CN115798194B - Road condition monitoring method and device based on vehicle vibration data - Google Patents
Road condition monitoring method and device based on vehicle vibration data Download PDFInfo
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Abstract
The invention discloses a road surface monitoring method and a device based on vehicle vibration data, wherein the method comprises the following steps: the method comprises the steps of obtaining vertical acceleration, vehicle information and calibration pavement information in the running process of a vehicle, wherein the vehicle information comprises a vehicle type, a running speed and a geographic position, and the calibration pavement information comprises a calibration pavement type corresponding to a current geographic position inquired from a preset pavement working condition database based on the geographic position; determining a correlation parameter according to the correlation between the vertical acceleration and the vehicle information and the calibration pavement information, and carrying out weighted calculation on the vertical acceleration by taking the correlation parameter as a weight coefficient to obtain the comprehensive vertical vibration amplitude of the current geographic position of the current road; and determining whether the pavement of the current road is abnormal according to the comprehensive vertical vibration amplitude and the reference vertical vibration amplitude of the current road. According to the method, the weight coefficient is automatically determined to carry out weighting processing on the vertical acceleration, road surface monitoring is carried out from multiple dimensions, the calculated amount is small, and the accuracy and the robustness are high.
Description
Technical Field
The invention relates to the technical field of road surface type monitoring, in particular to a road surface monitoring method and device based on vehicle vibration data.
Background
The traditional urban area road information acquisition mainly relies on professional road detection vehicles to detect the basic data information of the road and form a standard road spectrum, and provides a basis for later road maintenance, but the detection mode is low in efficiency, poor in timeliness and poor in broadcasting diffusion capability. Secondly, the abnormal condition of the road is difficult to be found by the vehicle driver in the driving process under certain conditions, and avoidance measures are taken, such as road surface damage, partial concave road, temporary section road and the like which are not visible or are difficult to be found under certain visual conditions.
In the prior art, a vehicle-mounted sensor is often arranged on a vehicle, vibration information such as vertical acceleration, vertical speed, vertical displacement and the like in the running process of the vehicle is collected through the vehicle-mounted sensor, and whether the road surface is abnormal or not is monitored through analysis of the vibration information.
However, the method for monitoring the abnormal road surface by directly analyzing the vibration information collected by the vehicle-mounted sensor has certain limitations, for example, the measured vertical acceleration, the vertical speed or the vertical displacement are independently and directly compared with the standard road spectrum, so that the method has the advantages of single dimension, large calculated amount, very inconvenient monitoring, high requirement on the calculation performance of equipment, high monitoring cost, easy external interference, measurement errors and even measurement errors during the measurement of the sensor, difficulty in objectively and accurately monitoring the abnormal road surface, and lower accuracy of road surface monitoring.
Disclosure of Invention
The invention provides a road surface monitoring method and device based on vehicle vibration data, which are used for overcoming at least one technical problem in the prior art.
In a first aspect, an embodiment of the present invention provides a road surface monitoring method based on vehicle vibration data, including:
the method comprises the steps of obtaining vertical acceleration, vehicle information and calibration pavement information in the running process of a vehicle, wherein the vehicle information comprises a vehicle type, running speed and geographic position, and the calibration pavement information comprises a calibration pavement type corresponding to a current geographic position inquired from a preset pavement working condition database based on the geographic position;
according to the correlation between the vertical acceleration and the vehicle information and the calibration pavement information, determining a correlation parameter of the vertical acceleration of the vehicle, and taking the correlation parameter as a weight coefficient, and carrying out weighted calculation on the vertical acceleration to obtain the comprehensive vertical vibration amplitude of the current geographic position of the current road;
and determining whether the pavement of the current road is abnormal according to the comprehensive vertical vibration amplitude and the reference vertical vibration amplitude of the current road.
Optionally, the determining a correlation parameter of the vertical acceleration of the vehicle according to the correlation of the vertical acceleration with the vehicle information and the calibration road surface information specifically includes:
Based on the vehicle type of the vehicle, searching for a first correlation parameter corresponding to the vehicle type from a first correspondence of the pre-stored vehicle type and the correlation parameter;
searching and obtaining a second correlation parameter corresponding to the calibrated pavement type from a second corresponding relation between the pre-stored pavement type and the correlation parameter based on the calibrated pavement type;
based on the suspension parameters of the vehicle, searching for a third correlation parameter corresponding to the suspension parameters of the vehicle from a third corresponding relation between the suspension parameters and the correlation parameters which are stored in advance;
and searching for a fourth correlation parameter corresponding to the running speed of the vehicle from fourth correlation relations between the running speed and the correlation parameters stored in advance based on the running speed of the vehicle.
Optionally, the weighting calculation is performed on the vertical acceleration by using the correlation parameter as a weight coefficient to obtain a comprehensive vertical vibration amplitude of the current geographic position of the current road, and specifically includes:
calculating according to a formula (1) to obtain the comprehensive vertical vibration amplitude of the current geographic position of the current road;
wherein a represents an actual measurement value of the vertical acceleration of the vehicle; tv represents a first correlation parameter determined based on the vehicle type; hr represents a second correlation parameter determined based on the calibrated road surface type; ks represents a third correlation parameter determined based on suspension parameters of the vehicle; vs represents a fourth correlation parameter determined based on the running speed of the vehicle; txi represents the integrated vertical vibration amplitude for the current geographic location of the current road.
Optionally, the road surface monitoring method based on the vehicle vibration data further comprises: and calibrating each road surface type and establishing a road surface working condition database based on the corresponding relation between the geographic position and the road surface type.
Optionally, the determining whether the road surface of the current road is abnormal according to the comprehensive vertical vibration amplitude and the reference vertical vibration amplitude of the current road specifically includes:
collecting a plurality of comprehensive vertical vibration amplitudes obtained by monitoring in a sampling period, wherein the plurality of comprehensive vertical vibration amplitudes are obtained according to vertical acceleration, vehicle information and calibration pavement information in the running process of a plurality of vehicles passing through the same road section in the sampling period;
extracting characteristic data of each of the plurality of comprehensive vertical vibration amplitudes, and calculating sub-characteristics of the characteristic data in the sampling period, wherein the sub-characteristics comprise one or more of average value, maximum value, minimum value, maximum difference and variance, and the characteristic data comprise one or more of protrusion, peak and oscillation fluctuation;
matching the sub-features with a pre-established pavement abnormality model, and determining whether the pavement of the current road is abnormal according to a matching result;
The pavement anomaly model is established through the following steps:
presetting a value interval of the sub-feature corresponding to each road surface type, and establishing a road surface abnormal model according to the corresponding relation between the road surface type and the sub-feature.
Optionally, the road surface monitoring method based on the vehicle vibration data is characterized by further comprising: if the matching is successful, determining that the pavement of the current road is abnormal.
Optionally, after determining that the road surface of the current road is abnormal, the method further includes: and determining the abnormal road surface type of the current road according to the matching result.
Optionally, after determining that the road surface of the current road is abnormal, the method further includes:
and shooting the road surface at the current position by using the camera of the vehicle at the current position at the next moment so as to verify the road surface abnormality by using the road surface image obtained by shooting.
Optionally, after determining that the road surface of the current road is abnormal, the method further includes: and acquiring coordinate position data corresponding to all positions where the road surface abnormality occurs, and marking the abnormal road surface on a pre-constructed road map based on the coordinate position data.
In a second aspect, an embodiment of the present invention provides a road surface monitoring device based on vehicle vibration data, including:
The system comprises an acquisition module, a control module and a control module, wherein the acquisition module is configured to acquire vertical acceleration, vehicle information and calibration road surface information in the running process of a vehicle, the vehicle information comprises a vehicle type, running speed and geographic position, and the calibration road surface information comprises a calibration road surface type corresponding to a current geographic position inquired from a preset road surface working condition database based on the geographic position;
the weighting module is configured to determine a correlation parameter of the vertical acceleration of the vehicle according to the correlation of the vertical acceleration, the vehicle information and the calibration pavement information, and take the correlation parameter as a weight coefficient to carry out weighted calculation on the vertical acceleration so as to obtain the comprehensive vertical vibration amplitude of the current geographic position of the current road;
and the pavement abnormality determining module is used for determining whether the pavement of the current road is abnormal according to the comprehensive vertical vibration amplitude and the reference vertical vibration amplitude of the current road.
Optionally, the weighting module includes:
the first unit is configured to search for a first correlation parameter corresponding to the vehicle type from a first correspondence of the pre-stored vehicle type and the correlation parameter based on the vehicle type of the vehicle;
The second unit is configured to search and obtain a second correlation parameter corresponding to the calibrated pavement type from a second corresponding relation between the pre-stored pavement type and the correlation parameter based on the calibrated pavement type;
a third unit configured to find a third correlation parameter corresponding to the suspension parameter of the vehicle from third correspondence of the suspension parameter and the correlation parameter stored in advance based on the suspension parameter of the vehicle;
and a fourth module configured to find a fourth correlation parameter corresponding to the running speed of the vehicle from fourth correlation relations of the running speed and the correlation parameters stored in advance based on the running speed of the vehicle.
Optionally, the weighting module further includes:
the calculating unit is configured to calculate and obtain the comprehensive vertical vibration amplitude of the current geographic position of the current road according to the formula (1);
wherein a represents an actual measurement value of the vertical acceleration of the vehicle; tv represents a first correlation parameter determined based on the vehicle type; hr represents a second correlation parameter determined based on the calibrated road surface type; ks represents a third correlation parameter determined based on suspension parameters of the vehicle; vs represents a fourth correlation parameter determined based on the running speed of the vehicle; txi represents the integrated vertical vibration amplitude for the current geographic location of the current road.
Optionally, the road surface monitoring device based on the vehicle vibration data further comprises:
the database establishing module is configured to calibrate each road surface type and establish a road surface working condition database based on the corresponding relation between the geographic position and the road surface type.
Optionally, the pavement anomaly determination module includes:
the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is configured to acquire a plurality of comprehensive vertical vibration amplitudes obtained by monitoring in a sampling period, and the plurality of comprehensive vertical vibration amplitudes are obtained according to vertical acceleration, vehicle information and calibration pavement information in the process of running of a plurality of vehicles passing through the same road section in the sampling period;
an extraction unit configured to extract feature data of each of the plurality of integrated vertical vibration amplitudes, and calculate sub-features of the feature data within the sampling period, the sub-features including one or more of an average, a maximum, a minimum, a maximum, and a variance, wherein the feature data includes one or more of a bump, a spike, and an oscillation fluctuation;
the matching unit is configured to match the sub-features with a pre-established pavement abnormality model, and determine whether the pavement of the current road is abnormal according to a matching result;
A model building unit configured to build the road surface abnormality model by:
presetting a value interval of the sub-feature corresponding to each road surface type, and establishing a road surface abnormal model according to the corresponding relation between the road surface type and the sub-feature.
Optionally, the road surface monitoring device based on the vehicle vibration data further comprises:
and the first determining unit is configured to determine that the pavement of the current road is abnormal if the sub-features are successfully matched with the pre-established pavement abnormality model.
Optionally, the road surface monitoring device based on the vehicle vibration data further comprises:
and the second determining unit is configured to determine the pavement abnormality type of the current road according to the matching result after determining that the pavement of the current road is abnormal.
Optionally, the road surface monitoring device based on the vehicle vibration data further comprises: and the photographing and verifying unit is configured to photograph the road surface of the current position by using the camera device of the vehicle at the current position at the next moment after determining that the road surface of the current road is abnormal, so as to verify the road surface abnormality by using the road surface image obtained by photographing.
Optionally, the road surface monitoring device based on the vehicle vibration data further comprises: and the marking unit is configured to acquire coordinate position data corresponding to all positions where the road surface abnormality occurs after determining that the road surface of the current road is abnormal, and mark the abnormal road surface on a pre-constructed road map based on the coordinate position data.
Compared with the prior art, the invention has the beneficial effects that:
the road surface monitoring method based on the vehicle vibration data is characterized in that parameters in the running process of a vehicle are collected, vertical acceleration used for representing vehicle vertical vibration information in the parameters is preprocessed, the processing process is that according to the correlation between the vertical acceleration of the vehicle and other parameters of the vehicle and the calibrated road surface type of the current road surface, the correlation parameters of the vertical acceleration of the vehicle are determined, then the determined correlation parameters are used as weight coefficients, the vertical acceleration is weighted and calculated, the comprehensive vertical vibration amplitude of the current geographic position of the current road is obtained, and whether the road surface of the current road is abnormal is determined through matching comparison between the obtained comprehensive vertical vibration amplitude and the reference vertical vibration amplitude of the current road.
According to the method, the obtained vertical acceleration in the running process of the vehicle is preprocessed, the weight coefficient of the vertical acceleration is automatically determined, the road surface abnormality is monitored in combination with multiple dimensions such as the vehicle type, the running speed, the suspension parameters and the calibrated road surface type, limitation in the process of monitoring the road surface condition by directly utilizing single information acquired by the vehicle-mounted sensor is avoided, the robustness of the vertical acceleration is improved, meanwhile, the calculated amount is reduced, the monitoring accuracy is improved, and the purpose of accurately and rapidly identifying the road surface abnormality is achieved.
The innovation points of the embodiment of the invention include:
1. according to the correlation between the vertical acceleration and other parameters in the running process of the vehicle and the calibrated pavement type of the current pavement, the correlation parameters of the vertical acceleration are automatically determined, the determined correlation parameters are used as weight coefficients, and the vertical acceleration is weighted and calculated, so that the actual condition of the road can be reflected more truly and objectively, the robustness of the vertical acceleration is improved, the problems of single dimension, frequent errors and large calculation amount which are easy to interfere when the road is monitored by the vertical acceleration directly measured by the vehicle-mounted sensor are avoided, and the abnormal road is monitored from multiple dimensions by combining the parameters in the running process of multiple vehicles such as the vehicle type, the running speed, the suspension parameters and the calibrated pavement type, so that the calculation amount is reduced, the monitoring accuracy is improved, and the method is one of innovation points of the embodiment of the invention.
2. And extracting characteristic data of each comprehensive vertical vibration amplitude value in a plurality of comprehensive vertical vibration amplitude values determined in the running process of a plurality of vehicles passing through the same road section in one sampling period, calculating one or more sub-characteristics of an average value, a maximum value, a minimum value, a maximum difference and a variance of the characteristic data in the sampling period, matching the sub-characteristics with a pre-established road surface abnormal model, and determining whether the road surface of the current road is abnormal according to a matching result. By further feature extraction of comprehensive vertical vibration amplitude, on one hand, useful information (information capable of reflecting abnormal characteristics of the road surface) is automatically extracted from mass data in a targeted mode to analyze the road surface condition, monitoring accuracy is improved, on the other hand, calculated amount is further reduced, and calculation cost is reduced.
3. According to the road traffic warning system, the related parameters in the running process of the vehicle obtained through actual measurement of the vehicle-mounted sensor are used for monitoring the abnormality of the road surface in real time, and the position of the abnormality of the road is marked in the map, so that on one hand, related departments can maintain and manage the road in time based on the marked position, on the other hand, corresponding driving prompt information can be generated based on the monitored abnormal condition of the road, and the driving prompt information is sent to other vehicles passing through the road section through the edge cloud road side equipment of the road big data warning platform, so that the vehicles can timely take actions such as braking, obstacle avoidance and detouring, and the comfort and safety of the other vehicles passing through the road section can be improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram showing the construction of a road surface monitoring method based on vehicle vibration data according to an embodiment of the present invention;
FIG. 2 is a block diagram of a road surface monitoring device based on vehicle vibration data according to one embodiment of the present invention;
FIG. 3 is a schematic diagram of a road surface monitoring system based on vehicle vibration data according to one embodiment of the present invention;
FIG. 4 is a vertical vibration diagram of one embodiment of the present invention;
fig. 5 is another vertical vibration diagram of an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.
It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments of the present invention and the accompanying drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
The embodiment of the specification discloses a road surface monitoring method and device based on vehicle vibration data. The following will describe in detail.
Fig. 1 is a flowchart of a road surface monitoring method based on vehicle vibration data according to an embodiment of the present invention. As shown in fig. 1, the method comprises the steps of:
step S101, vertical acceleration, vehicle information and calibration pavement information in the running process of a vehicle are obtained, the vehicle information comprises a vehicle type, running speed and geographic position, and the calibration pavement information comprises a calibration pavement type corresponding to the current geographic position inquired from a preset pavement working condition database based on the geographic position;
Step S102, determining a correlation parameter of the vertical acceleration of the vehicle according to the correlation of the vertical acceleration, the vehicle information and the calibration pavement information, and taking the correlation parameter as a weight coefficient to perform weighted calculation on the vertical acceleration to obtain the comprehensive vertical vibration amplitude of the current geographic position of the current road;
and step S103, determining whether the pavement of the current road is abnormal or not according to the comprehensive vertical vibration amplitude and the reference vertical vibration amplitude of the current road.
The vehicle is provided with a vibration sensor or an inertial measurement unit (Inertial Measurement Unit, IMU) device, and when the vehicle runs on a road, the vehicle can cause vertical vibration when passing through a part of a hollow road surface or a cross section road. The vehicle-mounted traveling crane computer collects vibration information measured by a vibration sensor or IMU equipment. The vehicle information may also include license plate number, weight, manufacturer, etc., without limitation. The types of the marked road surface comprise a broken stone road, a cement road, an asphalt road surface, an ice surface and the like. The reference vertical vibration amplitude of the current road refers to a vertical vibration amplitude predetermined according to a road surface type when the current road is abnormal, and in one implementation manner, a corresponding relationship between the reference vertical vibration amplitude and the road surface type can be pre-established, wherein each road surface type corresponds to the reference vertical vibration amplitude, which can be summarized through multiple tests of a plurality of road test vehicles, or can be obtained by inquiring a standard road spectrum formed by detecting basic data information of the road by means of a professional road detection vehicle, or can be a simulated reference value, and the specific limitation is not imposed here.
The measured vertical acceleration collected by the vertical sensors on different vehicles for the same road is often different. The actual measurement value is related to various factors, and different longitudinal running speeds, different running environments or different road surface types and the like can cause different vertical vibration signals. The magnitude of the vertical acceleration has correlation with the type of the vehicle, the speed of the vehicle, the suspension parameters of the vehicle, the road surface type and the like, the correlation parameters of the vertical acceleration of the vehicle are determined based on the correlation, the determined correlation parameters are used as weight coefficients, the vertical acceleration is weighted and calculated to obtain the comprehensive vertical vibration amplitude of the current geographic position of the road, so that the comprehensive vertical vibration amplitude can reflect the actual condition of the road more truly and objectively, the robustness is improved, the problems of single dimension, frequent errors and large calculation amount of easy interference when the road surface is monitored by the vertical acceleration directly measured by the vehicle-mounted sensor are avoided, the road surface abnormality is monitored from multiple dimensions by combining the parameters in the running process of the vehicle type, the running speed, the suspension parameters, the calibration road surface type and the like, the calculation amount is reduced, the monitoring accuracy is improved, and the method is one of innovation points of the embodiment of the invention.
In one implementation manner, the determining a correlation parameter of the vertical acceleration of the vehicle according to the correlation of the vertical acceleration with the vehicle information and the calibration road surface information specifically includes:
based on the vehicle type of the vehicle, searching for a first correlation parameter corresponding to the vehicle type from a first correspondence of the pre-stored vehicle type and the correlation parameter;
searching and obtaining a second correlation parameter corresponding to the calibrated pavement type from a second corresponding relation between the pre-stored pavement type and the correlation parameter based on the calibrated pavement type;
based on the suspension parameters of the vehicle, searching for a third correlation parameter corresponding to the suspension parameters of the vehicle from a third corresponding relation between the suspension parameters and the correlation parameters which are stored in advance;
and searching for a fourth correlation parameter corresponding to the running speed of the vehicle from fourth correlation relations between the running speed and the correlation parameters stored in advance based on the running speed of the vehicle.
The first corresponding relation between each vehicle type and the correlation parameter, the second corresponding relation between each calibration pavement type and the correlation parameter, the third corresponding relation between each vehicle suspension parameter and the correlation parameter and the fourth corresponding relation between each running speed and the correlation parameter are determined in advance, and after the parameters in the running process of the vehicle are obtained, the corresponding correlation parameters can be automatically searched and determined from each predetermined corresponding relation, so that the weight coefficient affecting the vertical acceleration is determined based on the correlation parameters, and the vertical acceleration is weighted and calculated. Because the invention sets the corresponding correlation parameters of different vehicle types, road surface types, suspension parameters and running speeds respectively in advance, when the correlation parameters are determined, each situation, such as weather, road conditions and the like, can be fully considered, so that the correlation parameters corresponding to each parameter type are similar or identical, the situation that the correlation parameters are large in difference due to different road conditions under different days is effectively avoided, and the accuracy of the correlation parameters of the vertical acceleration determined based on the parameters acquired in the running process of the vehicle is improved.
In one implementation manner, the weighting calculation is performed on the vertical acceleration by using the correlation parameter as a weight coefficient to obtain a comprehensive vertical vibration amplitude of the current geographic position of the current road, and the method specifically includes:
calculating according to a formula (1) to obtain the comprehensive vertical vibration amplitude of the current geographic position of the current road;
wherein a represents an actual measurement value of the vertical acceleration of the vehicle; tv represents a first correlation parameter determined based on the vehicle type; hr represents a second correlation parameter determined based on the calibrated road surface type; ks represents a third correlation parameter determined based on suspension parameters of the vehicle; vs represents a fourth correlation parameter determined based on the running speed of the vehicle; txi represents the integrated vertical vibration amplitude for the current geographic location of the current road.
The comprehensive vertical vibration amplitude of the current geographic position of the current road is calculated through the formula (1), which is most favorable for objectively reflecting the vertical vibration condition of the vehicle, and is one of the invention points.
In one implementation, the road surface monitoring method based on the vehicle vibration data further includes: and calibrating each road surface type and establishing a road surface working condition database based on the corresponding relation between the geographic position and the road surface type.
In one implementation manner, the determining whether the road surface of the current road is abnormal according to the comprehensive vertical vibration amplitude and the reference vertical vibration amplitude of the current road specifically includes:
collecting a plurality of comprehensive vertical vibration amplitudes obtained by monitoring in a sampling period, wherein the plurality of comprehensive vertical vibration amplitudes are obtained according to vertical acceleration, vehicle information and calibration pavement information in the running process of a plurality of vehicles passing through the same road section in the sampling period;
extracting characteristic data of each of the plurality of comprehensive vertical vibration amplitudes, and calculating sub-characteristics of the characteristic data in the sampling period, wherein the sub-characteristics comprise one or more of average value, maximum value, minimum value, maximum difference and variance, and the characteristic data comprise one or more of protrusion, peak and oscillation fluctuation;
matching the sub-features with a pre-established pavement abnormality model, and determining whether the pavement of the current road is abnormal according to a matching result;
the pavement anomaly model is established through the following steps:
presetting a value interval of the sub-feature corresponding to each road surface type, and establishing a road surface abnormal model according to the corresponding relation between the road surface type and the sub-feature.
The road surface is monitored based on a plurality of comprehensive vertical vibration amplitudes of a plurality of vehicles, so that the situation that the road surface is difficult to truly reflect due to inaccurate monitoring caused by possible deviation of data of one vehicle can be avoided, and further, after the comprehensive vertical vibration amplitudes of a plurality of vehicles for representing the vertical vibration information of the vehicles are collected and arranged, how to extract useful information from mass data is an important premise for analyzing the road surface condition. According to the invention, a plurality of comprehensive vertical vibration amplitudes of a plurality of vehicles are subjected to further feature extraction and data mining, one or more sub-features of the average value, the maximum value, the minimum value, the maximum difference and the variance of the extracted feature data in a sampling period are calculated, the sub-features are matched with a pre-established road surface abnormality model, and whether the road surface of the current road is abnormal or not is determined according to a matching result, so that on one hand, the purpose of automatically extracting useful information (information capable of reflecting the road surface abnormality feature) from mass data to analyze the road surface condition is realized, the monitoring accuracy is improved, on the other hand, the calculated amount is further reduced, and the calculation cost is reduced.
In one implementation manner, the road surface monitoring method based on the vehicle vibration data is characterized by further comprising: if the matching is successful, determining that the pavement of the current road is abnormal.
In one implementation, after determining that there is an abnormality in the road surface of the current road, the method further includes: and determining the abnormal road surface type of the current road according to the matching result.
In order to avoid uncertainty of monitoring, avoid monitoring error, improve monitoring accuracy, in one implementation manner, after determining that the road surface of the current road is abnormal, the method further comprises:
and shooting the road surface at the current position by using the camera of the vehicle at the current position at the next moment so as to verify the road surface abnormality by using the road surface image obtained by shooting.
In one implementation, after determining that there is an abnormality in the road surface of the current road, the method further includes: and acquiring coordinate position data corresponding to all positions where the road surface abnormality occurs, and marking the abnormal road surface on a pre-constructed road map based on the coordinate position data.
The road map may be a high-precision map, or may be a vertical map that is built in advance based on measured vibration data of the vehicle in combination with information such as a geographic position, or may generate an abnormal road route map corresponding to the target road section according to coordinate position data of road surface abnormality, which is not limited in particular. According to the road traffic warning system, the related parameters in the running process of the vehicle obtained through actual measurement of the vehicle-mounted sensor are used for monitoring the abnormality of the road surface in real time, and the position of the abnormality of the road is marked in the map, so that on one hand, related departments can maintain and manage the road in time based on the marked position, on the other hand, corresponding driving prompt information can be generated based on the monitored abnormal condition of the road, and the driving prompt information is sent to other vehicles passing through the road section through the edge cloud road side equipment of the road big data warning platform, so that the vehicles can timely take actions such as braking, obstacle avoidance and detouring, and the comfort and safety of the other vehicles passing through the road section can be improved.
Fig. 2 is a block diagram of a road surface monitoring device based on vehicle vibration data according to an embodiment of the present invention. As shown in fig. 2, the road surface monitoring device 200 based on vehicle vibration data includes:
the obtaining module 210 is configured to obtain vertical acceleration, vehicle information and calibration road surface information in the running process of the vehicle, wherein the vehicle information comprises a vehicle type, a running speed and a geographic position, and the calibration road surface information comprises a calibration road surface type corresponding to a current geographic position queried from a preset road surface working condition database based on the geographic position;
the weighting module 220 is configured to determine a correlation parameter of the vertical acceleration of the vehicle according to the correlation of the vertical acceleration, the vehicle information and the calibration pavement information, and perform weighted calculation on the vertical acceleration by taking the correlation parameter as a weight coefficient to obtain a comprehensive vertical vibration amplitude of the current geographic position of the current road;
the pavement abnormality determining module 230 is configured to determine whether the pavement of the current road is abnormal according to the integrated vertical vibration amplitude and the reference vertical vibration amplitude of the current road.
Optionally, the weighting module includes:
The first unit is configured to search for a first correlation parameter corresponding to the vehicle type from a first correspondence of the pre-stored vehicle type and the correlation parameter based on the vehicle type of the vehicle;
the second unit is configured to search and obtain a second correlation parameter corresponding to the calibrated pavement type from a second corresponding relation between the pre-stored pavement type and the correlation parameter based on the calibrated pavement type;
a third unit configured to find a third correlation parameter corresponding to the suspension parameter of the vehicle from third correspondence of the suspension parameter and the correlation parameter stored in advance based on the suspension parameter of the vehicle;
and a fourth module configured to find a fourth correlation parameter corresponding to the running speed of the vehicle from fourth correlation relations of the running speed and the correlation parameters stored in advance based on the running speed of the vehicle.
Optionally, the weighting module further includes:
the calculating unit is configured to calculate and obtain the comprehensive vertical vibration amplitude of the current geographic position of the current road according to the formula (1);
wherein a represents an actual measurement value of the vertical acceleration of the vehicle; tv represents a first correlation parameter determined based on the vehicle type; hr represents a second correlation parameter determined based on the calibrated road surface type; ks represents a third correlation parameter determined based on suspension parameters of the vehicle; vs represents a fourth correlation parameter determined based on the running speed of the vehicle; txi represents the integrated vertical vibration amplitude for the current geographic location of the current road.
Optionally, the road surface monitoring device based on the vehicle vibration data further comprises:
the database establishing module is configured to calibrate each road surface type and establish a road surface working condition database based on the corresponding relation between the geographic position and the road surface type.
Optionally, the pavement anomaly determination module includes:
the system comprises an acquisition unit, a control unit and a control unit, wherein the acquisition unit is configured to acquire a plurality of comprehensive vertical vibration amplitudes obtained by monitoring in a sampling period, and the plurality of comprehensive vertical vibration amplitudes are obtained according to vertical acceleration, vehicle information and calibration pavement information in the process of running of a plurality of vehicles passing through the same road section in the sampling period;
an extraction unit configured to extract feature data of each of the plurality of integrated vertical vibration amplitudes, and calculate sub-features of the feature data within the sampling period, the sub-features including one or more of an average, a maximum, a minimum, a maximum, and a variance, wherein the feature data includes one or more of a bump, a spike, and an oscillation fluctuation;
the matching unit is configured to match the sub-features with a pre-established pavement abnormality model, and determine whether the pavement of the current road is abnormal according to a matching result;
A model building unit configured to build the road surface abnormality model by:
presetting a value interval of the sub-feature corresponding to each road surface type, and establishing a road surface abnormal model according to the corresponding relation between the road surface type and the sub-feature.
Optionally, the road surface monitoring device based on the vehicle vibration data further comprises:
and the first determining unit is configured to determine that the pavement of the current road is abnormal if the sub-features are successfully matched with the pre-established pavement abnormality model.
Optionally, the road surface monitoring device based on the vehicle vibration data further comprises:
and the second determining unit is configured to determine the pavement abnormality type of the current road according to the matching result after determining that the pavement of the current road is abnormal.
Optionally, the road surface monitoring device based on the vehicle vibration data further comprises: and the photographing and verifying unit is configured to photograph the road surface of the current position by using the camera device of the vehicle at the current position at the next moment after determining that the road surface of the current road is abnormal, so as to verify the road surface abnormality by using the road surface image obtained by photographing.
Optionally, the road surface monitoring device based on the vehicle vibration data further comprises: and the marking unit is configured to acquire coordinate position data corresponding to all positions where the road surface abnormality occurs after determining that the road surface of the current road is abnormal, and mark the abnormal road surface on a pre-constructed road map based on the coordinate position data.
Fig. 3 is a schematic diagram showing the composition of a road surface monitoring system based on vehicle vibration data according to an embodiment of the present invention. As shown in fig. 3, the system mainly comprises an intelligent network-connected automobile, a road side infrastructure, a communication network, an edge cloud data processing analysis center, a regional cloud data management center and a central cloud big data center.
When an intelligent network-connected automobile runs on a road in a certain area, the intelligent network-connected automobile can cause vertical vibration of the automobile when passing through a part of hollow road surfaces or cross section roads. The vehicle collects the vibration information through the vehicle-mounted driving computer, and uploads the vibration information to the edge cloud data processing analysis center through the road test infrastructure after the basic data characteristics are extracted, so that further data analysis and establishment of a road vertical layer are carried out. The feature extraction is mainly to measure vibration information of the vehicle through a vibration sensor or an inertial measurement unit (Inertial Measurement Unit, IMU) device and the like installed in the intelligent network-connected automobile. In general, vibration information of a vehicle includes three types of signals of lateral vibration information, longitudinal vibration information, and vertical vibration information, and in the present invention, vertical layer information is established mainly by means of the vertical vibration information. Therefore, the basic data acquisition of the vehicle during running mainly aims at the vertical vibration information (vertical acceleration signal a), and the change conditions of the vertical speed v and the vertical displacement h of the vehicle can be obtained by integrating the vertical acceleration a.
The principle and specific process of the vertical layer establishment comprise the following steps:
when the vehicle is in normal running, the three basic data (a, v and h) are in a stable state, and abnormal peak signals appear in the data when the vehicle is in bumpy road sections, section roads, hollow road sections and the like, the time of the peak signals and GPS geographic coordinate information are recorded, and the abnormal state information of the road surface can be known. And continuously labeling and updating the vertical abnormal signals acquired by all vehicles in the specific area in a map in the form of data points, thereby establishing a road vertical vibration map layer in the specific area.
The measured vertical acceleration a collected by the vertical sensors on different vehicles for the same road is often different. The actual measurement value thereof is related to various factors such as different types of vehicles, different running speeds of vehicles, different suspension types of vehicles, different road surface types, and the like.
In order to truly and objectively reflect the actual condition of a road, the measured vertical acceleration value a is subjected to data preprocessing to obtain a relatively objective vibration amplitude Txi, and the principle and the calculation process are as follows: according to the correlation of the vertical acceleration, the vehicle type, the running speed, the suspension parameters and the calibrated pavement type, determining the correlation parameters of the vertical acceleration, taking the correlation parameters as weight coefficients, and carrying out weighted calculation on the vertical acceleration according to a formula (1.2):
Wherein a represents a vertical acceleration actual measurement value of the vehicle-mounted vertical sensor;
txi represents the integrated vertical vibration amplitude in the i lane at road x;
tv represents the type of the vehicle, the value range [0.8,1.2], the value of two-wheeled vehicles such as motorcycles and the like is 0.8, the value of two-axle passenger vehicles is 1, and the value of large trucks with three axles and more is 1.2;
ks represents suspension parameters of the vehicle, the value range is 1 and 3, the value of the leaf spring suspension is 1, the value of the independent beam suspension is 1.5, the value of the electromagnetic suspension is 2.2, and the value of the air suspension is 3;
vs represents the running speed of the vehicle, the value range is [0, 200], and the unit is km/h;
hr represents the road surface type, the value range is 2,3, the value of the broken stone road is 2.1, the value of the cement road is 2.5, the value of the asphalt road is 2.7, and the value of the flat road surface such as ice surface is 3;
based on the calculated integrated vertical vibration amplitude Txi, a vertical vibration data map of the vehicle is plotted as shown in fig. 4 and 5. Fig. 4 is a vertical vibration pattern according to an embodiment of the present invention, and fig. 5 is another vertical vibration pattern according to an embodiment of the present invention, and it can be seen with reference to fig. 4 and 5 that the integrated vertical vibration amplitude Txi is significantly increased under an abnormal road surface, as shown in the square frame circled portion of fig. 4 and 5, compared to the integrated vertical vibration amplitude Txi under a normal road surface condition. The analysis of abnormal road surface data is the key of building a vertical layer, such as the obvious increase phenomenon in the box of fig. 4, and the situation that the corresponding road surface is a local broken stone road section at the moment can be calculated, and the vibration signal with the maximum value appears at intervals in the box of fig. 5, which indicates that the situation that the corresponding road surface is a section road or a deceleration strip at the moment.
After collecting and arranging road side equipment of the edge cloud, forming vertical vibration information of a plurality of vehicles, and analyzing the condition of the road surface by extracting useful information from mass data. To characterize the above, concepts such as average Pav, maximum Pmax, minimum Pmin, maximum Pt, variance Ps are introduced to match different road conditions. The corresponding data table in the box of fig. 4 can be found in table 1 by statistics.
TABLE 1
| Pav | Pmax | Pmin | Pt | Ps |
| 25 | 33 | 20 | 13 | 150 |
The corresponding data table in the box of fig. 5 can be found in table 2 by statistics.
TABLE 2
| Pav | Pmax | Pmin | Pt | Ps |
| 15 | 38 | 3 | 35 | 260 |
Thus, referring to the statistical method of the data table, the values of the average value Pav, the maximum value Pmax, the minimum value Pmin, the maximum difference Pt, and the variance Ps corresponding to each road surface type are preset, and the road surface abnormality model is built, as shown in table 3.
TABLE 3 Table 3
Wherein road condition 1 represents a bumpy road section such as a broken stone road; road condition 2 indicates that a section road or a road surface has joints and the like; road condition 3 represents a slight bump road segment, etc.; road condition 4 represents a deceleration strip, a concave road and other local hollow road sections; road condition 5 represents an ice surface, a water accumulation path, etc.
According to the data distribution interval reference value in the table, the abnormal vibration data are compared and matched with the data distribution interval reference value, the type of the road surface can be roughly judged, the road surface condition can be directly determined according to the detection of the camera of the rear vehicle, and the abnormal geographic position of the road surface is matched with the vibration signal, so that a road vertical vibration data geographic map layer is established, and an early warning or control effect is provided.
In one implementation, the established road vertical data layer is uploaded to the regional cloud data management center and the central cloud big data center for interaction and storage. After the road vertical layer is established, on one hand, the central cloud big data center can timely learn the road information condition of the regional level, and after decision processing, the central cloud big data center can inform relevant road maintenance departments of timely maintenance. On the other hand, a road real-time early warning system can be established through the layer, then the road information is issued to the road side infrastructure through the system, and the road side infrastructure distributes or notifies the road information to all intelligent network-connected automobiles in the coverage area of the intelligent network-connected automobiles in time, so that the intelligent network-connected automobiles can timely avoid road damaged sections which are invisible under visual conditions, and the driving safety is improved.
The bottom logic architecture of the road vibration monitoring system is to collect original data including weather, road conditions and the like, compare the data with standard road condition road spectrum data after filtering treatment, extract characteristics of road information fed back by vehicles to obtain road surface classification information of the road, perform data mining of a deeper layer on a sub-basis to form evaluation and layer establishment of the road, and perform information energization in two directions. On one hand, the road maintenance is conducted for traffic and road administration departments, and on the other hand, the information early warning prompt assistance is conducted for vehicle ends. In one implementation, the collection of standard road condition road spectrum data is measured by a professional road detection vehicle while the road is running. In general, road spectrum data is relatively flat under standard road conditions, and shakes or fluctuates under certain values, so that the vertical vibration condition of the vehicle is generally less obvious, and a gentle shaking trend is shown. When the road state is deteriorated, such as a pothole, a section, a bump and the like, the returned vehicle vibration data will have obvious peak or obvious high amplitude, the abnormal values are easily found by comparing the vehicle vibration data with the standard road spectrum or the vibration data of the vehicle vibration data, and the abnormal condition of the road surface can be easily judged by the abnormal data with the abnormal values. According to the appearance characteristics of the abnormal values, the convex higher values indicate that a bumpy broken stone road section is entered; the occurrence of a high spike value indicates that the vehicle is driving through a tunnel or section.
The edge cloud data processing analysis center is used for constructing a road vertical vibration data map layer in the area by comprehensively analyzing vertical vibration data of all intelligent network-connected automobiles in the area, and the map data of the layer can be used as judgment indexes of road vertical vibration and vertical comfortableness and is also used for supplementing road maintenance information.
Abnormal vibration data appear in a road map layer data determination area, which indicates that road damage occurs at the place, and the road map layer data can be timely issued to intelligent network automobiles to be passed through the area through an edge cloud data processing analysis center, so that the intelligent network automobiles can be slowed down or observed at a low speed to pass through the area, and meanwhile, a road maintenance department is timely informed to perform on-site maintenance or repair. In addition, road vibration data recorded by the vehicle are closely related to the running speed, and for a road section with a larger vibration value, the cloud platform can also send a speed-down running instruction, so that all intelligent network-connected vehicles in the area can pass through the road section at a low speed to reduce the vertical vibration amplitude, and the driving comfort and the driving safety are improved.
The vertical vibration layer of the local road is established through the edge cloud data processing analysis center, the regional cloud data management center gathers the road layers of the edge cloud level, and after the road layers are gathered by the central cloud data center, the road vibration layer of a certain region can be submitted to a traffic management department to form a traffic big data platform so as to monitor and manage the regional road condition in real time and provide safe trip service.
The road monitoring system collects the vertical vibration data of all driving roads of the intelligent network-connected automobile in a certain area by utilizing the intelligent network-connected automobile vehicle-mounted vibration sensor to gather and generate a road vertical vibration map layer in the certain area. The system has the following advantages:
1. the map data can be used as a judging index of road vertical vibration and vertical comfort;
2. the early warning information is provided for the intelligent network-connected automobile to run more timely, and the early warning information can be faster and more accurate through the data transmitted to the intelligent network-connected automobile in the area by the edge cloud data processing analysis center;
3. the municipal administration can timely and accurately grasp road conditions (such as pits, water-pools, section roads and the like), and timely maintain the whole road;
4. the intelligent network-connected automobile driving in the area can be synchronously provided with the edge cloud data processing analysis center data in real time, the road condition in front of a vehicle driver is informed in advance, the situation that a rear automobile drives into a bumpy road section such as a pit under the condition of unknowing is avoided, and the driving comfort and the driving safety of the road are improved.
5. The road information is acquired through the sensor of the intelligent network-connected automobile, so that the cost for the road professional test can be reduced, the time investment of geographic map layer personnel can be reduced, and the timeliness is higher.
Those of ordinary skill in the art will appreciate that: the drawing is a schematic diagram of one embodiment and the modules or flows in the drawing are not necessarily required to practice the invention.
Those of ordinary skill in the art will appreciate that: the modules in the apparatus of the embodiments may be distributed in the apparatus of the embodiments according to the description of the embodiments, or may be located in one or more apparatuses different from the present embodiments with corresponding changes. The modules of the above embodiments may be combined into one module, or may be further split into a plurality of sub-modules.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the 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 scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A road surface monitoring method based on vehicle vibration data, comprising:
The method comprises the steps of obtaining vertical acceleration, vehicle information and calibration pavement information in the running process of a vehicle, wherein the vehicle information comprises a vehicle type, running speed and geographic position, and the calibration pavement information comprises a calibration pavement type corresponding to a current geographic position inquired from a preset pavement working condition database based on the geographic position;
according to the correlation between the vertical acceleration and the vehicle information and the calibration pavement information, determining a correlation parameter of the vertical acceleration of the vehicle, and taking the correlation parameter as a weight coefficient, and carrying out weighted calculation on the vertical acceleration to obtain the comprehensive vertical vibration amplitude of the current geographic position of the current road;
determining whether the pavement of the current road is abnormal according to the comprehensive vertical vibration amplitude and the reference vertical vibration amplitude of the current road;
the determining a correlation parameter of the vertical acceleration of the vehicle according to the correlation of the vertical acceleration, the vehicle information and the calibration road surface information specifically comprises the following steps:
based on the vehicle type of the vehicle, searching for a first correlation parameter corresponding to the vehicle type from a first correspondence of the pre-stored vehicle type and the correlation parameter;
Searching and obtaining a second correlation parameter corresponding to the calibrated pavement type from a second corresponding relation between the pre-stored pavement type and the correlation parameter based on the calibrated pavement type;
based on the suspension parameters of the vehicle, searching for a third correlation parameter corresponding to the suspension parameters of the vehicle from a third corresponding relation between the suspension parameters and the correlation parameters which are stored in advance;
searching for a fourth correlation parameter corresponding to the running speed of the vehicle from fourth corresponding relations between the running speed and the correlation parameters stored in advance based on the running speed of the vehicle;
the step of determining whether the pavement of the current road is abnormal according to the comprehensive vertical vibration amplitude and the reference vertical vibration amplitude of the current road comprises the following steps:
collecting a plurality of comprehensive vertical vibration amplitudes obtained by monitoring in a sampling period, wherein the plurality of comprehensive vertical vibration amplitudes are obtained according to vertical acceleration, vehicle information and calibration pavement information in the running process of a plurality of vehicles passing through the same road section in the sampling period;
extracting characteristic data of each of the plurality of comprehensive vertical vibration amplitudes, and calculating sub-characteristics of the characteristic data in the sampling period, wherein the sub-characteristics comprise one or more of average value, maximum value, minimum value, maximum difference and variance, and the characteristic data comprise one or more of protrusion, peak and oscillation fluctuation;
Matching the sub-features with a pre-established pavement abnormality model, and determining whether the pavement of the current road is abnormal according to a matching result;
the pavement anomaly model is established through the following steps:
presetting a value interval of the sub-feature corresponding to each road surface type, and establishing a road surface abnormal model according to the corresponding relation between the road surface type and the sub-feature.
2. The road surface monitoring method based on vehicle vibration data according to claim 1, wherein the weighting calculation is performed on the vertical acceleration by using the correlation parameter as a weight coefficient to obtain a comprehensive vertical vibration amplitude of the current geographic position of the current road, and the method specifically comprises the following steps:
calculating according to a formula (1) to obtain the comprehensive vertical vibration amplitude of the current geographic position of the current road;
wherein a represents an actual measurement value of the vertical acceleration of the vehicle; tv represents a first correlation parameter determined based on the vehicle type; hr represents a second correlation parameter determined based on the calibrated road surface type; ks represents a third correlation parameter determined based on suspension parameters of the vehicle; vs represents a fourth correlation parameter determined based on the running speed of the vehicle; txi represents the integrated vertical vibration amplitude for the current geographic location of the current road.
3. The road surface monitoring method based on vehicle vibration data according to claim 2, characterized by further comprising: and calibrating each road surface type and establishing a road surface working condition database based on the corresponding relation between the geographic position and the road surface type.
4. The method for monitoring a road surface based on vehicle vibration data according to claim 1, further comprising: if the matching is successful, determining that the pavement of the current road is abnormal.
5. The road surface monitoring method based on vehicle vibration data according to claim 4, further comprising, after determining that there is an abnormality in the road surface of the current road: and determining the abnormal road surface type of the current road according to the matching result.
6. The road surface monitoring method based on vehicle vibration data according to claim 4, further comprising, after determining that there is an abnormality in the road surface of the current road:
and shooting the road surface at the current position by using the camera of the vehicle at the current position at the next moment so as to verify the road surface abnormality by using the road surface image obtained by shooting.
7. The road surface monitoring method based on vehicle vibration data according to claim 4, further comprising, after determining that there is an abnormality in the road surface of the current road: and acquiring coordinate position data corresponding to all positions where the road surface abnormality occurs, and marking the abnormal road surface on a pre-constructed road map based on the coordinate position data.
8. Road condition monitoring device based on vehicle vibration data, characterized by comprising:
the system comprises an acquisition module, a control module and a control module, wherein the acquisition module is configured to acquire vertical acceleration, vehicle information and calibration road surface information in the running process of a vehicle, the vehicle information comprises a vehicle type, running speed and geographic position, and the calibration road surface information comprises a calibration road surface type corresponding to a current geographic position inquired from a preset road surface working condition database based on the geographic position;
the weighting module is configured to determine a correlation parameter of the vertical acceleration of the vehicle according to the correlation of the vertical acceleration, the vehicle information and the calibration pavement information, and take the correlation parameter as a weight coefficient to carry out weighted calculation on the vertical acceleration so as to obtain the comprehensive vertical vibration amplitude of the current geographic position of the current road;
the pavement abnormality determining module is used for determining whether the pavement of the current road is abnormal or not according to the comprehensive vertical vibration amplitude and the reference vertical vibration amplitude of the current road;
the determining a correlation parameter of the vertical acceleration of the vehicle according to the correlation of the vertical acceleration, the vehicle information and the calibration road surface information specifically comprises the following steps:
Based on the vehicle type of the vehicle, searching for a first correlation parameter corresponding to the vehicle type from a first correspondence of the pre-stored vehicle type and the correlation parameter;
searching and obtaining a second correlation parameter corresponding to the calibrated pavement type from a second corresponding relation between the pre-stored pavement type and the correlation parameter based on the calibrated pavement type;
based on the suspension parameters of the vehicle, searching for a third correlation parameter corresponding to the suspension parameters of the vehicle from a third corresponding relation between the suspension parameters and the correlation parameters which are stored in advance;
searching for a fourth correlation parameter corresponding to the running speed of the vehicle from fourth corresponding relations between the running speed and the correlation parameters stored in advance based on the running speed of the vehicle;
the step of determining whether the pavement of the current road is abnormal according to the comprehensive vertical vibration amplitude and the reference vertical vibration amplitude of the current road comprises the following steps:
collecting a plurality of comprehensive vertical vibration amplitudes obtained by monitoring in a sampling period, wherein the plurality of comprehensive vertical vibration amplitudes are obtained according to vertical acceleration, vehicle information and calibration pavement information in the running process of a plurality of vehicles passing through the same road section in the sampling period;
Extracting characteristic data of each of the plurality of comprehensive vertical vibration amplitudes, and calculating sub-characteristics of the characteristic data in the sampling period, wherein the sub-characteristics comprise one or more of average value, maximum value, minimum value, maximum difference and variance, and the characteristic data comprise one or more of protrusion, peak and oscillation fluctuation;
matching the sub-features with a pre-established pavement abnormality model, and determining whether the pavement of the current road is abnormal according to a matching result;
the pavement anomaly model is established through the following steps:
presetting a value interval of the sub-feature corresponding to each road surface type, and establishing a road surface abnormal model according to the corresponding relation between the road surface type and the sub-feature.
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| CN104568483A (en) * | 2014-12-25 | 2015-04-29 | 长安大学 | On-site evaluation method and simulation evaluation method for road and bridge transition section flatness comfort |
| CN109870456A (en) * | 2019-02-01 | 2019-06-11 | 上海智能交通有限公司 | A kind of road surface health status rapid detection system and method |
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