CN113155079B - Road surface driving comfort judging method and device - Google Patents
Road surface driving comfort judging method and device Download PDFInfo
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- CN113155079B CN113155079B CN202110227714.6A CN202110227714A CN113155079B CN 113155079 B CN113155079 B CN 113155079B CN 202110227714 A CN202110227714 A CN 202110227714A CN 113155079 B CN113155079 B CN 113155079B
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Abstract
Embodiments of the present disclosure provide a road surface driving comfort determination method, apparatus, device, and computer-readable storage medium. 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 both the vehicle and the passenger can be well considered, and the riding comfort degree of the passenger is truly reflected; the strapdown inertial navigation system is used as rapid test equipment, is simple to operate, can take a social vehicle as a carrier of a test vehicle, can obtain road condition data (international flatness index) by back-pushing according to the vibration characteristic index value of the road surface at any time and any place, and can meet the dynamic real-time evaluation requirement of a maintenance management department to the greatest extent.
Description
Technical Field
Embodiments of the present disclosure relate generally to the field of road traffic technology and, more particularly, relate to a road surface driving comfort determination method, apparatus, device, and computer-readable storage medium.
Background
The maintenance management of the road traffic infrastructure system is very heavy, and higher requirements are put on scientific maintenance management decisions of road traffic infrastructure. Maintenance management of road traffic infrastructure includes two aspects, namely technical condition evaluation of the infrastructure and maintenance decision, and the premise of the evaluation and decision is to obtain real data representing the road condition. The current road condition detection is manually detected after falling, so that the modernization and the rapidness of the technical condition detection are basically realized, and the standardization and the unification of the road technical condition evaluation index are also realized; at the same time, however, the road pavement detection has obvious defects, mainly expressed in that:
1) Although the detection equipment realizes the rapidness, relative to the number of huge highway networks, a larger gap still exists in the acquisition of detection data, and the detection equipment and the detection frequency obviously cannot timely and comprehensively cover all highway networks;
2) The existing road condition detection mainly depends on the field detection of detection equipment specified in standard specifications, and the standard detection equipment has high purchase, use and maintenance cost although the automation degree is very high, and cannot become popular detection equipment of maintenance management departments at all levels at present;
3) The road condition detection frequency is low, so that the maintenance management department lacks real-time grasp on the technical condition of the road surface;
4) The current road technical condition evaluation index is a pure "technical" index, which does not reflect the perception of the vehicle occupant, such as: for a certain asphalt road, the international flatness index IRI value, which is a key indicator of the quality of service of the asphalt road, is constant and does not change with the speed, but the riding comfort is different when vehicles pass through the road section at different speeds.
Therefore, the evaluation of the road surface is only a periodic technical evaluation, and cannot meet the real-time grasping of the technical condition of the road surface and the accurate evaluation of the driving condition, and is not suitable for the modern traffic development trend. For huge highway networks, if existing detection equipment and methods are adopted for detection, real-time road condition data cannot be obtained even if a large amount of manpower and material resources are wasted.
Disclosure of Invention
According to the embodiment of the disclosure, a road driving comfort judging scheme is provided.
In a first aspect of the present disclosure, a road driving comfort determination method is provided. The method comprises the following steps: acquiring an international flatness index of a road surface; substituting the international flatness index and the vehicle speed of the road surface into a relation model of a preset vibration characteristic value and the international flatness index to obtain a corresponding vibration characteristic value; the vibration characteristic value is used as data of the road condition to induce the driving vibration to influence the psychological/physiological index of the human body.
In the aspects and any possible implementation manner as described above, further providing an implementation manner, obtaining an international evenness index of the pavement 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.
In the aspect and any possible implementation manner described above, there is further provided an implementation manner, wherein the relation model of the preset vibration characteristic value and the international flatness index is obtained through the following steps: 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 the aspect and any possible implementation manner described above, there is further provided an implementation manner, wherein the strapdown inertial navigation system is used for acquiring the international flatness index of the road surface before/after/simultaneously with the vibration characteristic index value of the road surface under different road conditions.
In the aspect and any possible implementation manner as described above, further providing an implementation manner, calculating the vibration characteristic value according to the vibration characteristic index value includes:wherein omega x 、ω y 、ω z Respectively representing the angular velocity of the X-axis gyroscope, the angular velocity of the Y-axis gyroscope and the angular velocity of the Z-axis gyroscope.
In the foregoing aspect and any possible implementation manner, there is further provided an implementation manner, where obtaining, according to the characteristic vibration data and the corresponding international flatness index, a relationship model of a vibration characteristic value and the international flatness index includes: and taking the vehicle speed and the road surface international flatness index as double self-variables, and establishing a relation model between the riding vibration characteristic value and the riding vibration characteristic value.
In a second aspect of the present disclosure, a road flatness determination method is provided. The method comprises the following steps: 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; substituting the vibration characteristic value and the vehicle speed into a relation model of the preset vibration characteristic value and the international flatness index to obtain the corresponding international flatness index.
In a second aspect of the present disclosure, a road driving comfort determination device is provided. The device comprises: 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; the vibration characteristic value is used as data of the road condition to induce the driving vibration to influence the psychological/physiological index of the human body.
In a fourth aspect of the present disclosure, an electronic device is provided. The electronic device includes: a memory on which a computer program is stored, and a processor which, when executing the program, implements the method as described above.
In a fifth aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon a computer program which when executed by a processor implements a method as according to the first and/or second aspects of the present disclosure.
It should be understood that what is described in this summary is not intended to limit the critical or essential features of the embodiments of the disclosure nor to limit the scope of the disclosure. Other features of the present disclosure will become apparent from the following description.
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The above and other features, advantages and aspects of embodiments of the present disclosure will become more apparent by reference to the following detailed description when taken in conjunction with the accompanying drawings. In the drawings, wherein like or similar reference numerals denote like or similar elements, in which:
FIG. 1 illustrates a flow chart of a method of building a road surface driving comfort determination model according to an embodiment of the present disclosure;
FIG. 2 shows a flowchart of a road surface driving comfort determination method according to an embodiment of the present disclosure;
FIG. 3 illustrates 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 surface driving 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
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are some embodiments of the present disclosure, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the disclosure, are within the scope of the disclosure.
In addition, the term "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the associated object is an "or" relationship.
Fig. 1 shows a flowchart of a method 100 of establishing a road surface driving comfort determination model according to an embodiment of the present disclosure. As shown in fig. 1, the method 100 includes the steps of:
at block 102, acquiring vibration characteristic index values of a vehicle on road surfaces with different road conditions by adopting a strapdown inertial navigation system; before/after/at the same time, acquiring an international flatness index of the road surface;
in some embodiments, a strapdown inertial navigation system is used for measuring vibration characteristic index values of vehicles on road surfaces 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 is more consistent with the human factor perception angle.
In some embodiments, the vibration characteristic index value is acquired separately for different damaged road surfaces, such as asphalt and concrete road surfaces. Wherein the vehicle is a stationary vehicle so that the acquisition of the vibration characteristic index value is performed under the same vehicle condition.
In some embodiments, vibration characteristic index values of the vehicle at different traveling speeds, for example, 20km/h to 50km/h, are acquired.
In some embodiments, vibration characteristic index values of different types of vehicles at different running speeds under different loads are acquired separately.
In some embodiments, in order to more deeply study the influence of the road surface condition on the riding comfort of a human body, the embodiments of the disclosure test a strapdown inertial navigation system with 12 vibration indexes and higher testing precision so as to obtain more effective vibration evaluation indexes 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 adopting the strapdown inertial navigation system comprise twelve test indexes of X, Y, Z triaxial acceleration, X, Y, Z triaxial gyroscope angular speed, pitch angle, yaw angle and roll angle and X, Y, Z triaxial magnetic field; specifically, the method comprises the following steps: x-axis acceleration (g), Y-axis acceleration (g), Z-axis acceleration (g), X-axis gyro angular velocity (degrees/sec), Y-axis gyro angular velocity (degrees/sec), Z-axis gyro angular velocity (degrees/sec), PITCH angle (PITCH), YAW Angle (YAW), ROLL angle (ROLL), X-axis magnetic field (GS), Y-axis magnetic field (GS), Z-axis magnetic field (GS).
In some embodiments, to refine the flatness condition of the road surface, which better corresponds to the strapdown inertial navigation system with higher testing accuracy, the international flatness index IRI may extract one sample data at a fixed distance interval, for example, every 20 m. In some embodiments, the VBI value is measured by the vehicle-mounted jolting accumulator, and the measured VBI value is converted into the international flatness index IRI, where the test result of the vehicle-mounted jolting accumulator is calibrated in advance, that is, a correlation is established with the measurement result of the relevant flatness instrument, so as to be converted into the international flatness index IRI. The correlation relationship comprises the correlation relationship between the test result of the vehicle-mounted bump accumulator and the measurement result of the related planeness meter under different vehicle speeds.
Calculating a vibration characteristic value from the vibration characteristic index value at block 104;
in some embodiments, the passenger riding comfort is more physiological discomfort caused by rotational movement, and therefore, the gyro angular velocities in three directions of 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) affecting the physiological index of the human body are selected as the base data from the vibration characteristic index values; and calculating vibration characteristic values 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), and taking the vibration characteristic values as data of the road conditions for inducing driving vibration to influence the psychological/physiological indexes of the human body.
In some embodiments, the vibration characteristic valueWherein omega x 、ω y 、ω z Representing the X-axis gyro angular velocity (degrees/sec), the Y-axis gyro angular velocity (degrees/sec), and the Z-axis gyro angular velocity (degrees/sec), respectively.
Most of the existing researches adopt a triaxial accelerometer to test the vibration characteristics of a vehicle running on a road surface, and triaxial acceleration is feasible for representing the common riding vibration characteristics; however, through the test, it was confirmed that the discomfort due to the human body was more from the turning in all directions during riding, particularly the motion sickness and the like was more closely related to the turning motion state. Through experimental verification, the X, Y, Z triaxial gyroscope angular velocity and X, Y, Z triaxial acceleration, pitch angle, rolling angle and azimuth angle are obtained through cross-correlation analysis, so that the X, Y, Z triaxial gyroscope angular velocity 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 the human body better, and has better correlation with the pitch angle, the roll angle and the azimuth angle, and the change of the rotation motion state is the main cause of the uncomfortable feeling of the human body and is superior to the single vibration acceleration in one direction. The vibration characteristic value is superior to the triaxial acceleration measured by the original common vibration instrument in the correlation with the road surface bump condition.
In some embodiments, when the same vehicle is used, 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 is traveling on different roads at the same traveling speed, the vibration characteristic values are also different.
And at the block 106, according to the characteristic vibration data and the corresponding international flatness index, obtaining a relation model of the vibration characteristic value and the international flatness index.
In some embodiments, the riding comfort vibration characteristic value a is established by taking the vehicle speed v and the road surface international flatness index IRI as double independent variables Features (e.g. a character) A model of the relationship between:
for example, the number of the cells to be processed,
a features (e.g. a character) = 0.44601 v-0.01845iri+1.10999 (correlation coefficient r≡0.72); wherein, v is the running speed of the test vehicle, km/h, IRI is the international flatness index, m/km, a Features (e.g. a character) To influence the vibration characteristic value of the passenger riding comfort, the unit is DEG/S. The correlation coefficient R represents the fitting degree of the unitary polynomial regression equation, or represents the reliability degree of the unitary polynomial regression equation estimation.
In some embodiments, a corresponding relationship model of vibration characteristic values and international flatness index is established for different types of vehicles at different loads.
In some embodiments, the relational model is a trained neural network model, such as an LSTM recurrent neural network model. By collecting the vehicle speed v and the road surface international flatness index IRI and vibrating the vehicle with the comfort characteristic value a Features (e.g. a character) Labeling as a label to generate a training sample; inputting the training sample into an LSTM neural network model for training to obtain a trained road surface driving vehicleAn LSTM neural network model for comfort judgment.
In some embodiments, the relational model is a trained neural network model, such as an LSTM recurrent neural network model. By collecting the vehicle speed v and the comfort vibration characteristic value a Features (e.g. a character) Marking by taking the international flatness index IRI of the road surface 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 surface driving comfort determination method 200 according to an embodiment of the present disclosure. As shown in fig. 2, the method 200 includes the steps of:
at block 202, obtaining an international flatness index for a road surface;
in some embodiments, the international flatness index of the road is queried 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 a vehicle-mounted bump accumulator, and the measured VBI value is converted into the international flatness index IRI.
In some embodiments, the international flatness index of the road surface is collected at fixed distance intervals, for example every 20 m.
At block 204, the international flatness index and the vehicle speed of the road surface are substituted into a preset relationship model of the vibration characteristic value and the international flatness index, so as 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 corresponding road surface driving comfort is determined. The preset vibration characteristic value threshold value can be a determined value of a discomfort threshold value of the passengers by testing a certain number of passengers, for example, the average value of all the questionnaires of the tested passengers can be used as the determined value of the discomfort threshold value of the passengers in a questionnaire investigation mode.
In some embodiments, the relationship model between the preset 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 foregoing embodiments, and a specific establishment process is not described herein.
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 a vehicle on road surfaces with different road conditions by adopting a strapdown inertial navigation system; in some embodiments, a strapdown inertial navigation system is used for measuring vibration characteristic index values of vehicles on road surfaces 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 is more consistent with the human factor perception angle.
In some embodiments, the vibration characteristic index value is acquired separately for different damaged road surfaces, such as asphalt and concrete road surfaces. Wherein the vehicle is a stationary vehicle so that the acquisition of the vibration characteristic index value is performed under the same vehicle condition.
In some embodiments, vibration characteristic index values of the vehicle at different traveling speeds, for example, 20km/h to 50km/h, are acquired.
In some embodiments, vibration characteristic index values for different types of vehicles/different loads/different running speeds are acquired, respectively.
Calculating a vibration characteristic value from the vibration characteristic index value at block 304;
in some embodiments, the gyro angular velocity in three directions, i.e., the X-axis gyro angular velocity (degrees/second), the Y-axis gyro angular velocity (degrees/second), and the Z-axis gyro angular velocity (degrees/second) affecting the physiological index of the human body, are selected as the basic data.
And calculating vibration characteristic values 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 values are used as data for influencing human physiological indexes by driving vibration induced by road conditions.
At block 306, the vibration characteristic value and the vehicle speed are substituted into a preset relationship model of the vibration characteristic value and the international flatness index, so as to obtain a corresponding international flatness index.
In some embodiments, the vibration characteristic value and the vehicle speed are substituted into a relation model of a preset vibration characteristic value and an international flatness index at a preset sampling frequency, so as to obtain a fixed distance interval, for example, every 20m of the international flatness index of the road surface.
In some embodiments, the relationship model between the preset 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 foregoing embodiments, and a specific establishment process is not described herein.
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 relationship model between the preset 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 foregoing embodiments, and a specific establishing process is not described herein.
In some embodiments, according to the preset vibration characteristic value threshold, the management department may define the speed limit of the road with different flatness by means of the relation model of the vibration characteristic value and the international flatness index, or repair the road surface flatness according to the design speed of the road with different grades, that is, the corresponding characteristic value cannot be larger than the preset vibration characteristic value threshold.
According to the embodiment of the disclosure, the following technical effects are achieved:
research and verification of the technical scheme of the embodiment of the disclosure project "road surface performance based on driving big data and driving comfort evaluation theory and method research thereof", project number: 51778027 is sponsored;
the square root of the square sum of the triaxial gyro angular speeds is used as an evaluation index for describing the riding vibration comfort, so that the influence of the road surface condition on both the vehicle and the passenger can be well considered, and the riding comfort degree of the passenger is truly reflected;
the strapdown inertial navigation system is adopted as rapid test equipment, the operation is simple, the index precision is high, social vehicles can be used as test vehicle carriers, road condition data (international flatness index) can be obtained by reversely 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 maintenance management departments can be met to the maximum extent;
the maintenance management department can prescribe the speed limit of roads with different flatness by means of the relation model of the vibration characteristic value and the international flatness index, or maintain the flatness condition of the road surface according to the design speed of roads with different grades.
It should be noted that, for simplicity of description, the foregoing method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the present disclosure is not limited by the order of acts described, as some steps may be performed in other orders or concurrently in accordance with the present disclosure. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all alternative embodiments, and that the acts and modules referred to are not necessarily required by the present disclosure.
The foregoing is an introduction to method embodiments, and the following further describes the aspects of the disclosure by way of apparatus embodiments.
Fig. 4 shows a block diagram of a road surface driving comfort judgment 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;
the calculation module 404 is configured to substitute the international flatness index and the vehicle speed of the road surface into a preset relationship model of the vibration characteristic value and the international flatness index, so as to obtain a corresponding vibration characteristic value; the vibration characteristic value is used as data of the road condition to induce the driving vibration to influence the psychological/physiological index of the human body.
It will 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, which 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, the device 500 includes a CPU501 that can perform various suitable actions and processes in accordance with computer program instructions stored in a ROM502 or loaded into a RAM503 from a storage unit 508. 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 through a bus 504. I/O interface 505 is also connected to bus 504.
Various components in the device 500 are connected to the I/O interface 505, including: an input unit 506 such as a keyboard, a mouse, etc.; an output unit 507 such as various types of displays, speakers, and the like; a storage unit 508 such as a magnetic disk, an 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 via 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 methods 100, 200, 300. For example, in some embodiments, the methods 100, 200, 300 may be implemented as a computer software program tangibly embodied on 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 RAM503 and executed by CPU501, one or more of the 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 by any other suitable means (e.g., by means of firmware).
The functions described above herein 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: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
Program code for carrying out methods of the present disclosure may be written in any combination of one or more programming languages. These program code 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 code, when executed by the processor or controller, causes the functions/operations specified in the flowchart and/or block diagram to be implemented. 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. The 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 one or more wire-based electrical connections, a portable computer diskette, a hard disk, RAM, ROM, EPROM, an optical fiber, a CD-ROM, an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Moreover, although 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. In 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 limiting the scope of the present 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 example forms of implementing the claims.
Claims (8)
1. The road surface driving comfort judging method is characterized by comprising the following steps of:
acquiring an international flatness index of a road surface;
substituting the international flatness index and the vehicle speed of the road surface into a relation model of a preset vibration characteristic value and the international flatness index to obtain a corresponding vibration characteristic value; wherein the vibration characteristic value is used as data of the road condition to induce the vibration of the driving to influence the psychological/physiological index of the human body,
the relation model of the preset vibration characteristic value and the international flatness index is obtained through the following steps:
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 from the vibration characteristic index value, including:
wherein omega x 、ω y 、ω z Respectively representing the angular velocity of the X-axis gyroscope, the angular velocity of the Y-axis gyroscope and the angular velocity of the Z-axis gyroscope;
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.
2. The method of claim 1, wherein obtaining an international flatness index for a road 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 of claim 1, wherein the international flatness index of the road surface is acquired before/after/at the same time as the vibration characteristic index value of the road surface under different road conditions is acquired by using a strapdown inertial navigation system.
4. The method of claim 1, wherein obtaining a model of a relationship between vibration eigenvalues and international flatness indices from the characteristic vibration data and corresponding international flatness indices comprises:
and taking the vehicle speed and the road surface international flatness index as double independent variables, and establishing a relation model between the riding vibration characteristic value and the riding vibration characteristic value.
5. The road flatness judging method is characterized by comprising the following 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;
substituting the vibration characteristic value and the vehicle speed into a relation model of the preset vibration characteristic value and the international flatness index to obtain a corresponding international flatness index,
the relation model of the preset vibration characteristic value and the international flatness index is obtained through the following steps:
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 from the vibration characteristic index value, including:
wherein omega x 、ω y 、ω z Respectively representing the angular velocity of the X-axis gyroscope, the angular velocity of the Y-axis gyroscope and the angular velocity of the Z-axis gyroscope;
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.
6. A road surface driving comfort judgment device, characterized by comprising:
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; wherein the vibration characteristic value is used as data of the road condition to induce the vibration of the driving to influence the psychological/physiological index of the human body,
the relation model of the preset vibration characteristic value and the international flatness index is obtained through the following steps:
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 from the vibration characteristic index value, including:
wherein omega x 、ω y 、ω z Respectively representing the angular velocity of the X-axis gyroscope, the angular velocity of the Y-axis gyroscope and the angular velocity of the Z-axis gyroscope;
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.
7. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program, characterized in that the processor, when executing the program, implements the method according to any of claims 1-5.
8. A computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements the method according to any one of claims 1-5.
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