudinal waves, the height difference length of the longitudinal waves, the longitudinal slope angle and the complexity of longitudinal attachment of the landform; obtaining the complexity of the transverse landform according to the weighted combination of the transverse wave height difference, the transverse wave height difference length, the transverse slope angle and the transverse attachment complexity of the landform; and obtaining the local environment complexity of the landform according to the weighted combination of the longitudinal landform complexity, the transverse landform complexity and the complexity of the drivable landform width. The unevenness of the landform and the landform of different road sections can be comprehensively reflected, and the unmanned vehicle system can be quantitatively evaluated.
Description
Technical Field
The disclosure belongs to the technical field of road traffic vehicles, and particularly relates to a landform local environment complexity calculation method.
Background
With the rapid development of unmanned vehicles, more and more science and technology companies and automobile macros begin to develop unmanned vehicles, and various types of unmanned vehicles are greatly emerged, and many of the unmanned vehicles are qualified for getting on the road. At present, many games or tests are used for evaluating unmanned vehicles at home and abroad, but a standard system is not formed yet, which is not beneficial to the development of the unmanned vehicles towards the optimal direction. Through years of evaluation research, the subject group establishes a ground unmanned system environment design method and an unmanned vehicle quantitative evaluation method based on complexity. At present, a method for analyzing a road environment mainly performs statistics on road surface unevenness by using statistical indexes such as an international flatness index IRI, a flatness standard deviation sigma or a power spectral density PSD according to a concept of the road surface unevenness, for example, it is known from two documents of a draft of a road surface unevenness representation method and a road surface flatness representation of vehicle vibration input, and the road surface is divided into eight grades according to the power spectral density of the road surface unevenness. Due to the uniqueness of the indexes, the unevenness difference of the road sections can be reflected only to a certain extent, but the indexes are not comprehensive.
Disclosure of Invention
In view of the above, the present disclosure provides a method for calculating the complexity of the local environment of the landform, which can comprehensively reflect the unevenness of the landform of different road sections and perform quantitative evaluation on the unmanned vehicle system.
According to an aspect of the present disclosure, a method for calculating complexity of topographic and geomorphic local environment is provided, the method comprising:
obtaining the complexity of the longitudinal landform according to the weighted combination of the height difference of longitudinal waves, the height difference length of longitudinal waves, the longitudinal slope angle and the complexity of longitudinal adhesion of the landform;
obtaining the complexity of the transverse landform according to the weighted combination of the transverse wave height difference, the transverse wave height difference length, the transverse slope angle and the transverse attachment complexity of the landform;
and obtaining the local environment complexity of the landform according to the weighted combination of the longitudinal landform complexity, the transverse landform complexity and the complexity of the drivable landform width.
The method for calculating the complexity of the local environment of the landform obtains the complexity of the longitudinal landform according to the weighted combination of the height difference of longitudinal waves, the height difference length of the longitudinal waves, the longitudinal slope angle and the complexity of longitudinal attachment of the landform; obtaining the complexity of the transverse landform according to the weighted combination of the transverse wave height difference, the transverse wave height difference length, the transverse slope angle and the transverse attachment complexity of the landform; and obtaining the local environment complexity of the landform according to the weighted combination of the longitudinal landform complexity, the transverse landform complexity and the complexity of the drivable landform width. The unevenness of the landform and the landform of different road sections can be comprehensively reflected, and the unmanned vehicle system can be quantitatively evaluated.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments, features, and aspects of the disclosure and, together with the description, serve to explain the principles of the disclosure.
Fig. 1 shows a flowchart of a method for calculating complexity of a topographic local environment according to an embodiment of the present disclosure.
Detailed Description
Various exemplary embodiments, features and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers can indicate functionally identical or similar elements. While the various aspects of the embodiments are presented in drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used exclusively herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements and circuits that are well known to those skilled in the art have not been described in detail so as not to obscure the present disclosure.
For the calculation of the complexity of the local environment of the landform, the complexity calculation method based on the analytic hierarchy process, the quantitative evaluation method based on the cost function method, the quantitative evaluation based on the fuzzy analytic hierarchy process and the like are mainly used at present. According to the road parameter characteristics, a new complexity calculation method is provided: and (3) a longitudinal and transverse wave height difference distribution attached landform complexity algorithm.
The method for calculating the complexity of the local terrain and landform environment is determined according to a vehicle running smoothness road surface statistical characteristic analysis method and a field data acquisition condition of a cross-country environment, and can also be called as a longitudinal and transverse wave height difference distribution attached terrain and landform complexity algorithm. The road features of the topographic local environment (such as an off-road environment) mainly comprise longitudinal features, transverse features and travelable width, wherein the longitudinal features and the transverse features comprise wave height difference, wave spacing, average gradient and adhesion characteristics.
Fig. 1 shows a flowchart of a method for calculating complexity of a topographic local environment according to an embodiment of the present disclosure. As shown in fig. 1, the method may include:
step S1: and obtaining the complexity of the longitudinal landform according to the weighted combination of the height difference of the longitudinal waves, the height difference length of the longitudinal waves, the longitudinal slope angle and the complexity of longitudinal adhesion of the landform.
The calculation formula (1) of the longitudinal topographic complexity is as follows:
wherein lxgcThe weighting factor for the longitudinal wave height difference length can be, for example, 0.60WxgcLongitudinal wave height difference length complexity; m isxαThe weighting factor for the longitudinal gradient angle may, for example, be 0.20, WxαLongitudinal slope angle complexity;
for the longitudinal attachment weighting factor, for example, it may take the value 0.20,
is the longitudinal attachment complexity.
Longitudinal wave height difference length complexity WxgcCan be calculated by the following formula (2),
wherein the content of the first and second substances,
for the ith longitudinal wave height difference complexity,
for the ith longitudinal wavelength complexity, θxgciWeighting the complexity of the height-difference width of the ith transverse wave, e.g. thetaxgc0Can take the value of 0.3, thetaxgc1Can take the value of 0.3, thetaxgc2Can take the value of 0.2, thetaxgc3Can take the value of 0.1, thetaxgc4The value may be 0.1.
Complexity of elevation difference of longitudinal wave
Can be calculated by the following formula (3),
wherein, gx0Height difference of longitudinal maximum wave, gxiIs the height difference of the ith longitudinal large wave.
Length complexity between longitudinal waves
Can be calculated by the following formula (4),
wherein k isxcFor the length complexity hyperbolic secant coefficient between longitudinal waves, for example, the value can be taken as
0.1；c0Length of longitudinal maximum wave, c0iThe length from the ith longitudinal large wave to the maximum slope.
The longitudinal wave height difference length complexity W can be calculated through the formulas (1) to (4)xgc。
Longitudinal slope angle complexity WxαCan be calculated by the calculation formula (5),
Wxαtan α formula (5),
wherein alpha is a longitudinal gradient angle.
Complexity of longitudinal attachment
Can be calculated by calculating formula (6),
wherein the content of the first and second substances,
for example, the longitudinal attachment complexity hyperbolic secant coefficient may be 2.0.
The longitudinal topographic complexity can be calculated through the formulas (1) to (6).
Step S2: and obtaining the complexity of the transverse landform according to the weighted combination of the transverse wave height difference, the transverse wave height difference length, the transverse slope angle and the transverse attachment complexity of the landform.
The calculation formula (7) of the transverse topographic complexities is as follows,
wherein lygkThe weighting coefficient of the height difference width of the transverse wave can be 0.6WygkThe complexity of the height difference width of the transverse wave; m isyβIs a cross barThe weighting coefficient of the slope angle can be 0.2WyβTransverse slope angle complexity;
the value of the lateral adhesion weight coefficient can be 0.2,
is the lateral attachment complexity.
Transverse wave height difference width complexity WygkCan be calculated by the following formula (8),
wherein the content of the first and second substances,
for the jth transverse wave height difference complexity,
for the jth transverse wave width complexity, θygkjWeighting the height difference width complexity of the jth transverse wave, wherein thetaygk0Can take the value of 0.3, thetaygk0Can take the value of 0.3, thetaygk0Can take the value of 0.2, thetaygk0Can take the value of 0.1, thetaygk0The value may be 0.1.
Transverse wave height difference complexity
Can be calculated by the following formula (9),
wherein, gy0Height difference of transverse maximum wave, gyjIs the height difference of the transverse jth large wave.
Transverse wave width complexity
Can be calculated by the following formula (10),
wherein k isykThe hyperbolic secant coefficient of the transverse inter-wave width complexity can be 0.1; c. C0Is the length of the transverse maximum wave; c. C0iThe length from the transverse ith large wave to the maximum slope. The transverse landform complexity W can be obtained by weighting through the formula (7) to the formula (10)y。
Transverse slope complexity
Can be represented by the following formula (11) WyβCalculated as tan β, β is the transverse slope angle.
Complexity of lateral attachment
Can be represented by the following formula (12)
And calculating to obtain the result, wherein,
the transverse attachment complexity hyperbolic secant coefficient can be taken as 2.0.
The transverse topographic and geomorphic complexity W can be obtained by weighting through a formula (7) to a formula (12)y。
Step S3: and obtaining the local environment complexity of the landform according to the weighted combination of the longitudinal landform complexity, the transverse landform complexity and the complexity of the drivable landform width.
The complexity of the drivable terrain width can be calculated by equation (13),
wherein k iskThe hyperbolic secant coefficient of the complexity of the width of the terrain and landform can be 1.0.
Height difference length complexity W of longitudinal wavexgcTransverse topographic complexity WyComplexity W of drivable landform widthkSubstituting the obtained weights into a formula (14) to obtain the local environment complexity W of the landform and the landformDX，
WDX＝WX·p+Wy·q+WkR is represented by the formula (14),
wherein, WDXThe complexity of landform; wxFor the complexity of the longitudinal landform, p is the weighting of the complexity of the longitudinal landform, and can be 0.40; wyThe transverse landform complexity is obtained, q is the weighting of the transverse landform complexity, and the value can be 0.40; wkFor the complexity of the drivable terrain and landform width, r is the weight of the complexity of the drivable terrain and landform width, and can be 0.40. The landform local environment complexity can be obtained by weighted combination through the formulas (1) to (14).
The method for calculating the complexity of the local environment of the landform obtains the complexity of the longitudinal landform according to the weighted combination of the height difference of longitudinal waves, the height difference length of the longitudinal waves, the longitudinal slope angle and the complexity of longitudinal attachment of the landform; obtaining the complexity of the transverse landform according to the weighted combination of the transverse wave height difference, the transverse wave height difference length, the transverse slope angle and the transverse attachment complexity of the landform; and obtaining the local environment complexity of the landform according to the weighted combination of the longitudinal landform complexity, the transverse landform complexity and the complexity of the drivable landform width. The unevenness of the landform and the landform of different road sections can be comprehensively reflected, and the unmanned vehicle system can be quantitatively evaluated.
Having described embodiments of the present disclosure, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (1)
1. A landform local environment complexity calculation method is characterized by comprising the following steps:
obtaining the complexity of the longitudinal landform according to the weighted combination of the height difference of longitudinal waves, the height difference length of longitudinal waves, the longitudinal slope angle and the complexity of longitudinal adhesion of the landform;
obtaining the complexity of the transverse landform according to the weighted combination of the transverse wave height difference, the transverse wave height difference length, the transverse slope angle and the transverse attachment complexity of the landform;
and obtaining the local environment complexity of the landform according to the weighted combination of the longitudinal landform complexity, the transverse landform complexity and the complexity of the drivable landform width.
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