CN113155079A - Method and device for judging road driving comfort - Google Patents
Method and device for judging road driving comfort Download PDFInfo
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- CN113155079A CN113155079A CN202110227714.6A CN202110227714A CN113155079A CN 113155079 A CN113155079 A CN 113155079A CN 202110227714 A CN202110227714 A CN 202110227714A CN 113155079 A CN113155079 A CN 113155079A
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Abstract
The embodiment of the disclosure provides a method, a device, equipment and a computer-readable storage medium for judging road driving comfort. The method comprises the steps of collecting vibration characteristic index values of a vehicle on road surfaces with different road conditions by adopting a strapdown inertial navigation system; calculating a vibration characteristic value according to the vibration characteristic index value; and obtaining a relation model of the vibration characteristic value and the international flatness index according to the characteristic vibration data and the corresponding international flatness index. In this way, the influence of the road surface condition on the vehicle and the passengers can be well considered, and the riding comfort degree of the passengers is really reflected; the strapdown inertial navigation system is used as a quick test device, the operation is simple, social vehicles can be used as a test vehicle carrier, road condition data (international flatness index) can be obtained by back-stepping according to the vibration characteristic index value of the road surface at any time and any place, and the dynamic real-time evaluation requirement of a maintenance management department can be met to the maximum extent.
Description
Technical Field
Embodiments of the present disclosure relate generally to the field of road traffic technology, and more particularly, to a method, an apparatus, a device, and a computer-readable storage medium for determining road driving comfort.
Background
The maintenance management work of the road traffic infrastructure system is very heavy, and higher requirements are provided for scientific maintenance management decisions of the road traffic infrastructure. Maintenance management of road traffic infrastructure includes two aspects, namely, evaluation of the technical condition of the infrastructure and maintenance and repair decisions, which are premised on obtaining real data characterizing the road condition. The current road condition detection is manually detected after falling, the modernization and rapidness of the technical condition detection are basically realized, and the pavement technical condition evaluation indexes are standardized and unified; but simultaneously, there is obvious shortcoming in road surface detection aspect still, mainly shows in:
1) although the detection equipment is fast, compared with the huge number of the road networks, the detection data still has a large gap in obtaining, and the detection equipment and the detection frequency obviously cannot cover all the road networks timely and comprehensively;
2) the current road condition detection mainly depends on the field detection of detection equipment specified in standard specifications, and although the automation and rapidity of the standard detection equipment are very high, the purchase, use and maintenance costs of the equipment are high, and the standard detection equipment cannot become popular detection equipment of all levels of maintenance management departments at present;
3) the road condition detection frequency is low, so that the maintenance management department lacks real-time grasp on the road pavement technical condition;
4) the current road surface technical condition evaluation index is a pure 'technical' index, and does not reflect the perception of passengers, such as: for a certain asphalt pavement road, the international flatness index IRI value which is a key index for representing the service quality of the asphalt pavement is constant and does not change along with the speed, but when a vehicle passes through the road section at different speeds, the generated riding comfort degree is different.
Therefore, the evaluation of the road surface is only a regular technical evaluation, which cannot meet the requirements of real-time grasp of the technical condition of the road surface and accurate evaluation of the driving condition and is not suitable for the modern traffic development trend. For a huge road network, if the existing detection equipment and method are adopted for detection, even if a large amount of manpower and material resources are wasted, real-time road condition data cannot be obtained.
Disclosure of Invention
According to the embodiment of the disclosure, a scheme for judging the driving comfort of the road is provided.
In a first aspect of the disclosure, a method for determining road driving comfort is provided. The method comprises the following steps: obtaining an international flatness index of a pavement; substituting the international flatness index and the vehicle speed of the road surface into a preset relation model of the vibration characteristic value and the international flatness index to obtain a corresponding vibration characteristic value; and the vibration characteristic value is used as data of road conditions inducing driving vibration to influence psychological/physiological indexes of a human body.
The above-described aspect and any possible implementation manner further provide an implementation manner, and the obtaining the international flatness index of the road surface includes: and inquiring the international flatness index of the road from a preset database, or collecting the international flatness index of the road surface in real time.
The above-mentioned aspect and any possible implementation manner further provide an implementation manner, where the relationship model between the preset vibration characteristic value and the international flatness index is obtained by: acquiring vibration characteristic index values of the vehicle on road surfaces with different road conditions by adopting a strapdown inertial navigation system; calculating a vibration characteristic value according to the vibration characteristic index value; and obtaining a relation model of the vibration characteristic value and the international flatness index according to the characteristic vibration data and the corresponding international flatness index.
The above-mentioned aspects and any possible implementation manner further provide an implementation manner, wherein a strapdown inertial navigation system is used for acquiring before/after/at the same time of acquiring the vibration characteristic index values of the vehicle on the road surface with different road conditions, and acquiring the international flatness index of the road surface.
The aspect and any possible implementation manner described above further provide an implementation manner, wherein calculating a vibration characteristic value according to the vibration characteristic index value includes:
wherein, ω isx、ωy、ωzRespectively representing an X-axis gyro angular velocity, a Y-axis gyro angular velocity and a Z-axis gyro angular velocity.
As for the above-mentioned aspects and any possible implementation manner, further providing an implementation manner, wherein obtaining a relation model between a vibration characteristic value and an international flatness index according to the characteristic vibration data and a corresponding international flatness index includes: and establishing a relation model between the riding vibration characteristic value and the riding vibration characteristic value by taking the vehicle speed and the road surface international flatness index as double independent variables.
In a second aspect of the present disclosure, a road flatness determination method is provided. The method comprises the following steps: acquiring vibration characteristic index values of the vehicle on road surfaces with different road conditions by adopting a strapdown inertial navigation system; calculating a vibration characteristic value according to the vibration characteristic index value; and substituting the vibration characteristic value and the vehicle speed into a preset relation model of the vibration characteristic value and the international flatness index to obtain a corresponding international flatness index.
In a second aspect of the present disclosure, a road surface traveling comfort determination device is provided. The device includes: the acquisition module is used for acquiring the international flatness index of the road surface; the calculation module is used for substituting the international flatness index and the vehicle speed of the road surface into a preset relation model of the vibration characteristic value and the international flatness index to obtain a corresponding vibration characteristic value; and the vibration characteristic value is used as data of road conditions inducing driving vibration to influence psychological/physiological indexes of a human body.
In a fourth aspect of the present disclosure, an electronic device is provided. The electronic device includes: a memory having stored thereon a computer program and a processor implementing the method as described above when executing the program.
In a fifth aspect of the present disclosure, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the method as according to the first and/or second aspect of the present disclosure.
It should be understood that the statements herein reciting aspects are not intended to limit the critical or essential features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become readily apparent from the following description.
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The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, like or similar reference characters designate like or similar elements, and wherein:
fig. 1 shows a flowchart of a method of establishing a road riding comfort determination model according to an embodiment of the present disclosure;
FIG. 2 shows a flow chart of a road comfort determination method according to an embodiment of the disclosure;
fig. 3 shows a flowchart of a road flatness determination method according to an embodiment of the present disclosure;
fig. 4 shows a block diagram of a road traveling comfort judgment device according to an embodiment of the present disclosure;
FIG. 5 illustrates a block diagram of an exemplary electronic device capable of implementing embodiments of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are some, but not all embodiments of the present disclosure. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present disclosure without any creative effort belong to the protection scope of the present disclosure.
In addition, the term "and/or" herein is merely an association relationship describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
Fig. 1 shows a flowchart of a method 100 for establishing a road driving comfort determination model according to an embodiment of the disclosure. As shown in fig. 1, the method 100 includes the steps of:
at a frame 102, acquiring vibration characteristic index values of the vehicle on roads with different road conditions by adopting a strapdown inertial navigation system; before/after/simultaneously, collecting the international flatness index of the pavement;
in some embodiments, a strapdown inertial navigation system is adopted to measure vibration characteristic index values of vehicles on roads with different road conditions; the strapdown inertial navigation system is installed on a vehicle, for example, in a cab of the vehicle, and the measured vibration characteristic index of the strapdown inertial navigation system is more consistent with the perception angle of human factors.
In some embodiments, the vibration characteristic index values are collected for different damaged road surfaces, such as asphalt and concrete road surfaces. The vehicle is a fixed vehicle, so that the vibration characteristic index value is collected under the same vehicle condition.
In some embodiments, vibration characteristic index values are collected at different running speeds of the vehicle, for example, 20km/h to 50 km/h.
In some embodiments, the vibration characteristic index values of different types of vehicles at different running speeds under different loads are collected respectively.
In some embodiments, in order to further study the influence of the road surface condition on the riding comfort of a human body, the embodiments of the present disclosure use a strapdown inertial navigation system with 12 vibration indexes and higher test accuracy to perform a test, so as to obtain a more effective vibration evaluation index, and further more accurately judge the relationship between the road surface condition and the riding comfort of passengers. In the embodiment of the disclosure, the vibration characteristic index values measured by the strapdown inertial navigation system comprise twelve test indexes of X, Y, Z triaxial acceleration, X, Y, Z triaxial gyroscope angular velocity, pitch angle, yaw angle and roll angle, and X, Y, Z triaxial magnetic field; specifically, the method comprises the following steps: the magnetic field sensor comprises an X-axis acceleration (g), a Y-axis acceleration (g), a Z-axis acceleration (g), an X-axis gyro angular velocity (degree/second), a Y-axis gyro angular velocity (degree/second), a Z-axis gyro angular velocity (degree/second), a PITCH angle (PITCH), a YAW Angle (YAW), a ROLL angle (ROLL), an X-axis magnetic field (GS), a Y-axis magnetic field (GS) and a Z-axis magnetic field (GS).
In some embodiments, in order to refine the flatness condition of the road surface and better correspond to a strapdown inertial navigation system with higher test precision, the international flatness index IRI may extract one sampling data at fixed distance intervals, for example, every 20m, during the test. In some embodiments, the VBI value is determined by a vehicle-mounted jolt accumulator and the determined VBI value is converted into an international flatness index IRI, wherein the test result of the vehicle-mounted jolt accumulator is calibrated in advance, i.e. a correlation is established with the measurement result of the relevant flatness meter, so as to convert into the international flatness index IRI. The correlation relationship comprises the correlation relationship between the test result of the vehicle-mounted bump accumulation instrument and the measurement result of the related flatness instrument at different vehicle speeds.
At block 104, calculating a vibration characteristic value from the vibration characteristic index value;
in some embodiments, the riding comfort of the passenger is more due to physiological discomfort caused by the rotation motion, therefore, gyroscope angular velocities in three directions of an X-axis gyroscope angular velocity (degree/second), a Y-axis gyroscope angular velocity (degree/second) and a Z-axis gyroscope angular velocity (degree/second) which affect human body physiological indexes are selected from the vibration characteristic index values as basic data; and calculating a vibration characteristic value according to the angular speed (degree/second) of the X-axis gyroscope, the angular speed (degree/second) of the Y-axis gyroscope and the angular speed (degree/second) of the Z-axis gyroscope, and taking the vibration characteristic value as data of road conditions inducing driving vibration to influence psychological/physiological indexes of a human body.
In some embodiments, the vibration characteristic value
Wherein, ω isx、ωy、ωzRespectively, X-axis gyro angular velocity (degrees/sec), Y-axis gyro angular velocity (degrees/sec), and Z-axis gyro angular velocity (degrees/sec).
In the existing research, a triaxial accelerometer is mostly adopted to test the vibration characteristic of a vehicle running on a road surface, and the triaxial acceleration is feasible for representing the vibration characteristic of a common ride; however, through tests, it is proved that the uncomfortable feeling, particularly the car sickness and the like, is more closely related to the rotating motion state due to the fact that the human body is not comfortable more and is caused by the rotation in all directions during the riding process. Through test verification and cross-correlation analysis, the angular velocity of the X, Y, Z triaxial gyroscope and 6 indexes of X, Y, Z triaxial acceleration, pitch angle, roll angle and azimuth angle have good correlation, so that the angular velocity of the X, Y, Z triaxial gyroscope is used as a representative index for judging the relationship between the road surface condition and the riding comfort of passengers. The vibration characteristic value can describe the induction of a human body better, and has better correlation with a pitch angle, a roll angle and an azimuth angle, and the change of the rotating motion state is the main reason causing the discomfort of the human body and is superior to the simple unidirectional vibration acceleration. The vibration characteristic value is superior to the triaxial acceleration measured by the original common vibration instrument in the aspect of the relevance of the vibration characteristic value and the road surface bumping condition.
In some embodiments, when the same vehicle is adopted and different driving speeds are adopted for the same road, different vibration characteristic values can be obtained; similarly, when the same vehicle is used and the vehicle runs on different roads at the same running speed, the vibration characteristic value is different.
At block 106, a relation model between the vibration characteristic value and the international flatness index is obtained according to the characteristic vibration data and the corresponding international flatness index.
In some embodiments, the riding comfort vibration characteristic value a is established by taking the vehicle speed upsilon and the road surface international flatness index IRI as two independent variablesFeature(s)And a relationship model therebetween:
for example,
afeature(s)0.44601 upsilon-0.01845 IRI +1.10999 (correlation coefficient R ≈ 0.72); wherein upsilon is the running speed of the tested vehicle, km/h and IRI is the international flatness index, m/km and aFeature(s)The unit is DEG/S for the vibration characteristic value influencing the passenger riding comfort. The correlation coefficient R represents the degree of fitting of the univariate polynomial regression equation, or represents the degree of reliability of the estimation of the univariate polynomial regression equation.
In some embodiments, the relationship model of the corresponding vibration characteristic value and the international flatness index is respectively established for different types of vehicles under different loads.
In some embodiments, the relational model is a trained neural network model, such as an LSTM recurrent neural network model. By collecting vehicle speed upsilon and road surface international flatness index IRI and using comfort vibration characteristic value aFeature(s)Labeling as a label to generate a training sample; and inputting the training sample into an LSTM neural network model for training to obtain the trained LSTM neural network model for judging the road driving comfort.
In some embodiments, the relational model is a trained neural network model, such as an LSTM recurrent neural network model. By collecting vehicle speed upsilon and comfort vibration characteristic value aFeature(s)Marking by taking the international road flatness index IRI as a label to generate a training sample; and inputting the training sample into an LSTM neural network model for training to obtain the trained LSTM neural network model.
Fig. 2 shows a flowchart of a road driving comfort determination method 200 according to an embodiment of the disclosure. As shown in fig. 2, the method 200 includes the steps of:
at block 202, obtaining an international flatness index of the pavement;
in some embodiments, the international flatness index of the road is looked up from a preset database, or the international flatness index of the road surface is collected in real time, for example, the VBI value is measured by an onboard bump accumulator, and the measured VBI value is converted into the international flatness index IRI.
In some embodiments, the international flatness index of the pavement is collected at fixed distance intervals, for example every 20 m.
In block 204, the international flatness index and the vehicle speed of the road surface are substituted into a preset relation model between the vibration characteristic value and the international flatness index to obtain a corresponding vibration characteristic value.
In some embodiments, the vibration characteristic value is compared with a preset vibration characteristic value threshold value, and the corresponding road driving comfort is determined. The preset vibration characteristic value threshold value can be a determined value of the passenger discomfort threshold value which is determined by testing a certain number of passengers, for example, in a questionnaire survey mode, and taking the average value of answers of questionnaires of all tested persons.
In some embodiments, the preset relationship model between the vibration characteristic value and the international flatness index is a relationship model between the vibration characteristic value and the international flatness index established according to the above embodiments, and a specific establishment process is not described herein again.
Fig. 3 shows a flowchart of a road flatness determination method 300 according to an embodiment of the present disclosure. As shown in fig. 3, the method 300 includes the steps of:
at block 302, acquiring vibration characteristic index values of the vehicle on roads with different road conditions by using a strapdown inertial navigation system; in some embodiments, a strapdown inertial navigation system is adopted to measure vibration characteristic index values of vehicles on roads with different road conditions; the strapdown inertial navigation system is installed on a vehicle, for example, in a cab of the vehicle, and the measured vibration characteristic index of the strapdown inertial navigation system is more consistent with the perception angle of human factors.
In some embodiments, the vibration characteristic index values are collected for different damaged road surfaces, such as asphalt and concrete road surfaces. The vehicle is a fixed vehicle, so that the vibration characteristic index value is collected under the same vehicle condition.
In some embodiments, vibration characteristic index values are collected at different running speeds of the vehicle, for example, 20km/h to 50 km/h.
In some embodiments, the vibration characteristic index values at different types of vehicles/different loads/different running speeds are collected separately.
At block 304, calculating a vibration characteristic value from the vibration characteristic index value;
in some embodiments, gyro angular velocities in three directions of an X-axis gyro angular velocity (degree/second), a Y-axis gyro angular velocity (degree/second) and a Z-axis gyro angular velocity (degree/second) which affect human body physiological indexes are selected as basic data.
And calculating a vibration characteristic value according to the X-axis gyro angular velocity (degree/second), the Y-axis gyro angular velocity (degree/second) and the Z-axis gyro angular velocity (degree/second), wherein the vibration characteristic value is used as data of road condition inducing driving vibration to influence human physiological indexes.
At block 306, the vibration characteristic value and the vehicle speed are substituted into a preset relationship model between the vibration characteristic value and the international flatness index to obtain a corresponding international flatness index.
In some embodiments, the vibration characteristic value and the vehicle speed are substituted into a preset relation model of the vibration characteristic value and the international flatness index at a preset sampling frequency, so that the international flatness index of the road surface at a fixed distance interval, for example, every 20m, is obtained.
In some embodiments, the preset relationship model between the vibration characteristic value and the international flatness index is a relationship model between the vibration characteristic value and the international flatness index established according to the above embodiments, and a specific establishment process is not described herein again.
And obtaining a relation model of the vibration characteristic value and the international flatness index according to the characteristic vibration data and the corresponding international flatness index. In some embodiments, the preset relationship model between the vibration characteristic value and the international flatness index is a relationship model between the vibration characteristic value and the international flatness index established according to the above embodiments, and the specific establishment process is not described herein again.
In some embodiments, according to the preset vibration characteristic value threshold, the management department may specify the speed limits of roads with different levels by using a relation model between the vibration characteristic value and the international flatness index, or may maintain the road surface flatness conditions according to the design speeds of the roads with different levels, that is, the corresponding specific characteristic value cannot be greater than the preset vibration characteristic value threshold.
According to the embodiment of the disclosure, the following technical effects are achieved:
the technical scheme of the embodiment of the disclosure is researched and verified on the national science and nature foundation, "research on road surface performance based on driving big data and driving comfort evaluation theory and method", and the project number is as follows: 51778027, is subsidized;
the square root of the square sum of the angular speeds of the triaxial gyros is used as an evaluation index for describing riding vibration comfort, so that the influence of the road surface condition on the vehicle and passengers can be well considered, and the riding comfort degree of the passengers is truly reflected;
the strapdown inertial navigation system is used as a quick test device, the operation is simple, the index precision is high, social vehicles can be used as a test vehicle carrier, road condition data (international flatness index) can be acquired by reverse pushing according to the vibration characteristic index value of the road surface at any time and any place, and the dynamic real-time evaluation requirement of a maintenance management department can be met to the maximum extent;
the maintenance management department can define the speed limit of roads with different planeness by means of a relation model of the vibration characteristic value and the international flatness index, or maintain the road surface flatness condition according to the design speed of the roads with different grades.
It should be noted that for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present disclosure is not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the disclosure. Further, those skilled in the art should also appreciate that the embodiments described in the specification are exemplary embodiments and that the acts and modules referred to are not necessarily required for the disclosure.
The above is a description of embodiments of the method, and the following is a further description of the embodiments of the apparatus.
Fig. 4 shows a block diagram of a road traveling comfort determination device 400 according to an embodiment of the present disclosure. As shown in fig. 4, the apparatus 400 includes:
an obtaining module 402, configured to obtain an international flatness index of a road surface;
a calculating module 404, configured to substitute the international flatness index and the vehicle speed of the road surface into a preset relationship model between a vibration characteristic value and the international flatness index to obtain a corresponding vibration characteristic value; and the vibration characteristic value is used as data of road conditions inducing driving vibration to influence psychological/physiological indexes of a human body.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the described module may refer to the corresponding process in the foregoing method embodiment, and is not described herein again.
FIG. 5 shows a schematic block diagram of an electronic device 500 that may be used to implement embodiments of the present disclosure. As shown, device 500 includes a CPU501 that may perform various appropriate actions and processes according to computer program instructions stored in a ROM502 or loaded from a storage unit 508 into a RAM 503. In the RAM503, various programs and data required for the operation of the device 500 can also be stored. The CPU501, ROM502, and RAM503 are connected to each other via a bus 504. An I/O interface 505 is also connected to bus 504.
A number of components in the device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, or the like; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508, such as a magnetic disk, optical disk, or the like; and a communication unit 509 such as a network card, modem, wireless communication transceiver, etc. The communication unit 509 allows the device 500 to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
The processing unit 501 performs the various methods and processes described above, such as the methods 100, 200, 300. For example, in some embodiments, the methods 100, 200, 300 may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 508. In some embodiments, part or all of the computer program may be loaded and/or installed onto the device 500 via the ROM502 and/or the communication unit 509. When the computer program is loaded into the RAM503 and executed by the CPU501, one or more steps of the methods 100, 200, 300 described above may be performed. Alternatively, in other embodiments, the CPU501 may be configured to perform the methods 100, 200, 300 in any other suitable manner (e.g., via firmware).
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.
Program code for implementing the methods of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the program codes, when executed by the processor or controller, cause the functions/operations specified in the flowchart and/or block diagram to be performed. The program code may execute entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a RAM, a ROM, an EPROM, an optical fiber, a CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Further, while operations are depicted in a particular order, this should be understood as requiring that such operations be performed in the particular order shown or in sequential order, or that all illustrated operations be performed, to achieve desirable results. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.
Claims (10)
1. A method for judging the driving comfort of a road surface is characterized by comprising the following steps:
obtaining an international flatness index of a pavement;
substituting the international flatness index and the vehicle speed of the road surface into a preset relation model of the vibration characteristic value and the international flatness index to obtain a corresponding vibration characteristic value; and the vibration characteristic value is used as data of road conditions inducing driving vibration to influence psychological/physiological indexes of a human body.
2. The method of claim 1, wherein obtaining the international flatness index of the pavement surface comprises:
and inquiring the international flatness index of the road from a preset database, or collecting the international flatness index of the road surface in real time.
3. The method according to claim 1, wherein the relation model of the preset vibration characteristic value and the international flatness index is obtained by the following steps:
acquiring vibration characteristic index values of the vehicle on road surfaces with different road conditions by adopting a strapdown inertial navigation system;
calculating a vibration characteristic value according to the vibration characteristic index value;
and obtaining a relation model of the vibration characteristic value and the international flatness index according to the characteristic vibration data and the corresponding international flatness index.
4. The method according to claim 3, wherein the international flatness index of the road surface is acquired before/after/at the same time of acquiring the vibration characteristic index values of the road surface with different road conditions by using the strapdown inertial navigation system.
5. The method according to claim 3, wherein calculating a vibration characteristic value from the vibration characteristic index value includes:
6. The method of claim 3, wherein obtaining a model of a relationship between a vibration eigenvalue and an international flatness index based on the characteristic vibration data and a corresponding international flatness index comprises:
and establishing a relation model between the riding vibration characteristic value and the riding vibration characteristic value by taking the vehicle speed and the road surface international flatness index as double independent variables.
7. A road flatness judging method is characterized by comprising the following steps:
acquiring vibration characteristic index values of the vehicle on road surfaces with different road conditions by adopting a strapdown inertial navigation system;
calculating a vibration characteristic value according to the vibration characteristic index value;
and substituting the vibration characteristic value and the vehicle speed into a preset relation model of the vibration characteristic value and the international flatness index to obtain the corresponding international flatness index.
8. The utility model provides a road surface driving travelling comfort judges device which characterized in that includes:
the acquisition module is used for acquiring the international flatness index of the road surface;
the calculation module is used for substituting the international flatness index and the vehicle speed of the road surface into a preset relation model of the vibration characteristic value and the international flatness index to obtain a corresponding vibration characteristic value; and the vibration characteristic value is used as data of road conditions inducing driving vibration to influence psychological/physiological indexes of a human body.
9. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, wherein the processor, when executing the program, implements the method of any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored, which program, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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| CN202110227714.6A CN113155079B (en) | 2021-03-01 | 2021-03-01 | Road surface driving comfort judging method and device |
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