CN113984648A - Three-dimensional-based road surface friction coefficient measuring method - Google Patents
Three-dimensional-based road surface friction coefficient measuring method Download PDFInfo
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Abstract
The invention provides a three-dimensional-based road surface friction coefficient measuring method, which comprises the following steps: acquiring planar three-dimensional texture data of a road surface to be measured; in the process of simulating the movement of the tire, acquiring a contact area between a road surface to be measured and the tread of the simulated tire according to the planar three-dimensional texture data and the preset downward depth of the top surface of the road surface; according to the contact area, obtaining the frictional force representation of the road texture through frequency analysis and preset division rules of the contact area section, wherein the frictional force representation of the road texture comprises a sticking force response texture feature and a hysteresis force response texture feature; and acquiring the road surface friction coefficient of the road surface to be measured according to the adhesive force response texture characteristic, the hysteresis force response texture characteristic and the road surface friction coefficient relation model. Aiming at the problem that the traditional road surface friction coefficient measurement result is easily influenced by rubber performance, water film thickness, temperature, measurement speed, rubber aging and the like, the invention realizes the non-contact measurement of the road surface friction coefficient by a more accurate three-dimensional texture characterization method.
Description
Technical Field
The invention relates to the technical field of pavement friction coefficient measurement, in particular to a pavement friction coefficient measurement method based on three dimensions.
Background
The friction between the tire and the road surface is a crucial factor for road driving safety. Road friction is the resistance generated by the relative motion between the tire and the road, and is caused by a combination of two mechanisms, namely sticking and hysteresis.
In the last decades, the main method for measuring road skid resistance is still by dragging tires or rubber pads on roads or samples, and such measurement methods adopt a direct measurement mode, including two types of low-speed (static) measurement and high-speed measurement, wherein a typical low-speed measurement device includes a Pendulum instrument (BPT) and a Dynamic Friction Tester (DFT), both of which use a rotating rubber slider, and the speed of the Pendulum or rotating head is slowed down by the Friction between the rubber slider and the road surface, and the measurement device usually adopts a static measurement mode for each measurement point, and is often used for the measurement of an area of interest. The high-speed measuring instrument comprises a Longitudinal Friction Coefficient (LFC) measuring device and a Transverse Friction Coefficient (TFC) measuring device, typical Longitudinal Friction force measuring equipment comprises ADHERA, BV-11, Grip-test, ICC and the like, and main Transverse Friction force measuring equipment comprises SCRIM, SKM and the like. High speed measuring equipment typically selects a particular test tire for which a controlled slip process is to be produced by applying a braking force.
However, all existing high speed testing equipment consumes water and test tires to collect road friction data, which is measured as the friction between the rubber wheel and the wet road. They have in common that they are relatively complex and costly, and current slip resistance measurements are typically performed at the project level. Since a truck carrying a large tank is usually required to wet a surface with a prescribed water layer, they have a limited range of single measurements due to the limited amount of water they can carry, and in addition, their measurements are dependent on factors such as water film thickness, temperature, measurement speed, rubber aging, rubber wear and even road flatness, all of which can make the measurements difficult to control. Therefore, a three-dimensional based road surface friction coefficient measuring method is needed to solve the above problems.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a three-dimensional-based road surface friction coefficient measuring method.
The invention provides a three-dimensional-based road surface friction coefficient measuring method, which comprises the following steps:
acquiring planar three-dimensional texture data of a road surface to be measured;
in the process of simulating the movement of the tire, acquiring a contact area between the road surface to be measured and the tread of the simulated tire according to the planar three-dimensional texture data and the preset downward depth of the top surface of the road surface;
according to the contact area, obtaining a frictional force representation of the road texture through frequency analysis and a preset division rule of the section of the contact area, wherein the frictional force representation of the road texture comprises a sticking force response texture feature and a hysteresis force response texture feature;
and acquiring the road surface friction coefficient of the road surface to be measured according to the adhesive force response texture feature, the hysteresis force response texture feature and a road surface friction coefficient relation model, wherein the road surface friction coefficient relation model is constructed by a historical measured road surface friction coefficient, a sample adhesive force response texture feature and a sample hysteresis force response texture feature through a regression analysis method.
According to the three-dimensional-based road surface friction coefficient measuring method provided by the invention, after the planar three-dimensional texture data of the road surface to be measured is obtained, the method further comprises the following steps:
and performing data preprocessing on the planar three-dimensional texture data, wherein the data preprocessing comprises system error correction, abnormal measuring point processing and measurement posture correction.
According to the three-dimensional-based road surface friction coefficient measuring method provided by the invention, the process of simulating the movement of the tire, which is used for acquiring the contact area between the road surface to be measured and the tread of the simulated tire according to the planar three-dimensional texture data and the preset road surface top surface downward depth, comprises the following steps:
in the process of simulating tire movement, acquiring a contact point of a simulated tire and the road surface to be measured according to a peak area of contact between the simulated tire and the road surface to be measured, wherein the peak area is determined based on peak height;
and determining a contact area between the road surface to be measured and the tread of the simulated tire according to the preset contact point range value and the contact point and by presetting the downward depth of the top surface of the road surface from the contact range of the simulated tire and the road surface to be measured.
According to the three-dimensional-based road surface friction coefficient measuring method provided by the invention, according to the contact area, the friction force representation of the road surface texture is obtained through frequency analysis and the preset division rule of the contact area section, and the method comprises the following steps:
acquiring a high-frequency signal of the cross section profile of the contact area, and generating a sticking force response texture feature according to the average amplitude information of the high-frequency signal;
and dividing the section of the contact area into an ascending area and a descending area, and generating a hysteresis force response texture characteristic according to the slopes and the distances corresponding to the ascending area and the descending area respectively.
According to the three-dimensional-based road surface friction coefficient measuring method provided by the invention, the hysteresis force response texture feature is generated according to the slopes and the distances corresponding to the uphill region and the downhill region respectively, and the method comprises the following steps:
acquiring a first accumulated value according to the accumulated value of the product of the slope and the distance of the uphill region, and acquiring a first average value according to the average value of the product of the slope and the distance of the uphill region;
acquiring a second accumulated value according to the accumulated value of the product of the slope and the distance of the downhill area, and acquiring a second average value according to the average value of the product of the slope and the distance of the downhill area;
and generating a hysteresis force response texture feature according to the first accumulated value, the first average value, the second accumulated value and the second average value.
According to the three-dimensional-based road surface friction coefficient measuring method provided by the invention, the historically measured road surface friction coefficient is obtained by one or more of a pendulum-type friction meter, a dynamic friction coefficient tester, a longitudinal friction force measuring device and a transverse friction force measuring device.
According to the three-dimensional-based road surface friction coefficient measuring method, the regression analysis method comprises one or more of linear regression, logistic regression, polynomial regression, stepwise regression and exponential regression.
According to the three-dimensional-based road surface friction coefficient measuring method, the problem that the traditional road surface friction coefficient measuring result is easily influenced by rubber performance, water film thickness, temperature, measuring speed, rubber aging and the like is solved, the non-contact type measurement of the road surface friction coefficient is realized through a more accurate three-dimensional texture characterization method, the problem that the existing high-speed testing equipment needs to consume water and test tires to collect road surface friction data is avoided, and the problems that the existing single measurement is limited in measuring range, relatively complex and high in cost are solved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
FIG. 1 is a schematic flow chart of a three-dimensional-based road surface friction coefficient measuring method provided by the invention;
FIG. 2 is a schematic view of a contact area with a contact depth of 0.5mm according to the present invention;
FIG. 3 is a graphical illustration of the relationship between a measured road surface coefficient of friction and a reference coefficient of friction provided by the present invention;
FIG. 4 is a schematic diagram of the relationship between the micro texture characteristic value and the friction force provided by the present invention;
fig. 5 is a schematic diagram illustrating the division of the uphill region and the downhill region according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the existing high-precision road texture based research, most of the parameters related to amplitude and wavelength are simply used, however, the usability of the parameters in the anti-skid evaluation is controversial, and no anti-skid prediction model based on the road texture is successfully applied in engineering practice. Based on the problems, the invention provides a road surface friction coefficient measuring method based on high-precision planar texture.
Fig. 1 is a schematic flow chart of a three-dimensional-based road surface friction coefficient measuring method provided by the present invention, and as shown in fig. 1, the present invention provides a three-dimensional-based road surface friction coefficient measuring method, which includes:
In the invention, the three-dimensional measuring sensor can be scanned by high-precision lines to obtain the planar three-dimensional texture data of the road surface to be measured. Specifically, the invention utilizes a high-precision line scanning three-dimensional measuring sensor (composed of a laser and a CCD camera) to acquire pavement texture data, and mainly comprises the three-dimensional measuring sensor, a measuring carrier and a data acquisition computer, wherein the three-dimensional measuring sensor is used for measuring the depth information of a road surface profile, the measuring carrier is used for controlling the measuring sensor to move along the measuring direction, and the data acquisition computer is used for controlling the measuring sensor to work and storing the measured data. In the measuring work, the three-dimensional measuring sensor is based on the principle of triangulation, line laser is vertically projected to a measured road surface, a camera and a laser form a certain included angle to observe a laser line, and the surface profile elevation of a measured object at the position corresponding to the laser line is extracted through a built-in algorithm. Furthermore, the line scanning three-dimensional measurement sensor can simultaneously acquire elevation information of all measuring points of the section of the road surface to be measured by single measurement, so that planar three-dimensional texture data can be obtained, wherein the transverse resolution is 0.1mm, the sampling interval in the moving direction is 0.1mm, and the measurement width is about 35 mm.
And 102, simulating the tire moving process, and acquiring a contact area between the road surface to be measured and the simulated tire tread according to the planar three-dimensional texture data and the preset downward depth of the top surface of the road surface.
In the present invention, in the three-dimensional texture data of the surface road surface, the contact between the road surface and the tire is simulated, thereby measuring the friction coefficient of the road surface. Specifically, since the road surface is actually uneven, a contact area between the simulated tire and the road surface, that is, a data area of a downward depth of a top surface of the road surface (a position where the surface of the road surface is convex) less than a preset downward depth T of the top surface of the road surface, is defined through a process of simulating the movement of the tire, fig. 2 is a schematic view of the contact area with the contact depth of 0.5mm provided by the invention, and as shown in fig. 2, an example of the contact area with the contact depth of 0.5mm downward from the top surface of the road surface is obtained based on three-dimensional texture data of a planar road surface. In the invention, the top surface of the road surface is a plane determined by a plurality of contact points (the number of the contact points is more than or equal to 3) with the area larger than a preset contact point range value A in the range of a contact area (L x W) between the tire and the road surface in the simulated tire moving process (if the number of the contact points is more than 3, the planes corresponding to the triangular areas are respectively determined in a triangular network mode), and the contact points are peak areas which are preferentially contacted between the tire and the road surface in the range of the contact area, wherein any one contact point can consist of 1 measuring point or a plurality of measuring points. In the present invention, the higher the peak height, the higher the priority, and the peak area that is preferentially touched is determined.
And 103, acquiring a frictional force representation of the road texture through frequency analysis and a preset division rule of the contact area section according to the contact area, wherein the frictional force representation of the road texture comprises a sticking force response texture feature and a hysteresis force response texture feature.
In the present invention, the frictional force of a road texture is characterized by the texture of the contact area between the road surface and the tire tread, including a stick force response texture feature and a hysteresis force response texture feature. Wherein, the sticking force response texture characteristic is generated by frequency analysis according to the data of the contact area between the road surface and the tire tread; the hysteresis force response texture feature is generated by analyzing and simulating the change feature of the road surface when the tire travels according to the cross section corresponding to the contact area data between the road surface and the tire tread.
And 104, obtaining the road surface friction coefficient of the road surface to be measured according to the adhesive force response texture feature, the hysteresis force response texture feature and a road surface friction coefficient relation model, wherein the road surface friction coefficient relation model is constructed by a historical measured road surface friction coefficient, a sample adhesive force response texture feature and a sample hysteresis force response texture feature through a regression analysis method.
Specifically, the regression analysis method includes one or more of linear regression, logistic regression, polynomial regression, stepwise regression, and exponential regression. In the invention, firstly, a regression analysis method is utilized to establish a relation model of the adhesive force response texture characteristic, the hysteresis force response texture characteristic and the actually measured road surface friction coefficient, namely a road surface friction coefficient relation model, through the road surface historical texture characteristic data, thereby realizing the measurement of the subsequent road surface friction coefficient. In an embodiment, the performance of the regression model under different influence factors is statistically combined to determine the final influence factor of the model, and the quinary primary regression model established in this embodiment is as follows:
wherein, Y is a predicted value (estimated value) of regression analysis, and F is an actually measured road surface friction coefficient; b0Is a constant term of a regression model, biIs a regression coefficient, (i ═ 1,2, …, 5); x1The micro texture influence factor (average amplitude of high frequency signal in the cross-sectional profile of the contact region), X2Is the cumulative value of the product of the slope and distance of the "uphill zone", X3Is the average of the product of the slope and distance of the "uphill zone", X4Is the cumulative value of the "downhill slope" multiplied by the distance, X5Is the average value of the product of the slope and the distance of a 'downhill area', epsilon is an error term obeying standard normal distribution, i is a marking serial number of an influence factor, j is an observation sample serial number, n is the total number of observation samples, and xijAnd the observed value is the j sample characteristic observed value corresponding to the i influence factor. It should be noted that the ascending area and the descending area are obtained based on section division in the contact area, and are specifically described in the subsequent content of the present application.
Further, on the basis of the above embodiment, the historically measured road friction coefficient is obtained by one or more of a pendulum-type friction meter, a dynamic friction coefficient tester, a longitudinal friction force measuring device and a transverse friction force measuring device.
In the invention, the historical measured road friction coefficient is obtained by one or more of a pendulum-type friction tester (BPT), a dynamic friction coefficient tester (DFT), longitudinal friction force measuring equipment (ADHERA, BV-11, Grip-test, ICC) and transverse friction force measuring equipment (SCRIM, SKM). In the present embodiment, a pendulum type friction meter (BPT) will be described. Because the pendulum-type friction meter (BPT) adopts a discrete measurement mode, in the process of establishing a road surface friction coefficient relationship model, 25 measurement point values are selected as reference values (including sample adhesive force response texture features and sample hysteresis force response texture features) from 5 different types of test road sections to establish a road surface friction coefficient relationship model, and then the road surface friction coefficient of the road surface to be measured is calculated through the model, the adhesive force response texture features and the hysteresis force response texture features, wherein in the embodiment, the specific formula of the road surface friction coefficient relationship model is as follows:
Y＝-0.1219+44.2942X1-0.000102X2+24.67X3+0.000115X4-27.7607X5；
fig. 3 is a schematic diagram of a relationship between a measured value of a road friction coefficient and a reference friction coefficient according to the present invention, and a regression effect can be shown in fig. 3, where a horizontal axis represents a target value (reference value) of regression analysis and a vertical axis represents a predicted value (i.e., a measured value calculated by a road friction coefficient relationship model) Y of regression analysis. The observation shows that the predicted value and the reference value have good consistency.
The road surface friction coefficient measuring method provided by the invention aims at the problem that the traditional road surface friction coefficient measuring result is easily influenced by rubber performance, water film thickness, temperature, measuring speed, rubber aging and the like, realizes non-contact measurement of the road surface friction coefficient through a more accurate three-dimensional texture characterization method, avoids the problem that the existing high-speed testing equipment needs to consume water and test tires to collect road surface friction data, and solves the problems that the existing single measurement has limited measuring range, is relatively complex and has high cost.
On the basis of the above embodiment, after the acquiring of the planar three-dimensional texture data of the road surface to be measured, the method further includes:
and performing data preprocessing on the planar three-dimensional texture data, wherein the data preprocessing comprises system error correction, abnormal measuring point processing and measurement posture correction.
In the invention, before acquiring the contact area between the road surface and the tire tread, the planar three-dimensional texture data of the road surface to be measured is required to be subjected to data preprocessing. The data preprocessing comprises system error correction, abnormal measuring point processing and measurement posture correction. Specifically, the system error correction includes sensor measurement error correction and sensor installation error correction; and the abnormal measuring point processing comprises blind area measuring point processing and foreign matter measuring point processing.
On the basis of the above embodiment, the process of simulating tire movement, acquiring a contact area between the road surface to be measured and the tread of the simulated tire according to the planar three-dimensional texture data and the preset road surface top surface downward depth, includes:
in the process of simulating tire movement, acquiring a contact point of a simulated tire and the road surface to be measured according to a peak area of contact between the simulated tire and the road surface to be measured, wherein the peak area is determined based on peak height;
and determining a contact area between the road surface to be measured and the tread of the simulated tire according to the preset contact point range value and the contact point and by presetting the downward depth of the top surface of the road surface from the contact range of the simulated tire and the road surface to be measured.
In the invention, in the three-dimensional texture data of the planar road surface, the area where the contact between the tire tread and the road surface to be measured is simulated is a data area with the road surface top surface downward depth less than the preset road surface top surface downward depth T (the T of the invention is 0.5 mm). The top surface of the road surface is selected to have an area larger than a preset contact point range value A (selected by the invention to be 400 mm) from the contact area (selected by the invention to be 126mm x 34mm) range of the tire and the road surface in the simulated tire moving process2) The number of the contact points is more than or equal to 3 (if the number of the contact points is more than 3, the plane corresponding to each triangular area is respectively determined by adopting a triangulation network mode). Further, the contact point is a peak area where the tire is preferentially contacted with the road surface within the contact area range, wherein any one contact point can be composed of 1 measuring point or a plurality of measuring points. In the present invention, the higher the peak height of the peak region of the preferential contact, the higher the priority.
On the basis of the above embodiment, obtaining the frictional force representation of the road surface texture according to the contact area through frequency analysis and a preset division rule of the contact area section includes:
acquiring a high-frequency signal of the cross section profile of the contact area, and generating a sticking force response texture feature according to the average amplitude information of the high-frequency signal;
and dividing the section of the contact area into an ascending area and a descending area, and generating a hysteresis force response texture characteristic according to the slopes and the distances corresponding to the ascending area and the descending area respectively.
In the invention, the adhesion force response texture feature is a high-frequency signal in a cross section profile extracted through frequency analysis according to data of a contact area between a road surface and a tire tread, and average amplitude information of the high-frequency signal is taken as the adhesion force response texture feature. Fig. 4 is a schematic diagram of a relationship between a microscopic texture feature value and a frictional force provided by the present invention, and reference may be made to fig. 4 by using average amplitude information of a high-frequency signal in contact area data as a staining force response texture feature.
On the basis of the above embodiment, the extracting of the high-frequency signal in the cross-sectional profile by frequency analysis according to the data of the contact area between the road surface and the tire tread comprises the following specific steps:
step S1, preprocessing the data of the contact area between the road surface and the tire tread to obtain corresponding section data, then filtering the section data through a preset low-pass filter to obtain the filtered frequency domain data, wherein the pass-band range of the preset low-pass filter is [ N/2-f ]c*N/2,N/2+fc*N/2]N represents the length of the cross-sectional data obtained after the preprocessing, fcRepresents the cutoff frequency of a preset low-pass filter (
RxFor the resolution of the cross-sectional data obtained after the pretreatment in the direction of the measured width, WxThe value range of (a) is 0.1 m-1 m);
step S2, performing inverse Fourier transform on the filtered frequency domain data to obtain filtered low-frequency component data;
step S3, subtracting the filtered low-frequency component data from the cross-section data obtained in the above step, and obtaining high-frequency component data of the cross-section data;
and step S4, intercepting the high-frequency component data in the contact area range between the road surface and the tire tread according to the high-frequency component data, and acquiring a high-frequency signal in the cross section profile.
On the basis of the above embodiment, the generating a hysteresis force response texture feature according to the slope and the distance corresponding to the uphill region and the downhill region respectively includes:
acquiring a first accumulated value according to the accumulated value of the product of the slope and the distance of the uphill region, and acquiring a first average value according to the average value of the product of the slope and the distance of the uphill region;
acquiring a second accumulated value according to the accumulated value of the product of the slope and the distance of the downhill area, and acquiring a second average value according to the average value of the product of the slope and the distance of the downhill area;
and generating a hysteresis force response texture feature according to the first accumulated value, the first average value, the second accumulated value and the second average value.
In the invention, the hysteresis force response texture feature is that in the process of simulating the running of a tire, according to the data of a contact area between a road surface and the tire tread, a section is divided into an uphill area and a downhill area, then the product of the slope and the distance of the uphill area and the downhill area is respectively extracted, and a first accumulated value, a first average value, a second accumulated value and a second average value are obtained and used as the hysteresis force response texture feature. Fig. 5 is a schematic diagram of the division of the ascending region and the descending region provided by the present invention, and reference is made to fig. 5 for the division of the section based on the contact region.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (7)
1. A road surface friction coefficient measuring method based on three dimensions is characterized by comprising the following steps:
acquiring planar three-dimensional texture data of a road surface to be measured;
in the process of simulating the movement of the tire, acquiring a contact area between the road surface to be measured and the tread of the simulated tire according to the planar three-dimensional texture data and the preset downward depth of the top surface of the road surface;
according to the contact area, obtaining a frictional force representation of the road texture through frequency analysis and a preset division rule of the section of the contact area, wherein the frictional force representation of the road texture comprises a sticking force response texture feature and a hysteresis force response texture feature;
and acquiring the road surface friction coefficient of the road surface to be measured according to the adhesive force response texture feature, the hysteresis force response texture feature and a road surface friction coefficient relation model, wherein the road surface friction coefficient relation model is constructed by a historical measured road surface friction coefficient, a sample adhesive force response texture feature and a sample hysteresis force response texture feature through a regression analysis method.
2. The three-dimensional based road surface friction coefficient measuring method according to claim 1, characterized in that after the acquiring of the planar three-dimensional texture data of the road surface to be measured, the method further comprises:
and performing data preprocessing on the planar three-dimensional texture data, wherein the data preprocessing comprises system error correction, abnormal measuring point processing and measurement posture correction.
3. The three-dimensional based road surface friction coefficient measuring method according to claim 1, wherein the process of simulating tire movement, based on the planar three-dimensional texture data and the preset road surface top surface downward depth, acquiring the contact area between the road surface to be measured and the tread of the simulated tire comprises:
in the process of simulating tire movement, acquiring a contact point of a simulated tire and the road surface to be measured according to a peak area of contact between the simulated tire and the road surface to be measured, wherein the peak area is determined based on peak height;
and determining a contact area between the road surface to be measured and the tread of the simulated tire according to the preset contact point range value and the contact point and by presetting the downward depth of the top surface of the road surface from the contact range of the simulated tire and the road surface to be measured.
4. The three-dimensional-based road surface friction coefficient measuring method according to claim 1, wherein the obtaining of the friction force representation of the road surface texture through frequency analysis and a preset division rule of a contact region section according to the contact region comprises:
acquiring a high-frequency signal of the cross section profile of the contact area, and generating a sticking force response texture feature according to the average amplitude information of the high-frequency signal;
and dividing the section of the contact area into an ascending area and a descending area, and generating a hysteresis force response texture characteristic according to the slopes and the distances corresponding to the ascending area and the descending area respectively.
5. The three-dimensional based road surface friction coefficient measuring method according to claim 4, wherein the generating of the hysteresis force response texture feature according to the slope and the distance corresponding to the uphill region and the downhill region comprises:
acquiring a first accumulated value according to the accumulated value of the product of the slope and the distance of the uphill region, and acquiring a first average value according to the average value of the product of the slope and the distance of the uphill region;
acquiring a second accumulated value according to the accumulated value of the product of the slope and the distance of the downhill area, and acquiring a second average value according to the average value of the product of the slope and the distance of the downhill area;
and generating a hysteresis force response texture feature according to the first accumulated value, the first average value, the second accumulated value and the second average value.
6. The three-dimensional based road surface friction coefficient measuring method according to claim 1, wherein the historically measured road surface friction coefficient is obtained by one or more of a pendulum type friction meter, a dynamic friction coefficient tester, a longitudinal friction force measuring device and a transverse friction force measuring device.
7. The three-dimensional based road surface friction coefficient measuring method according to claim 1, characterized in that the regression analysis method includes one or more of linear regression, logistic regression, polynomial regression, stepwise regression, and exponential regression.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116952525A (en) * | 2023-09-20 | 2023-10-27 | 中国空气动力研究与发展中心低速空气动力研究所 | Non-contact measurement method and system for friction resistance of wing-shaped wall surface for wind tunnel experiment |
| CN117074291A (en) * | 2023-10-17 | 2023-11-17 | 西南交通大学 | Non-contact texture friction prediction method |
| WO2024012189A1 (en) * | 2022-07-12 | 2024-01-18 | 长安大学 | Envelope characteristic-based road surface anti-skid performance evaluation method and evaluation apparatus |
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