CN112966393B - Road surface jump index calculation method - Google Patents
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Abstract
The invention discloses a road surface jump index calculating method, which comprises the following steps: dividing a road surface to be detected into a plurality of preset mileage sections; acquiring longitudinal elevations corresponding to n unit road surfaces in a preset mileage road section; according to the maximum value and the minimum value in the longitudinal elevation, the jump index of the road surface to be detected is calculated, the maximum value and the minimum value of the longitudinal elevation are firstly searched from each unit road surface, the maximum value and the minimum value of the longitudinal elevation of a preset mileage road section are further found, the grading processing of data is realized, target data are obtained from more data, and compared with the national relevant standard, the target data are more attached to the actual jump condition of the road surface, and the accuracy of reflecting the actual jump condition of the road surface is further improved.
Description
Technical Field
The invention relates to the field of road surface detection, in particular to a road surface jump index calculation method.
Background
In the road technical condition evaluation standard, a mathematical model aiming at the road surface longitudinal section is used for the road surface jump index, so that signal acquisition and data analysis are facilitated, and the difficulty of road surface jump calculation and analysis is simplified. However, the model is too simple and crude, has low parameter complexity, cannot be in butt joint 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 jump index calculating method, which aims to improve the accuracy of reflecting the real condition of a road surface, and comprises the following steps of:
dividing a road surface to be detected into a plurality of preset mileage sections;
acquiring longitudinal elevations corresponding to n unit road surfaces in the preset mileage road section;
and calculating the jump 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 longitudinal elevations corresponding to the plurality of unit road surfaces in the preset mileage road section includes:
dividing the preset mileage road section into n unit road surfaces with rectangular shapes, wherein the diagonal line of the unit road surfaces 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 or coincident with the diagonal line of the unit road surface.
In one embodiment, 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:
obtaining a maximum value set { h } of the longitudinal elevations of n unit pavements by comparison i|max I=1, 2,3, …, n } and a set of minimums { h } i|min |i＝1,2,3,…,n}；
From { h } i|max The maximum value H of the longitudinal elevation of the preset mileage road section is obtained in I=1, 2,3, …, n max And from { h } i|min The minimum value H of the longitudinal elevation of the preset mileage road section is obtained in I=1, 2,3, …, n min ；
According to the H max And said H min And calculating the jump index of the road surface to be detected.
In one embodiment, the method according to H max And said H min The step of calculating the jump index of the road surface to be detected comprises the following steps:
calculating the H max With said H min Obtaining the maximum elevation difference delta H of the preset mileage road section;
determining the jump degree j and the jump deduction beta corresponding to the delta H j And the number PB of the preset mileage sections with the trip degree j ；
And j, beta is as follows j And the PB j Substituting the road surface to be detected 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 jump index.
In one embodiment, the method for calculating the road jump index further comprises the steps of:
obtaining a momentum equivalent elevation difference set { delta h (delta h) of the unit pavement mom,1 ,Δh mom,2 ,Δh mom,3 ,…,Δh mom,n }
From { Δh } mom,1 ,Δh mom,2 ,Δh mom,3 ,…,Δh mom,n Obtaining the maximum value delta h of the momentum equivalent elevation difference of the preset mileage road section mom,max ；
According to the delta h mom,max And 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 steps of:
obtaining an energy equivalent elevation difference set { delta h (delta h) of the unit pavement energy,1 ,Δh energy,2 ,Δh energy,3 ,…,Δh energy,n }；
From { Δh } energy,1 ,Δh energy,2 ,Δh energy,3 ,…,Δh energy,n Obtaining the maximum value delta h of the momentum equivalent elevation difference of the preset mileage road section energy,max ；
According to the delta h energy,max And calculating the jump index of the road surface to be detected.
In addition, in order to achieve the above object, the present invention also provides a road surface jump index calculating apparatus, 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 longitudinal elevations corresponding to n unit road surfaces in the preset mileage road section;
and the calculation module is used for calculating the 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 also provides a road surface jump index calculation device, which includes a memory, a processor, and a road surface jump index calculation program stored on the memory and executable on the processor, the road surface jump index calculation program implementing the steps of the road surface jump index calculation method as described above when executed by the processor.
In addition, in order to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon the road surface jump index calculation program which, when executed by a processor, implements the steps of the road surface jump index calculation method as described above.
According to the road surface to be detected, the road surface to be detected is divided into the plurality of preset mileage sections, the longitudinal elevations corresponding to n unit road surfaces in the preset mileage sections are obtained, the jump 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 schematic diagram of a hardware architecture of an apparatus for implementing various embodiments of the present invention;
FIG. 2 is a schematic flow chart of an embodiment of a method for calculating a road surface jump index according to the present invention;
FIG. 3 is a schematic view of a scene of the road jump detection of the present invention;
FIG. 4 is a schematic view of the longitudinal elevation difference of the experiment of the present invention;
fig. 5 is a three-dimensional point cloud gray level projection view of the road surface corresponding to the heavy jump area in fig. 4.
The achievement of the object, functional features and advantages of the present invention will be described with reference to the embodiments with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
The invention provides road surface jump index calculation equipment, and referring to fig. 1, fig. 1 is a schematic structural diagram of a hardware operation environment related to an embodiment of the invention.
It should be noted that fig. 1 may be a schematic structural diagram of a hardware operating environment of the road surface jump index calculating device. The road surface jump index calculation device of the embodiment of the invention can be a PC (Personal Computer ), a portable computer, a server and the like.
As shown in fig. 1, the road surface jump index calculating apparatus may include: a processor 1001, such as a CPU, memory 1005, user interface 1003, network interface 1004, communication bus 1002. Wherein the communication bus 1002 is used to enable connected communication between these components. The user interface 1003 may include a Display, an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may further 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 stable memory (non-volatile memory), such as a disk memory. The memory 1005 may also optionally be a storage device separate from the processor 1001 described above.
In one embodiment, the road trip index calculation device may also include RF (Radio Frequency) circuitry, sensors, wiFi modules, and the like.
Those skilled in the art will appreciate that the road surface jump index calculation device structure shown in fig. 1 does not constitute a limitation of the road surface jump index calculation device, and may include more or fewer components than shown, or may combine certain components, or may be arranged in a different arrangement of components.
As shown in fig. 1, an operating system, a network communication module, a user interface module, and a road surface jump index calculation program may be included in a memory 1005, which is a computer storage readable storage medium. The operating system is a program for managing and controlling hardware and software resources of the road surface jump index calculation device, and supports the running of the road surface jump index calculation program and other software or programs.
The road surface jump index calculating device shown in fig. 1 may be used to improve accuracy in reflecting the real situation 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 a road surface jump 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 sections;
acquiring longitudinal elevations corresponding to n unit road surfaces in the preset mileage road section;
and calculating the jump index of the road surface to be detected according to the maximum value and the minimum value in the longitudinal elevation.
According to the road surface to be detected, the road surface to be detected is divided into the plurality of preset mileage sections, the longitudinal elevations corresponding to n unit road surfaces in the preset mileage sections are obtained, the jump 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 manner of the mobile terminal is basically the same as the following embodiments of the road surface jump index calculation method, and is not repeated here.
Based on the above structure, an embodiment of the road surface jump index calculation method of the present invention is provided.
The invention provides a road surface jump index calculation method.
Referring to fig. 2, fig. 2 is a flowchart illustrating an embodiment of a method for calculating a road jump index according to the present invention.
In the present embodiment, an embodiment of a road surface jump index calculation method is provided, and it is to 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 calculating method includes:
step S10, dividing a pavement to be detected into a plurality of preset mileage road sections;
the road surface to be detected is a road surface of a road, the road surface to be detected is generally long, the road surface to be detected is divided into road sections with equal length, namely preset mileage length, the obtained plurality of preset mileage sections are detected respectively, and the preset mileage length is generally 10 meters, and the preset mileage section is a 10 meter section.
Step S20, longitudinal elevations corresponding to n unit road surfaces in the preset mileage road section are obtained;
in this embodiment, before each preset mileage road section is detected, the longitudinal elevation of the section of the preset mileage road section is obtained, the preset mileage road section is divided into n unit road surfaces, and the longitudinal elevation corresponding to the n unit road surfaces is obtained, i.e. the longitudinal elevation of the preset mileage road section is obtained.
In some embodiments, step S20 further comprises:
a, dividing the preset mileage road section into n unit road surfaces with rectangular shapes, wherein the diagonal line of the unit road surfaces 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 or coincident 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 the preset mileage road section into a plurality of unit road sections on the point cloud data, referring to fig. 3, dividing the preset mileage road section into a plurality of unit road sections, wherein the number of the unit road sections is n, the n needs to meet the requirement that the unit road sections cover the preset mileage road section, the width of the unit road section can be 10cm, the length of the unit road section is 10/tan theta cm, and theta is an angle formed by a diagonal line and a horizontal straight line of the unit road section, namely, a preset angle, and the common preset angle is 3.05-26.56 degrees. And further acquiring elevation data of each road point in each unit road surface from elevation data of the preset mileage road section measured by the laser sensor.
In this embodiment, the laser sensor is specifically disposed on two sides of a preset road section and placed in a direction forming a preset angle with the horizontal direction, so that the section measured by the laser sensor passes through the diagonal line of the unit road surface, and the longitudinal elevation of the unit road surface obtained by the laser sensor is actually the longitudinal elevation of each road point in the unit road surface, and in some embodiments, the method for obtaining the longitudinal elevation of the road point is as follows: the system for measuring the longitudinal elevation comprises a laser distance meter, 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 along the section longitudinal travel are respectively measured, and then the elevation of the section in the unit pavement is calculated by the following formula:
Z(x)＝H(x)+∫∫ x A t (s)/v 2 dsds
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, A t (s) is the vertical acceleration of the acceleration sensor, v 2 Is the square of the running speed longitudinally along the section. It should be noted that each unit road surface may have a plurality of sections to be measured, and the road surface points are located on the sections.
Due to the disturbance of the measuring environment (water, oil or foreign matter in the area of the road surface), the acquired section data may have a small amount of abnormal noise (zero points or local burr-like abnormal values). For the zero-value data of the section, 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 non-abnormal sampling points close to the center area of the section are used for replacing abnormal noise points to obtain the section data without zero value.
In a pavement measuring system formed by an area array camera and a high-power line laser, systematic 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 object of interest on the road surface, so the data acquired by the sensor need to be corrected by the calibration file, and at the same time, the image side data is converted into the object side data. The corrected longitudinal elevation is obtained by the following formula: z (x, Z) =r (α) ×h (x) +ζ++ x A t (s)/v 2 ds, where x is the transverse distance of the cross section, Z is the longitudinal distance of the cross section, Z (x, Z) is the relative elevation of the cross section, H (x, Z) is the object data elevation of the laser sensor, A t (s) is the vertical acceleration of the acceleration sensor, v 2 R (alpha) is a conversion matrix from a measurement coordinate system to a world coordinate system for squaring the running speed along the longitudinal direction of the section,
the elevation value of the section obtained by the laser sensor isZ (x, Z), which is a set of measured points { x } i ,y i ,z i -wherein y i The distance of the point in the longitudinal section direction of the road surface can be solved by a laser sensor and an installation angle, and the longitudinal elevation value of the measured section is the longitudinal elevation of the series of points, h i ＝z i . The unit road surface covering the preset mileage road section is used, the integrity and consistency of the measurement result are ensured, the traditional measurement method represented by point laser can only sample and detect, the longitudinal section is randomly extracted from the messy surface to calculate, the result repeatability is poor, the representativeness is lacking, and the jump condition of the whole road surface can not be reflected.
The laser sensor is arranged at a preset included angle in a horizontal straight line, so that the laser sensor is obtained under the condition of having the same measurement gesture within a range of 10cm along the longitudinal direction, and the angle sensor, the acceleration sensor and the distance sensor are combined to obtain the unified maximum longitudinal elevation difference of the measurement reference.
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 jump index (Pavement Bumping Index) is a road technical performance indicator which characterizes the comfort and safety of driving, and is introduced by the highway technical condition assessment standard (JTG H20-2018). According to the method, the device and the system, the vehicle jump 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 jump index of the road surface to be detected is further calculated.
In some embodiments, step S30 further comprises:
step c, obtaining a maximum value set { h } of the longitudinal elevations of the n unit road surfaces through comparison i|max I=1, 2,3, …, n } and a set of minimums { h } i|min |i＝1,2,3,…,n}；
Step d, from { h } i|max I=1, 2,3, …, n }, obtained fromMaximum value H of longitudinal elevation of the preset mileage road section max And from { h } i|min The minimum value H of the longitudinal elevation of the preset mileage road section is obtained in I=1, 2,3, …, n min ；
Step e, according to the H max And said H min And calculating the jump index of the road surface to be detected.
First, the maximum value of the longitudinal elevation of the unit road surface in each preset mileage section forms a set { h } i|max I=1, 2,3, …, n }, the element in the set being the maximum longitudinal elevation of the i-th elementary road surface; the minimum value of the longitudinal elevation of the unit road surface in each preset mileage road section forms a set { h } i|min I=1, 2,3, …, n }, the element in the set is the smallest longitudinal elevation of the i-th elementary road surface. It should be noted that, the method for obtaining the maximum value and the minimum value of the longitudinal elevation of the unit road surface in the preset mileage road section is as follows: firstly, comparing the longitudinal heights of the road points on one section, extracting the maximum longitudinal height of the road points on each section, taking the maximum longitudinal height as the maximum longitudinal height of the section where the road point corresponding to the maximum longitudinal height is located, then comparing the maximum longitudinal height of each section, and taking out the maximum value as the maximum longitudinal height of the unit road surface. Will set { h ] i|max The largest element of i=1, 2,3, …, n } is determined as the maximum H of the longitudinal elevation of the preset mileage section max Will be set { h ] i|min The smallest element of i=1, 2,3, …, n } is determined as the minimum H of the longitudinal elevation of the preset mileage section min Further according to H max And H min And determining the vehicle-jump condition of the preset mileage road section, and further calculating the vehicle-jump index of the road surface to be detected.
In some specific embodiments, step e comprises:
step e1, calculating the H max With said H min Obtaining the maximum elevation difference delta H of the preset mileage road section;
step e2, determining the jump degree j and the jump deduction beta corresponding to the delta H j And the number of the preset mileage sections with the trip degreePB j ；
Step e3, the j and the beta are processed j And the PB j Substituting the road surface to be detected into a calculation formula to obtain the jump index of the road surface to be detected.
The maximum elevation difference of the preset mileage road section is deltah=h max -H min The range of the value of Δh can determine the degree of vehicle jump of the road surface with preset mileage, and in this embodiment, the degree of vehicle jump is divided into mild, moderate and severe, and the range of elevation differences corresponding to different degrees of vehicle jump is shown in the following table:
as shown in the table, when delta H is more than or equal to 2 and less than 5, the vehicle jump condition of the preset mileage road section is mild vehicle jump; when delta H is more than or equal to 5 and less than 8, the vehicle jump condition of the preset mileage road section is moderate vehicle jump; when delta H is more than or equal to 8, the trip condition of the preset mileage road section is heavy trip. In the embodiment, j represents the degree of vehicle jump, and when j=1, the degree of vehicle jump is light vehicle jump; when j=2, the degree of the jump is a moderate jump; when j=3, the degree of skip is heavy skip. The embodiment also determines the jump points corresponding to different jump degrees according to a road surface deduction standard table, wherein the road surface deduction standard table is as follows:
beta in the table j And indicating the jump points corresponding to the jump degree of the j-th class. After obtaining the jump degree of each preset mileage road section in the road surface to be detected, counting the number PB of preset mileage road sections with j-th class jump degree j Will j, beta j And PB j Substituting into a calculation formula of the jump index, wherein the calculation formula is thatPBI is the jump index. The calculation result is a scoring standard which is divided into 100 points. As can be seen from the above calculation formula, the trip index is the number of hops on the road surfaceAnd the degree of jump (mild, moderate, severe), which 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.
The maximum elevation difference of the unit road surface can be calculated by the obtained data, the degree of the jump of the unit road surface can be judged according to the elevation difference range table corresponding to different degrees of the jump, the unit road surface with the maximum elevation difference being more than or equal to 2 is determined as the disease, the disease area is calculated by accumulating the areas of the unit road surface, and the disease area is used as the analysis data of the road section condition.
According to the method, the road surface to be detected is divided into the plurality of preset mileage sections, longitudinal elevations corresponding to n unit road surfaces in the preset mileage sections are obtained, the jump index of the road surface to be detected is calculated according to the maximum value and the minimum value in the longitudinal elevations, the maximum value and the minimum value of the longitudinal elevations are searched from each unit road surface, the maximum value and the minimum value of the longitudinal elevations of the preset mileage sections are further found, the grading processing of data is achieved, target data are obtained from more data, and compared with the national relevant standard, the road surface is more attached to the actual jump condition of the road surface, and the accuracy of reflecting the actual jump condition of the road surface is further improved.
In some embodiments, the road surface jump index calculation method may further be:
step f, obtaining a momentum equivalent elevation difference set { delta h of the unit pavement mom,1 ,Δh mom,2 ,Δh mom,3 ,…,Δh mom,n }
Step g, from the { Δh } mom,1 ,Δh mom,2 ,Δh mom,3 ,…,Δh mom,n Obtaining the maximum value delta h of the momentum equivalent elevation difference of the preset mileage road section mom,max ；
Step h, according to the delta h mom,max And calculating the jump index of the road surface to be detected.
In the embodiment, the momentum equivalent elevation difference replaces the longitudinal elevation difference, and the momentum equivalent elevation difference of each pavement unit in each preset mileage pavement is firstly obtained to obtain a momentum equivalent elevation difference set { delta h } mom,1 ,Δh mom,2 ,Δh mom,3 ,…,Δh mom,n Obtaining the maximum value delta h of the momentum equivalent elevation difference of the preset mileage road section from the set mom,max And obtaining the jump degree of the preset mileage road section and the jump points corresponding to the jump degree according to the table for judging the jump degree and the points standard table, counting the number of the preset mileage road sections corresponding to different jump degrees in the road surface to be detected, and substituting the jump degree, the jump points and the number into a calculation formula to obtain the jump index of the road surface to be detected.
Momentum equivalent means that the accumulated elevation difference in the calculation range is equivalent to the momentum F generated by the elevation difference of the unit road surface 0 Δh mom The method for calculating the momentum equivalent elevation difference comprises the following steps: Δh mom ＝∫∫F(z)dxdy/F 0 ，Δh mom For momentum equivalent elevation difference, F 0 Is the standard stress of the unit road surface, the integral value of the momentum of the unit road surface is the integral value of the dxdy of the ≡f (z), F (z) may be derived from a quarter car model or other model.
In an alternative embodiment, the method for calculating the road surface jump index may further be:
step i, obtaining an energy equivalent elevation difference set { delta h) of the unit pavement energy,1 ,Δh energy,2 ,Δh energy,3 ,…,Δh energy,n }；
Step j, from the { Δh } energy,1 ,Δh energy,2 ,Δh energy,3 ,…,Δh energy,n Obtaining the maximum value delta h of the momentum equivalent elevation difference of the preset mileage road section energy,max ；
Step k, according to the Δh energy,max And calculating the jump index of the road surface to be detected.
In the embodiment, the energy equivalent elevation difference replaces the longitudinal elevation difference, and the energy equivalent elevation difference of each pavement unit in each preset mileage pavement is obtained first to obtain an energy equivalent elevation difference set { delta h } energy,1 ,Δh energy,2 ,Δh energy,3 ,…,Δh energy,n Obtaining the maximum value delta h of the energy equivalent elevation difference of the preset mileage road section from the set energy,max Root of Chinese againThe table for judging the vehicle-jump degree and the deduction standard table are used for obtaining the vehicle-jump degree of the preset mileage road section and the vehicle-jump deduction corresponding to the vehicle-jump degree, counting the number of the preset mileage road sections corresponding to different vehicle-jump degrees in the road surface to be detected, and substituting the vehicle-jump degree, the vehicle-jump deduction and the number into a calculation formula to obtain the vehicle-jump index of the road surface to be detected.
The energy equivalent means that the accumulated elevation difference in the calculation range is equivalent to the gravitational potential energy m generated by the elevation difference of the unit pavement 0 gΔh energy The calculation method of the energy equivalent elevation difference comprises the following steps: Δh energy ＝∫∫G(z)dxdy/m 0 g, wherein Δh energy For energy equivalent elevation difference, m 0 For the standard mass of the unit road surface, the ≡g (z) dxdy is the energy integral value of the unit road surface, and the G (z) can be obtained from 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 obtained from different scales, and the jump condition of the road surface under different scales is reflected by utilizing the data of different scales.
Experiment 1
The experiment shows that a section of road surface to be detected with the length of 8 km is designed for a bidirectional 4-lane road surface, 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 segment to collect road surface data, and each lane collects a set of data. 3) The jump index of each lane is calculated using the method described above.
| Mounting angle | Lateral pixel density | Vertical pixel density | Resolution ratio | Sampling frequency |
| 15° | 1 mm/pixel | 1 mm/pixel | 4096 pixels | 64KHz |
Table 3 sensor coefficients
After the installation calibration is completed, parameters of the structural light sensor are shown in table 3. The line structure light sensor collects and outputs 4096 pixels of data each time, and the calculating unit is a rectangle with the length of 10/tan15 degrees approximately equal to 37cm and the width of 10cm according to the method disclosed by the patent.
According to the method, the skip situation of each calculation unit is judged, and the PB is calculated as shown in FIG. 4. PB reflects whether a jump has occurred on this 10 meter road surface and the degree of jump on this road section.
Taking a jump at 1.1Km in fig. 4 as an example, calculating Δh (1.1 Km,8.9 cm) of a road section at the point, it is known that Δh (1.1 Km,8.9 cm) is greater than 5cm and less than 8cm, and there is a moderate jump of the road section at the point, and the three-dimensional point cloud gray scale projection of the road surface at the point is shown in fig. 5. The ΔH (3.2 Km,7.5 cm) and ΔH (4.3 Km,7.5 cm) of the road surface to be detected at 3.2Km and 4.3Km in FIG. 4 are calculated, and the road surface to be detected at 3.2Km and 4.3Km respectively has a moderate jump, so that the road surface to be detected is calculated according to the calculation formulaAnd obtaining the road surface jump index of the road surface to be detected as 25.
In addition, the embodiment of the invention also provides a road surface jump index calculating device, which comprises:
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 longitudinal elevations corresponding to n unit road surfaces in the preset mileage road section;
and the calculation module is used for 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 embodiments of the device for calculating the road surface jump index of the present invention are basically the same as the embodiments for calculating the road surface jump index, and are not described herein.
In addition, the embodiment of the invention also provides a computer readable storage medium, wherein the computer readable storage medium stores a road surface jump index calculation program, and the road surface jump index calculation program realizes each step of the road surface jump index calculation method when being executed by a processor.
It should be noted that the computer readable storage medium may be provided in the road surface jump index calculation device.
The specific implementation manner of the computer readable storage medium of the present invention is basically the same as the above embodiments of the method for calculating the road surface jump index, and will not be described herein.
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 one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The foregoing embodiment numbers of the present invention are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.
From the above description of the embodiments, it will be clear to those skilled in the art that the above-described embodiment method may be implemented by means of software plus a necessary general hardware platform, but of course may also be implemented by means of hardware, but in many cases the former is a preferred embodiment. Based on such understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art in the form of a software product stored in a storage medium (e.g. ROM/RAM, magnetic disk, optical disk) comprising instructions for causing a terminal device (which may be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to perform the method according to the embodiments of the present invention.
The foregoing description of the preferred embodiments of the present invention should not be taken as limiting the scope of the invention, but rather should be understood to cover all modifications, equivalents, and alternatives falling within the scope of the invention as defined by the following description and drawings, or by direct or indirect application to other relevant art(s).
Claims (5)
1. The calculation method of the road surface jump index is characterized by comprising the following steps of:
dividing a road surface to be detected into a plurality of preset mileage sections;
acquiring longitudinal elevations corresponding to n unit road surfaces in the preset mileage road section;
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 step of obtaining the longitudinal elevation corresponding to the plurality of unit road surfaces in the preset mileage road section comprises the following steps:
acquiring point cloud data of a preset mileage road section through a laser sensor, and dividing a unit road surface on the point cloud data;
dividing the preset mileage road section into n unit road surfaces with rectangular shapes, wherein the diagonal line of the unit road surfaces and a horizontal straight line form a preset angle, and n is a positive integer;
measuring longitudinal elevations corresponding to each road surface point in the unit road surface by using a laser sensor;
the laser sensors are arranged on two sides of a preset road section and are placed in a direction forming a preset angle with the horizontal direction, and laser emitted by the laser sensors is parallel or overlapped with the diagonal line of the unit road surface;
the measuring the longitudinal elevation corresponding to each road surface point in the unit road surface by using the laser sensor comprises the following steps:
after the data acquired by the laser sensor, correcting the data through a calibration file, converting image data into object data, and obtaining a longitudinal elevation through a longitudinal elevation calculation formula;
the longitudinal elevation calculation formula is as follows:
Z(x,z)＝R(α)*H(x,z)+∫∫ x A t (s)/v 2 dsds；
x is the transverse distance of the section, Z is the longitudinal distance of the section, Z (x, Z) is the relative elevation of the section, H (x, Z) is the object data elevation of the laser sensor, A t (s) is the vertical acceleration of the acceleration sensor, v 2 To square the acceleration of travel longitudinally along the section, R (α) is a matrix of transformation from the measurement coordinate system to the world coordinate system, and R (α) is specifically:
the relative elevation Z (x, Z) of the section is the set { x } of the individual road points in the unit road surface i ，y i ，z i X, where x i Y is the distance set in the cross section direction of the road surface corresponding to all the road surface points i Solving the distance set of all the road surface points in the corresponding road surface vertical section direction by the laser sensor and the placement angle of the laser sensor, and z i The longitudinal elevation set h of the unit pavement is a longitudinal elevation set corresponding to all pavement points in the unit pavement i Specifically denoted as h i ＝z i ；
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 n unit pavements by comparison i|max I=1, 2,3, …, n } and a set of minimums { h } i|min |i＝1,2,3，…，n}；
From { h } i|max The maximum value H of the longitudinal elevation of the preset mileage road section is obtained in I=1, 2,3, …, n max And from { h } i|min The minimum value H of the longitudinal elevation of the preset mileage road section is obtained in I=1, 2,3, …, n min ；
According to the H max And said H min Calculating the jump index of the road surface to be detected;
said according to said H max And said H min The step of calculating the jump index of the road surface to be detected comprises the following steps:
calculating the H max With said H min Obtaining the maximum elevation difference delta H of the preset mileage road section;
determining the jump degree j and the jump deduction beta corresponding to the delta H j And the number PB of the preset mileage sections with the trip degree j ；
And j, beta is as follows j And the PB j Substituting the road surface to be detected into a calculation formula to obtain a jump index of the road surface to be detected;
the road surface jump index calculating method further comprises the following steps:
obtaining a momentum equivalent elevation difference set { delta h (delta h) of the unit pavement mom，1 ，Δh mom，2 ，Δh mom，3 ，…，Δh mom，n }；
From { Δh } mom，1 ，Δh mom，2 ，Δh mom，3 ，…，Δh mom，n Obtaining the maximum value delta h of the momentum equivalent elevation difference of the preset mileage road section mom，max ；
The Deltah is taken mom，max Calculating the jump index of the road surface to be detected instead of the maximum elevation difference delta H;
the road surface jump index calculating method further comprises the following steps:
obtaining an energy equivalent elevation difference set { delta h (delta h) of the unit pavement energy，1 ，Δh energy，2 ，Δh energy，3 ，…，Δh energy，n }；
From { Δh } energy，1 ，Δh energy，2 ，Δh energy，3 ，…，Δh energy，n Obtaining the maximum value delta h of the momentum equivalent elevation difference of the preset mileage road section energy，max ；
The Deltah is taken energy，max And replacing the maximum elevation difference delta H, and calculating the jump index of the road surface to be detected.
2. The method for calculating a road surface jump index according to claim 1, wherein the calculation formula is:wherein, the PBI is the jump index.
3. A road surface jump index calculation device, characterized in that the road surface jump index calculation device comprises:
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 longitudinal elevations corresponding to n unit road surfaces in the preset mileage road section;
the calculation module is used for 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 step of obtaining the longitudinal elevation corresponding to the plurality of unit road surfaces in the preset mileage road section comprises the following steps:
dividing the preset mileage road section into n unit road surfaces with rectangular shapes, wherein the diagonal line of the unit road surfaces and a horizontal straight line form a preset angle, and n is a positive integer;
measuring longitudinal elevations corresponding to each road surface point in the unit road surface by using a laser sensor;
the laser sensors are arranged on two sides of a preset road section and are placed in a direction forming a preset angle with the horizontal direction, and laser emitted by the laser sensors is parallel or overlapped with the diagonal line of the unit road surface;
the measuring the longitudinal elevation corresponding to each road surface point in the unit road surface by using the laser sensor comprises the following steps:
after the data acquired by the laser sensor, correcting the data through a calibration file, converting image data into object data, and obtaining a longitudinal elevation through a longitudinal elevation calculation formula;
the longitudinal elevation calculation formula is as follows:
Z(x，z)＝R(α)*H(x，z)+∫∫ x A t (s)/v 2 dsds；
x is the transverse distance of the section, Z is the longitudinal distance of the section, Z (x, Z) is the relative elevation of the section, H (x, Z) is the object data elevation of the laser sensor, A t (s) is the vertical acceleration of the acceleration sensor, v 2 To square the acceleration of travel longitudinally along the section, R (α) is a matrix of transformation from the measurement coordinate system to the world coordinate system, and R (α) is specifically:
the relative elevation Z (x, Z) of the section is the set { x } of the individual road points in the unit road surface i ，y i ，z i X, where x i Y is the distance set in the cross section direction of the road surface corresponding to all the road surface points i Solving the distance set of all the road surface points in the corresponding road surface vertical section direction by the laser sensor and the placement angle of the laser sensor, and z i The longitudinal elevation set h of the unit pavement is a longitudinal elevation set corresponding to all pavement points in the unit pavement i Specifically denoted as h i ＝z i ；
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 n unit pavements by comparison i|max I=1, 2,3, …, n } and a set of minimums { h } i|min |i＝1,2,3，…，n}；
From { h } i|max |i＝1,2,3, …, n } obtaining the maximum value H of the longitudinal elevation of the preset mileage road section max And from { h } i|min The minimum value H of the longitudinal elevation of the preset mileage road section is obtained in I=1, 2,3, …, n min ；
According to the H max And said H min Calculating the jump index of the road surface to be detected;
said according to said H max And said H min The step of calculating the jump index of the road surface to be detected comprises the following steps:
calculating the H max With said H min Obtaining the maximum elevation difference delta H of the preset mileage road section;
determining the jump degree j and the jump deduction beta corresponding to the delta H j And the number PB of the preset mileage sections with the trip degree j ；
And j, beta is as follows j And the PB j Substituting the road surface to be detected into a calculation formula to obtain a jump index of the road surface to be detected;
obtaining a momentum equivalent elevation difference set { delta h (delta h) of the unit pavement mom，1 ，Δh mom，2 ，Δh mom，3 ，…，Δh mom，n }；
From { Δh } mom，1 ，Δh mom，2 ，Δh mom，3 ，…，Δh mom，n Obtaining the maximum value delta h of the momentum equivalent elevation difference of the preset mileage road section mom，max ；
The Deltah is taken mom，max Calculating the jump index of the road surface to be detected instead of the maximum elevation difference delta H;
obtaining an energy equivalent elevation difference set { delta h (delta h) of the unit pavement energy，1 ，Δh energy，2 ，Δh energy，3 ，…，Δh energy，n }；
From { Δh } energy，1 ，Δh energy，2 ，Δh energy，3 ，…，Δh energy，n Obtaining the maximum value delta h of the momentum equivalent elevation difference of the preset mileage road section energy，max ；
Will be spentThe delta h energy，max And replacing the maximum elevation difference delta H, and calculating the jump index of the road surface to be detected.
4. A road jump index calculation device comprising a memory, a processor and a road jump index calculation program stored on the memory and operable on the processor, the road jump index calculation program when executed by the processor implementing the steps of the road jump index calculation method according to any one of claims 1 to 2.
5. A readable storage medium, characterized in that the readable storage medium is a computer readable storage medium, on which a road jump index calculation program is stored, which when executed by a processor, implements the steps of the road jump index calculation method according to any one of claims 1 to 2.
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