CN112966393A - Road surface vehicle-jumping index calculation method, device, equipment and readable storage medium - Google Patents
Road surface vehicle-jumping index calculation method, device, equipment and readable storage medium Download PDFInfo
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Abstract
本发明公开一种路面跳车指数计算方法、装置、设备及计算机可读存储介质，其中，所述路面跳车指数计算方法包括步骤：将待检测路面划分为多个预设里程路段；获取预设里程路段中n个单元路面对应的纵向高程；根据纵向高程中的最大值和最小值计算待检测路面的跳车指数，首先从每个单元路面中查找纵向高程的最大值和最小值，在进一步的找到预设里程路段的纵向高程的最大值和最小值，实现了数据的分级处理，从较多的数据中获取目标数据，比起国家相关规范标准，更贴合路面实际的跳车情况，进一步提高了反应路面实际跳车情况的准确度。
The invention discloses a method, device, equipment and computer-readable storage medium for calculating a road jump index, wherein the method for calculating a road jump index comprises the steps of: dividing a road to be detected into a plurality of preset mileage sections; Set the longitudinal elevations corresponding to n unit pavements in the mileage section; calculate the jump index of the pavement to be detected according to the maximum and minimum longitudinal elevations, first find the maximum and minimum longitudinal elevations from each unit pavement, and then It further finds the maximum and minimum longitudinal elevations of the preset mileage sections, realizes the hierarchical processing of data, and obtains target data from more data, which is more in line with the actual jumping situation on the road than the relevant national standards. , which further improves the accuracy of reflecting the actual vehicle jumping situation on the road surface.
Description
Technical Field
The invention relates to the field of road surface detection, in particular to a road surface jump index calculation method, a road surface jump index calculation device, road surface jump index calculation equipment and a readable storage medium.
Background
In the evaluation standard of the technical condition of the highway, the road surface vehicle-jumping index uses a mathematical model aiming at a longitudinal section of the road surface, so that the acquisition of signals and data analysis are facilitated, and the difficulty of calculation and analysis of the road surface vehicle-jumping is simplified. However, the model is too simple and low in parameter complexity, cannot be butted with the actual condition of the road surface, and cannot meet the requirements of design, construction, detection and the like in the fields of automobiles, road surfaces and the like.
Disclosure of Invention
The invention mainly aims to provide a road surface vehicle-jumping index calculation method, a device, equipment and a computer readable storage medium, aiming at improving the accuracy of reflecting the real condition of a road surface, and the road surface vehicle-jumping index calculation method comprises the following steps:
dividing a road surface to be detected into a plurality of preset mileage road sections;
acquiring longitudinal elevations corresponding to n unit road surfaces in the preset mileage road section;
and calculating the skip index of the road surface to be detected according to the maximum value and the minimum value in the longitudinal elevation.
In one embodiment, the step of obtaining the corresponding longitudinal elevations of the plurality of unit road surfaces in the preset mileage section includes:
dividing the preset mileage road section into n unit road surfaces in rectangular shapes, wherein a diagonal line of each unit road surface and a horizontal straight line form a preset angle, and n is a positive integer;
and measuring the longitudinal elevation corresponding to each road surface point in the unit road surface by using a laser sensor, wherein the laser emitted by the laser sensor is parallel to or coincided with the diagonal line of the unit road surface.
In one embodiment, the step of calculating the skip index of the road surface to be detected according to the maximum value and the minimum value in the longitudinal elevation comprises:
obtaining a maximum value set { h) of the longitudinal elevations of the n unit road surfaces through comparison i|max1,2,3, …, n and a minimum value set { h |i|min|i＝1,2,3,…,n}；
From the { hi|maxAcquiring the maximum value H of the longitudinal elevation of the preset mileage road section from | i ═ 1,2,3, …, n }maxAnd from said { h }i|minAcquiring the minimum value H of the longitudinal elevation of the preset mileage road section from | i ═ 1,2,3, …, n }min；
According to said HmaxAnd said HminAnd calculating the jump index of the road surface to be detected.
In one embodiment, said is according to said HmaxAnd said HminThe step of calculating the skip index of the road surface to be detected comprises the following steps:
calculating the HmaxAnd said HminObtaining the maximum elevation difference delta H of the preset mileage road section;
determining the jumping degree j and the jumping deduction beta corresponding to the delta HjAnd the number PB of the preset mileage road sections with the degree of the vehicle jumpingj；
The j and the beta are measuredjAnd the PBjAnd substituting the road surface data into a calculation formula to obtain the jump index of the road surface to be detected.
In one embodiment, the calculation formula is:
wherein the PBI is the skip index.
In one embodiment, the method for calculating the road jump index further comprises the following steps:
acquiring the momentum equivalent elevation difference set of the unit pavement{Δhmom,1,Δhmom,2,Δhmom,3,…,Δhmom,n}
From the { Δ hmom,1,Δhmom,2,Δhmom,3,…,Δhmom,nAcquiring the maximum value delta h of the momentum equivalent elevation difference of the preset mileage road sectionmom,max；
According to the Δ hmom,maxAnd calculating the jump index of the road surface to be detected.
In one embodiment, the method for calculating the road jump index further comprises the following steps:
acquiring an energy equivalent elevation difference set { delta h) of the unit road surfaceenergy,1,Δhenergy,2,Δhenergy,3,…,Δhenergy,n}；
From the { Δ henergy,1,Δhenergy,2,Δhenergy,3,…,Δhenergy,nAcquiring the maximum value delta h of the momentum equivalent elevation difference of the preset mileage road sectionenergy,max；
According to the Δ henergy,maxAnd calculating the jump index of the road surface to be detected.
In addition, to achieve the above object, the present invention also provides a road surface jump index calculation device including:
the dividing module is used for dividing the road surface to be detected into a plurality of preset mileage road sections;
the acquisition module is used for acquiring the longitudinal elevations corresponding to the n unit road surfaces in the preset mileage road section;
and the calculating module is used for calculating the vehicle jump index of the road surface to be detected according to the maximum value and the minimum value in the longitudinal elevation.
In addition, in order to achieve the above object, the present invention further provides a road skipping index calculating device, which includes a memory, a processor and a road skipping index calculating program stored in the memory and operable on the processor, wherein the road skipping index calculating program, when executed by the processor, implements the steps of the road skipping index calculating method as described above.
In addition, to achieve the above object, the present invention also provides a computer-readable storage medium having the road bounce index calculation program stored thereon, which when executed by a processor implements the steps of the road bounce index calculation method as described above.
According to the method, the road surface to be detected is divided into a plurality of preset mileage road sections, the longitudinal elevations corresponding to n unit road surfaces in the preset mileage road sections are obtained, and the vehicle jumping index of the road surface to be detected is calculated according to the maximum value and the minimum value in the longitudinal elevations.
Drawings
FIG. 1 is a diagram illustrating a hardware configuration of an apparatus for implementing various embodiments of the invention;
FIG. 2 is a schematic flow chart of an embodiment of a road surface jump index calculation method of the invention;
FIG. 3 is a schematic view of a scene of the road surface vehicle jump detection of the present invention;
FIG. 4 is a longitudinal elevation differential plot of an experiment of the present invention;
fig. 5 is a three-dimensional point cloud grayscale projection view of the road surface corresponding to the heavy-duty vehicle-skipping area in fig. 4.
The implementation, functional features and advantages of the present invention will be described with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The invention provides road surface vehicle-jumping index calculation equipment, and referring to fig. 1, fig. 1 is a schematic structural diagram of a hardware operating environment according to an embodiment of the invention.
It should be noted that fig. 1 is a schematic structural diagram of a hardware operating environment of the road surface jump index calculation device. The road surface jump index calculating device of the embodiment of the invention can be a Personal Computer (PC), a portable Computer, a server and other devices.
As shown in fig. 1, the road-trip index calculation apparatus may include: a processor 1001, such as a CPU, a memory 1005, a user interface 1003, a network interface 1004, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
In one embodiment, the road skip index calculation device may further include an RF (Radio Frequency) circuit, a sensor, a WiFi module, and the like.
Those skilled in the art will appreciate that the configuration of the road skip index calculation device shown in fig. 1 does not constitute a limitation of the road skip index calculation device, and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a computer storage readable storage medium, may include therein an operating system, a network communication module, a user interface module, and a road skip index calculation program. The operating system is a program for managing and controlling hardware and software resources of the road jump index calculating device and supports the running of the road jump index calculating program and other software or programs.
The road surface jump index calculation device shown in fig. 1 may be used to improve the accuracy of reflecting the real condition of the road surface, and the user interface 1003 is mainly used to detect or output various information, such as input unit road surface and output jump index; the network interface 1004 is mainly used for interacting with a background server and communicating; the processor 1001 may be configured to call the road skip index calculation program stored in the memory 1005, and perform the following operations:
dividing a road surface to be detected into a plurality of preset mileage road sections;
acquiring longitudinal elevations corresponding to n unit road surfaces in the preset mileage road section;
and calculating the skip index of the road surface to be detected according to the maximum value and the minimum value in the longitudinal elevation.
According to the method, the road surface to be detected is divided into a plurality of preset mileage road sections, the longitudinal elevations corresponding to n unit road surfaces in the preset mileage road sections are obtained, and the vehicle jumping index of the road surface to be detected is calculated according to the maximum value and the minimum value in the longitudinal elevations.
The specific implementation of the mobile terminal of the present invention is substantially the same as the following embodiments of the road skip index calculation method, and is not described herein again.
Based on the structure, the embodiment of the road surface vehicle-jumping index calculation method is provided.
The invention provides a road surface vehicle-jumping index calculation method.
Referring to fig. 2, fig. 2 is a schematic flow chart of an embodiment of the road surface jump index calculation method of the invention.
In the present embodiment, an embodiment of a road skip index calculation method is provided, and it should be noted that although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in an order different from that here.
In this embodiment, the road surface jump index calculation method includes:
step S10, dividing the road surface to be detected into a plurality of preset mileage road sections;
the road surface to be detected is the road surface of a highway, and the general road surface to be detected is longer, and this embodiment will detect the road surface of waiting to detect and divide into the highway section that length equals, predetermines mileage length, detects respectively a plurality of preset mileage highway sections that obtain, and generally, the preset mileage length is 10 meters, and then predetermines mileage highway section for the highway section of 10 meters.
Step S20, acquiring longitudinal elevations corresponding to n unit road surfaces in the preset mileage road section;
in this embodiment, before each preset mileage road segment is detected, the longitudinal elevation of the section of the preset mileage road segment is obtained, the preset mileage road segment is subdivided into n unit road surfaces, and the longitudinal elevations corresponding to the n unit road surfaces are obtained, i.e., the longitudinal elevations of the preset mileage road segment are obtained.
In some embodiments, step S20 further includes:
a, dividing the preset mileage road section into n unit road surfaces in rectangular shapes, wherein a diagonal line of each unit road surface and a horizontal straight line form a preset angle, and n is a positive integer;
and b, measuring the longitudinal elevation corresponding to each road surface point in the unit road surface by using a laser sensor, wherein the laser emitted by the laser sensor is parallel to or coincided with the diagonal line of the unit road surface.
The method comprises the steps of obtaining point cloud data of a preset mileage road section through a laser sensor, dividing a unit road surface on the point cloud data, referring to fig. 3, dividing the preset mileage road section into a plurality of unit road surfaces, wherein the number of the unit road surfaces is n, the n needs to meet the requirement that the unit road surfaces cover the preset mileage road section, the width of each unit road surface can be 10cm, the length of each unit road surface is 10/tan theta cm, theta is an angle formed by a diagonal line of each unit road surface and a horizontal straight line, namely a preset angle, and the general preset angle is 3.05-26.56 degrees. And further acquiring the elevation data of each road surface point in each unit road surface from the elevation data of the preset mileage road section measured by the laser sensor.
In this embodiment, the longitudinal elevations of the unit road surface are measured by the laser sensors, specifically, the laser sensors are disposed on two sides of the preset road section and are placed in a direction forming a preset angle with the horizontal direction, so that the cross section measured by the laser sensors passes through the diagonal line of the unit road surface, and the longitudinal elevations of the unit road surface obtained by the laser sensors are actually the longitudinal elevations of each road surface point in the unit road surface, and the method for obtaining the longitudinal elevations of the road surface points in some embodiments is as follows: the system for measuring the longitudinal elevation comprises a laser range finder, a laser sensor and a distance sensor, wherein the vertical distance from the laser sensor to the section direction, the vertical acceleration of the laser sensor and the distance of longitudinal running along the section are respectively measured, and then the elevation of the section in the unit pavement is calculated by using the following formula:
Z(x)＝H(x)+∫∫xAt(s)/v2dsds
wherein x is the longitudinal distance of the cross section, Z (x) is the relative elevation of the cross section, H (x) is the vertical distance from the laser sensor to the cross section, At(s) is the vertical acceleration of the acceleration sensor, v2Is the square of the travel speed in the longitudinal direction of the section. It should be noted that each unit road surface may have a plurality of cross sections measured, and the road surface points are on the cross sections.
Due to the interference of the measuring environment (water stain and oil stain on the road surface or foreign matters in the measured area), a small amount of abnormal noise (zero point or local burr-shaped abnormal value) may exist in the acquired section data. For section zero-value data, as the sensor is formed by combining the area-array camera and the line laser, the distortion at the center of the camera is minimum, the acquired three-dimensional data of the inclined section of the road surface is most stable near the center point of the section, and the embodiment replaces an abnormal noise point by a non-abnormal sampling point close to the center area of the section to obtain the section data without the zero value.
In a pavement measuring system consisting of an area-array camera and a high-power line laser, system errors such as sensor installation angle, laser line collimation degree, uneven laser light intensity distribution and the like exist. These systematic errors will weaken the characteristics of the target of interest on the road surface, and therefore require calibration of the data collected by the sensorsThe device corrects and converts the image data into object data. The corrected longitudinal elevation is obtained by the following formula: z (x, Z) ═ R (α) × h (x) ++ (^ jk ^ nxAt(s)/v2dsds, where x is the cross-sectional lateral distance, Z is the cross-sectional longitudinal distance, Z (x, Z) is the cross-sectional relative elevation, H (x, Z) is the object data elevation of the laser sensor, At(s) is the vertical acceleration of the acceleration sensor, v2R (alpha) is a transformation matrix from a measurement coordinate system to a world coordinate system, which is the square of the traveling speed along the longitudinal direction of the cross section,
the elevation value of the cross section obtained by adopting the laser sensor is Z (x, Z), which is a set of a series of measured points { x }i,yi,ziIn which yiThe distance of the point in the direction of the longitudinal section of the road surface can be solved by a laser sensor and an installation angle, and the longitudinal height value of the measuring section is the longitudinal height h of the series of pointsi＝zi. The unit road surface covering the preset mileage road section is used, the integrity and consistency of the measuring result are guaranteed, the traditional measuring method represented by point laser can only perform sampling detection, the longitudinal section is randomly extracted from the irregular section for calculation, the result repeatability is poor, the representativeness is lacked, and the vehicle jumping condition of the whole road surface cannot be reflected.
The laser sensor is arranged at a preset included angle on a horizontal straight line, so that the laser sensor is obtained under the condition that the same measurement attitude is obtained within the range of 10cm along the longitudinal direction, the maximum longitudinal height difference with uniform measurement datum is obtained by combining the angle sensor, the acceleration sensor and the distance sensor, compared with other methods, the measurement method is less influenced by the vehicle running attitude, the longitudinal resolution consistency is better, and meanwhile, the problem that the nominal distance cannot be accurately obtained by using a traditional measurement method represented by point laser under the conditions of real vehicle jumping and encoder slipping is solved.
And step S30, calculating the jump index of the road surface to be detected according to the maximum value and the minimum value in the longitudinal elevation.
The skip Index (road Bumping Index) is a road surface technical performance Index for representing the driving comfort and the safety, and the Index is introduced by a road technical condition evaluation standard (JTG H20-2018). In the embodiment, the vehicle jumping condition of the preset mileage road section is determined according to the maximum longitudinal elevation and the minimum longitudinal elevation in each unit road surface, and the vehicle jumping index of the road surface to be detected is further calculated.
In some embodiments, step S30 further includes:
step c, obtaining a maximum value set { h) of the longitudinal elevations of the n unit road surfaces through comparison i|max1,2,3, …, n and a minimum value set { h |i|min|i＝1,2,3,…,n}；
Step d, from the { hi|maxAcquiring the maximum value H of the longitudinal elevation of the preset mileage road section from | i ═ 1,2,3, …, n }maxAnd from said { h }i|minAcquiring the minimum value H of the longitudinal elevation of the preset mileage road section from | i ═ 1,2,3, …, n }min；
Step e, according to the HmaxAnd said HminAnd calculating the jump index of the road surface to be detected.
Firstly, the maximum value of the longitudinal height of the unit road surface in each preset mileage section forms a set { h }i|max1,2,3, …, n, wherein the element in the set is the maximum longitudinal elevation of the ith unit road surface; the minimum value of the longitudinal height of the unit road surface in each preset mileage road section forms a set { h }i|minAnd i is 1,2,3, …, n, and the element in the set is the minimum longitudinal elevation of the ith unit road surface. It should be noted that, the method for acquiring the maximum value and the minimum value of the longitudinal elevation of the unit road surface in the preset mileage section includes: the method comprises the steps of firstly comparing the longitudinal elevation of a pavement point on a section, extracting the maximum longitudinal elevation of the pavement point on each section, taking the maximum longitudinal elevation as the maximum longitudinal elevation of the section where the pavement point corresponding to the maximum longitudinal elevation is located, then comparing the maximum longitudinal elevation of each section, and taking the maximum value of the maximum longitudinal elevation as the maximum value of the longitudinal elevation of a unit pavement. Will be set to { hi|maxThe largest element in 1,2,3, …, n |, doesDetermining the maximum value H of the longitudinal elevation of the preset mileage road sectionmaxWill set { h }i|minDetermining the minimum element of | i | -1, 2,3, …, n } as the minimum value H of the longitudinal elevation of the preset mileage road sectionminFurther according to HmaxAnd HminAnd determining the vehicle-jumping condition of the preset mileage road section, and further calculating the vehicle-jumping index of the road surface to be detected.
In some specific embodiments, step e comprises:
step e1, calculating the HmaxAnd said HminObtaining the maximum elevation difference delta H of the preset mileage road section;
step e2, determining the jumping degree j and the jumping deduction beta corresponding to the delta HjAnd the number PB of the preset mileage road sections with the degree of the vehicle jumpingj；
Step e3, converting j and betajAnd the PBjAnd substituting the road surface data into a calculation formula to obtain the jump index of the road surface to be detected.
The maximum height difference of the preset mileage road section is delta H ═ Hmax-HminThe numerical range of Δ H may determine the vehicle jumping degree of the preset mileage road surface, in this embodiment, the vehicle jumping degree is divided into mild degree, moderate degree and severe degree, and the elevation difference ranges corresponding to different vehicle jumping degrees are as follows:
as can be seen from the above table, when Δ H is greater than or equal to 2 and less than 5, the vehicle-jumping condition of the preset mileage road section is a mild vehicle-jumping condition; when delta H is more than or equal to 5 and less than 8, the vehicle-jumping condition of the preset mileage road section is moderate vehicle-jumping; and when the delta H is larger than or equal to 8, the vehicle jumping condition of the preset mileage road section is a severe vehicle jumping condition. In the embodiment, j represents the vehicle jumping degree, and when j is 1, the vehicle jumping degree is a light vehicle jumping; when j is 2, the vehicle jumping degree is moderate vehicle jumping; and when j is 3, the vehicle jumping degree is severe vehicle jumping. In this embodiment, the skip car deduction corresponding to different skip car degrees is further determined according to a road deduction standard table, where the road deduction standard table is:
in the tablejAnd the skip deduction corresponding to the skip degree of the jth class is shown. After the vehicle jumping degree of each preset mileage road section in the road surface to be detected is obtained, counting the number PB of the preset mileage road sections with the jth vehicle jumping degreejJ, betajAnd PBjSubstituting into a calculation formula of the skip index, wherein the calculation formula is
PBI is the skip index. The result is calculated as a score criterion of 100 points full. The vehicle-jumping index is a function of the number of vehicle-jumping on the road surface and the degree (light, medium and heavy) of vehicle-jumping, and the degree of vehicle-jumping is related to the longitudinal elevation difference of the road surface and is a function of the local protrusion and subsidence characteristics of the longitudinal section of the road surface.
It should be noted that the maximum elevation difference of the unit road surface can be calculated through the obtained data, the vehicle jumping degree of the unit road surface is judged according to the elevation difference range table corresponding to different vehicle jumping degrees, the unit road surface with the maximum elevation difference greater than or equal to 2 is determined as a fault, and the area of the fault is calculated through accumulation of the area of the unit road surface and is used as analysis data of the road section condition.
According to the embodiment, the road surface to be detected is divided into a plurality of preset mileage road sections, the longitudinal elevations corresponding to n unit road surfaces in the preset mileage road sections are obtained, and the vehicle jumping index of the road surface to be detected is calculated according to the maximum value and the minimum value in the longitudinal elevations.
In some embodiments, the road surface jump index calculation method may further include:
step f, acquiring a momentum equivalent elevation difference set { delta h) of the unit road surfacemom,1,Δhmom,2,Δhmom,3,…,Δhmom,n}
Step g, from the { Δ hmom,1,Δhmom,2,Δhmom,3,…,Δhmom,nAcquiring the maximum value delta h of the momentum equivalent elevation difference of the preset mileage road sectionmom,max；
Step h, according to the delta hmom,maxAnd calculating the jump index of the road surface to be detected.
In the embodiment, the equivalent elevation difference of momentum is used for replacing the longitudinal elevation difference, the equivalent elevation difference of momentum of each road surface unit in each preset mileage road surface is firstly obtained, and the equivalent elevation difference set { delta h of momentum is obtainedmom,1,Δhmom,2,Δhmom,3,…,Δhmom,nAnd then obtaining the maximum value delta h of the equivalent height difference of the momentum of the preset mileage road section from the setmom,maxAnd then obtaining the vehicle-jumping degree of the preset mileage road section and the corresponding vehicle-jumping deduction according to the table for judging the vehicle-jumping degree and the deduction standard table, counting the number of the preset mileage road sections corresponding to different vehicle-jumping degrees in the road surface to be detected, and substituting the vehicle-jumping degree, the vehicle-jumping deduction and the number into a calculation formula to obtain the vehicle-jumping index of the road surface to be detected.
The momentum equivalence means that the accumulated height difference in the calculation range is equivalent to the momentum F generated by the height difference of the unit road surface0ΔhmomThe calculation method of the momentum equivalent height difference comprises the following steps: Δ hmom＝∫∫F(z)dxdy/F0，ΔhmomIs a momentum equivalent elevation difference, F0Is the standard force of a unit pavement, and is the momentum integral value of the unit pavement, where f (z) can be obtained from a quarter-car model or other models.
In an alternative embodiment, the road surface jump index calculation method may further include:
step i, acquiring an energy equivalent elevation difference set { delta h) of the unit road surfaceenergy,1,Δhenergy,2,Δhenergy,3,…,Δhenergy,n}；
Step j, from the { Δ henergy,1,Δhenergy,2,Δhenergy,3,…,Δhenergy,nAcquiring the maximum value delta h of the momentum equivalent elevation difference of the preset mileage road sectionenergy,max；
Step k, according to the delta henergy,maxAnd calculating the jump index of the road surface to be detected.
In the embodiment, the energy equivalent elevation difference is used for replacing the longitudinal elevation difference, the energy equivalent elevation difference of each road surface unit in each preset mileage road surface is firstly obtained, and the energy equivalent elevation difference set { delta h is obtainedenergy,1,Δhenergy,2,Δhenergy,3,…,Δhenergy,nAnd then obtaining the maximum value delta h of the energy equivalent height difference of the preset mileage road section from the setenergy,maxAnd then obtaining the vehicle-jumping degree of the preset mileage road section and the corresponding vehicle-jumping deduction according to the table for judging the vehicle-jumping degree and the deduction standard table, counting the number of the preset mileage road sections corresponding to different vehicle-jumping degrees in the road surface to be detected, and substituting the vehicle-jumping degree, the vehicle-jumping deduction and the number into a calculation formula to obtain the vehicle-jumping index of the road surface to be detected.
The energy equivalence means that the accumulated height difference in the calculation range is equivalent to the gravitational potential energy m generated by the height difference of the unit road surface0gΔhenergyThe method for calculating the energy equivalent height difference comprises the following steps: Δ henergy＝∫∫G(z)dxdy/m0g, wherein Δ henergyM is the energy equivalent height difference0Is the standard quality of the unit pavement, and is the energy integral value of the unit pavement, and G (z) can be obtained by a quarter-car model or other models.
The two methods for calculating the road surface jump index provided by the embodiment realize that data are acquired from different scales, and the data of different scales are utilized to reflect the road surface jump condition under different scales.
The experiment provides a section of road surface to be detected with the length of 8 kilometers, the road surface is designed into a bidirectional 4-lane, and the detection system is used for collecting data and calculating the road surface jump index. The detection process is as follows: 1) installing and calibrating a laser sensor; 2) the detection system advances along the road section to collect road surface data, and each lane collects a set of data. 3) The skip index of each lane is calculated by using the method.
| Mounting angle | Lateral pixel density | Longitudinal pixel density | Resolution ratio | Sampling frequency |
| 15° | 1 mm/ |
1 mm/pixel | 4096 pixels | 64KHz |
TABLE 3 sensor coefficients
After the installation calibration is completed, the parameters of the structured light sensor are shown in table 3. The line structured light sensor collects data of 4096 pixels each time, and the calculating unit is a rectangle with the length of 10/tan15 degrees and the width of 10cm according to the method disclosed by the patent.
According to the above method, the vehicle-jumping situation of each calculating unit is determined, and the PB calculation result is shown in fig. 4. PB reflects whether a vehicle jump occurred on this 10-meter road surface, and the degree of the vehicle jump on this road section.
Taking the jump at 1.1Km in FIG. 4 as an example, calculate Δ H (1.1Km, 8.9cm) for the road section at that timeIt can be known that Δ H (1.1Km, 8.9cm) is greater than 5cm and less than 8cm, a moderate skip car exists in the road section, and the three-dimensional point cloud grayscale projection view of the road surface in the area is shown in fig. 5. Calculating the Δ H (3.2Km, 7.5cm) and the Δ H (4.3Km, 7.5cm) at 3.2Km and 4.3Km of the road surface to be detected in fig. 4, it can be found that the road surface to be detected has one moderate vehicle jump at 3.2Km and 4.3Km respectively, so that the calculation formula is adopted
And obtaining the road surface jumping index of the road surface to be detected as 25.
In addition, an embodiment of the present invention further provides a road surface jump index calculation device, where the road surface jump index calculation device includes:
the dividing module is used for dividing the road surface to be detected into a plurality of preset mileage road sections;
the acquisition module is used for acquiring the longitudinal elevations corresponding to the n unit road surfaces in the preset mileage road section;
and the calculating module is used for calculating the vehicle jump index of the road surface to be detected according to the maximum value and the minimum value in the longitudinal elevation.
The implementation of the road surface jump index calculation device of the invention is basically the same as that of each road surface jump index calculation embodiment, and is not described herein again.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where a road skipping index calculation program is stored, and when the road skipping index calculation program is executed by a processor, the steps of the road skipping index calculation method described above are implemented.
It should be noted that the computer-readable storage medium may be provided in the road-trip-index calculating apparatus.
The specific implementation manner of the computer-readable storage medium of the present invention is substantially the same as that of each embodiment of the road skip index calculation method, and is not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. The road surface vehicle-jumping index calculation method is characterized by comprising the following steps of:
dividing a road surface to be detected into a plurality of preset mileage road sections;
acquiring longitudinal elevations corresponding to n unit road surfaces in the preset mileage road section;
and calculating the skip index of the road surface to be detected according to the maximum value and the minimum value in the longitudinal elevation.
2. The road surface jump index calculation method of claim 1, wherein the step of obtaining the longitudinal elevations corresponding to the plurality of unit road surfaces in the preset mileage section comprises:
dividing the preset mileage road section into n unit road surfaces in rectangular shapes, wherein a diagonal line of each unit road surface and a horizontal straight line form a preset angle, and n is a positive integer;
and measuring the longitudinal elevation corresponding to each road surface point in the unit road surface by using a laser sensor, wherein the laser emitted by the laser sensor is parallel to or coincided with the diagonal line of the unit road surface.
3. The method for calculating the road surface jump index according to claim 2, wherein the step of calculating the jump index of the road surface to be detected according to the maximum value and the minimum value in the longitudinal elevation comprises the following steps:
obtaining a maximum value set { h) of the longitudinal elevations of the n unit road surfaces through comparisoni|max1,2,3, …, n and a minimum value set { h |i|min|i＝1,2,3,…,n}；
From the { hi|maxAcquiring the maximum value H of the longitudinal elevation of the preset mileage road section from | i ═ 1,2,3, …, n }maxAnd from said { h }i|minAcquiring the minimum value H of the longitudinal elevation of the preset mileage road section from | i ═ 1,2,3, …, n }min；
According to said HmaxAnd said HminAnd calculating the jump index of the road surface to be detected.
4. The road skip index calculation method according to claim 3, wherein the calculation is performed according to the HmaxAnd said HminThe step of calculating the skip index of the road surface to be detected comprises the following steps:
calculating the HmaxAnd said HminObtaining the maximum elevation difference delta H of the preset mileage road section;
determining the jumping degree j and the jumping deduction beta corresponding to the delta HjAnd the number PB of the preset mileage road sections with the degree of the vehicle jumpingj；
The j and the beta are measuredjAnd the PBjAnd substituting the road surface data into a calculation formula to obtain the jump index of the road surface to be detected.
5. The road surface jump index calculation method according to claim 4, wherein the calculation formula is as follows:
wherein the PBI is the skip index.
6. The road surface jump index calculation method according to claim 1, further comprising the steps of:
acquiring a momentum equivalent elevation difference set (delta h) of the unit pavementmom,1,Δhmom,2,Δhmom,3,…,Δhmom,n}
From the { Δ hmom,1,Δhmom,2,Δhmom,3,…,Δhmom,nAcquiring the maximum value delta h of the momentum equivalent elevation difference of the preset mileage road sectionmom,max；
According to the Δ hmom,maxAnd calculating the jump index of the road surface to be detected.
7. The road surface jump index calculation method according to claim 1, further comprising the steps of:
acquiring an energy equivalent elevation difference set { delta h) of the unit road surfaceenergy,1,Δhenergy,2,Δhenergy,3,…,Δhenergy,n}；
From the { Δ henergy,1,Δhenergy,2,Δhenergy,3,…,Δhenergy,nAcquiring the maximum value delta h of the momentum equivalent elevation difference of the preset mileage road sectionenergy,max；
According to the Δ henergy,maxAnd calculating the jump index of the road surface to be detected.
8. A road surface jump index calculation device is characterized by comprising:
the dividing module is used for dividing the road surface to be detected into a plurality of preset mileage road sections;
the acquisition module is used for acquiring the longitudinal elevations corresponding to the n unit road surfaces in the preset mileage road section;
and the calculating module is used for calculating the vehicle jump index of the road surface to be detected according to the maximum value and the minimum value in the longitudinal elevation.
9. A road-skipping-index calculation apparatus characterized by comprising a memory, a processor, and a road-skipping-index calculation program stored on the memory and executable on the processor, the road-skipping-index calculation program realizing the steps of the road-skipping-index calculation according to any one of claims 1 to 7 when executed by the processor.
10. A readable storage medium, characterized in that the readable storage medium is a computer-readable storage medium on which a road-surface-skip-index calculation program is stored, which when executed by a processor implements the steps of the road-surface-skip-index calculation method according to any one of claims 1 to 7.
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