JP2008224459A - Road surface shape measuring apparatus and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an apparatus or method for measuring the shape of a new road surface for travel of a vehicle. <P>SOLUTION: The apparatus or method for measuring the shape of the road surface measures variation of the inclined angle of the road surface or the height of the road surface using a dynamic component acting on the wheel of the vehicle. The road surface shape measuring apparatus has means A-D that, when the vehicle travels on the road surface, detects the rotation speed of the wheel and the moment (torque) of the rotation direction acting from the axle on the wheel and calculates the inclined angle of the road surface based on these values. The road surface shape measuring apparatus has a means F for calculating the variation of the height of the road surface based on the force in the longitudinal direction of the vehicle and the force in the vertical direction of the vehicle when the vehicle acting on the wheel travels. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to an apparatus and method for measuring the shape of a road surface on which a vehicle such as an automobile travels, and more particularly to an apparatus and method for measuring an inclination angle and height of a road surface.

  While a vehicle such as an automobile is running, even on a flat road, the force acting on the wheel or tire from the road surface changes due to unevenness or undulations on the road surface. When the force acting on the wheels changes, not only the vibration of the vehicle body or the suspension in the traveling vehicle, but also the acceleration / deceleration and turning behavior of the vehicle change. Therefore, in the development and research of the vehicle, when inspecting or testing various performances or conditions when the vehicle is traveling, the unevenness or undulation state of the road surface on which the vehicle travels, that is, the inclination angle or high Changes in depth are often referred to. When a vehicle running test is performed with reference to such a road surface state, a change in the inclination angle or height of the road surface used for the test running is measured prior to the vehicle running test.

When measuring the change in the inclination angle or height of the road surface on which the vehicle travels as described above, in the conventional technology, the height of the road surface from a certain reference position is measured along the travel course of the vehicle. Measure directly, or take photos of the road surface along the course one after another at a predetermined distance, and analyze the photo to detect the slope angle of the road surface and the height from a certain reference position. It is done. In addition, a device that irradiates a laser beam toward the road surface and a device that detects the reflected light of the laser beam from the road surface are mounted on the vehicle, and while the vehicle is traveling on the road surface for test driving, An apparatus that measures the shape of the road surface by detecting the relative distance between the vehicle and the road surface using a light triangulation method using light has also been proposed (Patent Document 1).
JP-A-5-126571

  As understood by those skilled in the art, in the case of a method of directly measuring the shape of the road surface or a method of taking a photograph of the road surface and sequentially analyzing it, a large-scale device dedicated to measurement and a relatively long measurement time are required. Will be occupied. Moreover, it takes a relatively long time to analyze the measured data. In the case of the road surface shape measuring device using the optical triangulation method using laser light in Patent Document 1, the road surface shape of the course can be measured only by running the measurement vehicle on the test running course. The accuracy is influenced by the light reflectance of the road surface, or depending on the mounting position of the light emitting part and the light receiving part, a somewhat complicated assumption and calculation processing such as removing the influence of the bounce vibration of the vehicle is required. Yes. If the assumption and calculation process in measurement become complicated, the reliability in the measurement result will be reduced accordingly. Thus, at present, no method or apparatus for measuring the shape of the road surface in a relatively short time and with a relatively simple configuration has been proposed.

  By the way, as described above, the shape of the road surface is measured by considering the influence of the force acting on the wheels or tires of the vehicle from the road surface due to road surface irregularities or undulations on the vehicle travel. This is because it is desired to perform an inspection or test regarding performance. Therefore, it is preferable that the measurement of the shape of the road surface is determined based on a mechanical component acting on the wheel or the tire. Moreover, it is desirable that the equipment or apparatus required for measuring the road surface shape is as inexpensive as possible.

  Thus, one object of the present invention is to provide an apparatus or method for measuring a novel road surface shape.

  Another object of the present invention is to provide an apparatus or method as described above, and an apparatus or method for measuring the shape of a road surface based on a completely different idea from the conventional method.

  In short, according to the present invention, there is provided an apparatus or method for measuring a change in an inclination angle of a road surface or a height of a road surface using a mechanical component acting on a vehicle wheel.

  According to one aspect of the present invention, an apparatus for measuring the shape of a road surface according to the present invention provides a rotational speed of a wheel and a moment in the rotational direction (torque) acting on the wheel from the axle when the vehicle travels on the road surface. And a means for calculating the inclination angle of the road surface based on these values. In such a configuration, the detected value of the rotational speed of the wheel and the moment in the rotational direction acting on the wheel are detected sequentially, preferably continuously, as the vehicle travels, and the inclination angle of the road surface is the travel distance of the vehicle. , That is, measured as a function of the travel distance of the vehicle. For detecting the moment in the rotational direction acting on the wheel from the axle of the wheel, the wheel may be provided with a six-component force meter, and a detection value detected by the six-component force meter may be used.

  When the vehicle travels on the road surface, the wheels roll along the surface of the road surface when looking at the movement of the individual wheels. At that time, since the moment given from the road surface to the wheel depends on the inclination angle of the road surface, information on the inclination angle of the road surface can be obtained by analyzing the balance of the moment in the rotation direction of the rotating wheel. Therefore, in the device of the present invention described above, the road surface inclination angle is calculated by detecting the rotational speed of the wheel and the moment in the rotational direction acting on the wheel and analyzing the detected values.

In the above-described embodiment of the apparatus of the present invention, the rotational force acting on the wheel from the road surface is expressed as a function of the slip ratio of the wheel. Means for calculating the slip ratio of the wheel when traveling on the road may be included, and the inclination angle of the road surface may be calculated based on the slip ratio and the moment in the rotational direction of the wheel. More specifically, for example, from the equation of motion in the rotational direction of the wheel, the slope angle β of the road surface is
cosβ = (My6-I · Ω ′) / (Re · Cκ · κ) (A)
May be calculated as follows. Here, My6 is the rotational moment acting on the wheel from the axle of the wheel, I is the inertial moment in the rotational direction of the wheel, Ω ′ is the rotational angular acceleration of the wheel, and Re is (flat road surface The effective rolling radius of the wheel (during traveling), Cκ is the slip rigidity factor in the front-rear direction of the wheel (the ratio of the force in the front-rear direction acting between the wheel and the road surface (slip force) and the slip ratio), κ is Slip rate.

  In the above-described apparatus of the present invention, in order to measure a change in the height of the road surface, in addition to the means for calculating the inclination angle of the road surface, the vehicle acting on the wheels travels on the road surface. Means may be provided for calculating a change in the height of the road surface based on the force in the longitudinal direction of the vehicle and the force in the vertical direction of the vehicle. As already mentioned, the wheels roll along the road surface while the vehicle is running. Therefore, if the vertical force of the vehicle acting on the wheel is referred to, the vertical displacement of the wheel can be known, and it is possible to measure the change in the height of the road surface (the longitudinal force of the vehicle ( (If the road is flat, the horizontal force) is used because it is easy to calculate the change in the height of the road surface.) As with the slope of the road surface, the change in the height of the road surface may be measured as a function of the vehicle travel distance, and the longitudinal force of the vehicle acting on the wheel from the wheel axle to the wheel. The force in the vertical direction of the vehicle may be a detection value detected by a six-component force meter provided on the wheel.

  In the embodiment, the means for calculating the change in the height of the road surface may calculate the height of the road surface from a predetermined reference position on the road surface. Also, the contribution of the vehicle's longitudinal force acting on the wheels and the vehicle's vertical force to the wheel motion depends on the inclination angle of the road surface, so in calculating the change in the road surface height, The measured road inclination angle may be used. Alternatively, as will be clarified in the description of the “embodiment” described later, the change in the height of the road surface is caused by the slip ratio of the wheel, the force in the longitudinal direction of the vehicle acting on the wheel, and the vertical direction of the vehicle. Therefore, the device according to the present invention uses the slip rate of the wheel, the force in the vehicle front-rear direction and the force in the vertical direction of the vehicle to change the height of the road surface. It may be detected. Further, when calculating the change in the height of the road surface, specifically, for example, the change in the wheel position in the vertical direction of the vehicle, the slip ratio of the wheel or the inclination angle of the road surface and the vehicle front-rear direction acting on the wheel. The change in the height of the road surface may be calculated on the basis of the amount of deflection in the radial direction of the wheel (or tire) calculated based on the force of the vehicle and the force in the vertical direction of the vehicle.

  Thus, a novel method for measuring the shape of the road surface can be executed by using the road surface shape measuring apparatus of the present invention. Therefore, according to another aspect of the present invention, there is provided a method for measuring the shape of a road surface according to the present invention, the process of providing a six-component force meter on a vehicle wheel, the process of traveling the vehicle, and the traveling of the vehicle A process of calculating a “road surface inclination angle” based on a rotational speed of a wheel detected by a six-component force meter and a moment in a rotational direction acting on the wheel from a vehicle wheel shaft. A method is provided. In this method, the height of the road surface is further determined based on the longitudinal force of the vehicle and the longitudinal force of the vehicle acting on the wheels detected by the six-component force meter while the vehicle is traveling. A process of calculating the change may be included.

  In the road surface shape measuring apparatus or method of the present invention described above, it should be understood that a change in the inclination angle of the road surface or the height of the road surface causes a moment and / or force acting on the wheels during the traveling of the vehicle. Therefore, the measured value is a value that represents the shape of the road surface that significantly affects the mechanical components acting on the wheels in the running test of the vehicle. For example, in the case of a road surface shape measuring device using an optical triangulation method using laser light, the shape of the road surface can be measured just by running a test vehicle, as in the device of the present invention. If there is dirt or dust with high reflectivity on the road surface, it will be reflected in the measurement result as the shape of the road surface even if it does not affect the running of the vehicle (for example, dead garbage, soft garbage such as vinyl dust). Thus, errors can occur. However, according to the apparatus of the present invention, the road surface unevenness or the undulation shape that dynamically affects the travel of the vehicle is detected, so that a vehicle travel test or the like can be executed satisfactorily. Furthermore, according to the present invention, since the shape of the road surface can be measured by running the vehicle, the road surface shape is measured simultaneously with running the vehicle on the evaluation target road surface and evaluating the performance of the vehicle. Thus, the time and cost required for evaluating the performance of the vehicle can be reduced. Of course, the road surface shape data once measured may be used for a vehicle running test or performance prediction to be performed later.

  It should also be noted that the detection of the mechanical component acting on the wheel for road surface shape measurement according to the present invention is a six component force which is relatively easily available in this field (for example, commercially available). It may be performed using a meter. Therefore, in that case, the development cost or time of the device for measuring the road surface shape can be kept low, which is very advantageous. As will be understood from the description of the embodiment below, in the measurement of the change in the inclination angle or height of the road surface according to the present invention, not all parameters that can be detected by the six-component force meter are used. In practice, any device other than the six-component force meter can be used as long as it can detect a mechanical component necessary for measuring the change in the inclination angle or height of the road surface. It should be understood that such a case also belongs to the scope of the present invention.

  Other objects and advantages of the present invention will be in part apparent and pointed out hereinafter.

  The present invention will now be described in detail with reference to a few preferred embodiments with reference to the accompanying drawings. In the figure, the same reference numerals indicate the same parts.

Principle of road surface shape measurement In the road surface shape measurement device of the present invention, as shown in FIG. 1A, a vehicle 1 is placed on a road surface (evaluation target road surface) on which a change in inclination angle or height is to be measured. , And the moment, force, etc. acting on the vehicle wheel 2 are measured together with the travel distance s, and the road surface inclination angle β (s) and height w (s) are calculated corresponding to the travel distance s. . The travel distance s is based on the speed V _x0 at the measurement start point (reference position) in FIG. 1A and the change in vehicle speed x _G ′ after the start of travel on the evaluation target road surface.
s = V _x0 · t + ∫x _G ′ · dt (1)
Given by. Here, t is the time after the start of measurement, and s = L at the time t = T at the end of the evaluation. The integration interval of the second term of the equation (1) is [0, t], and t = 0 when the vehicle starts to travel on the target road surface L. The inclination angle β (s) is the inclination angle at the point s on the road surface measured from the horizontal direction, and the height w (s) is at the measurement start point (reference position) in FIG. This is the height from the reference position at the point s where the height of the road surface is w = 0. (In the following, the notation of (s) is omitted for simplicity.)

Calculation of Inclination Angle β (s) FIG. 1B is a schematic diagram of the state when the center C of the wheel is at the point s, and shows the relationship of the mechanical components acting on the wheel. Referring to the figure, first, the equation of motion in the rotational direction of the wheel when the road surface has an inclination angle β (−π / 2 to π / 2) is expressed as follows.
IΩ ′ = My6-F _T · R _T (2)
In this case, I is the moment of inertia of the wheel, Omega' the rotation angular acceleration of the wheels, My6 is moment acting on the wheel from the axle, F _T, the rotation direction of the force acting on the wheel from the road surface, i.e. , road longitudinal force parallel to that acting on the wheel (slip force), R _T is the moment arm length by the force F _T acting on the wheel from the road surface. In the equation (2), the force F _T acting on the wheel, the slip ratio of the wheel kappa,
F _T = Cκ · κ (3)
Given by. Here, Cκ is a slip stiffness coefficient (rigidity factor) of the wheel.

Moment arm length R _T by the force F _T acting on the wheel from the road surface is a wheel (or tire) of the effective rolling radius (dynamic radius), the speed Vw _T at the contact surface with the road surface of the wheel and the rotational speed Ω By
R _T = Vw _T / Ω (4a)
Given by. At the road surface inclination angle β, as shown in the drawing, the speed Vw _T at the contact surface of the wheel with the road surface is Vw · cos β (Vw is the speed of the vehicle in the front-rear direction of the vehicle).
R _T = Vw · cos β / Ω (4b)
It becomes. Here, since the effective rolling radius Re of the wheel on a flat road (β = 0) is given by Re = Vw / Ω (see FIG. 1C), when the road surface inclination angle is β,
R _T = Re · cos β (4c)
Given by.

Thus, using the above formulas (2), (3), and (4c), the slope angle β of the road surface is
cosβ = (My6-I · Ω ′) / (Re · Cκ · κ) (6a)
Or
β = ± cos ⁻¹ ((My6-I · Ω ′) / (Re · Cκ · κ)) (6b)
And given. Here, when the acceleration z _m ″ in the vertical direction of the wheel is z _m ″> 0 (when climbing), + is selected, and when z _m ″ <0 (when descending), − In the above formulas (6a) and (6b), My6, Ω ′, and κ are calculated from the amounts (or detected values) detected while the vehicle is running, as will be described later. Since I, Re, and Cκ are experimentally or theoretically given amounts in advance, the road surface inclination angle β is calculated corresponding to the travel distance s ( Since the slip ratio κ is a function of the rotational speed of the wheel, the inclination angle is calculated based on the rotational speed of the wheel.

Detection of road surface height w (s) Further, referring to FIG. 1B, equations of motion in the longitudinal direction (translation direction) and vertical direction of the wheel are given as follows.
_{m · x m "= -Fx6 +} F T · cosβ-F N · sinβ ... (7a)
_{m · z m "= -Fz6 +} F T · sinβ-F N · cosβ ... (7b)
In _{here, m, x m ", z} m" are each, mass of the wheel, an acceleration in the longitudinal direction and the vertical direction, F _N is the action for the wheel from the road surface in a direction perpendicular to the road surface It is power to do. Already a β angle of inclination of the road surface, the force F _T in the direction parallel to the road surface is calculated, m is an amount capable preliminarily measured as the value of x m _", z _m" is described later, the vehicle because it is the amount detected during the traveling, by using the formula (7a) or (7b), the value of F _N can be calculated. For example, F _N · sin β is calculated from the equation (7a), and F _N · cos β is calculated from the equation (7b).
F _N = {(F _N · cos β) ² + (F _N · sin β) ² } ^1/2 (8)
By, _{F N} may be calculated.

By the way, since F _N can be considered as an elastic force that is a function of the amount of deflection of the wheel or tire, F _N = C _N · (δ + δ ₀ ) (9) using the spring constant C _N in the vertical direction.
It can be expressed as. Here, δ ₀ is the amount of deflection on the flat road (see FIG. 1C), and δ is the increment of the amount of deflection from δ ₀ at the point s. Already, the value of F _N, since it has been found that can be determined from the relationship of the equation of motion of Equation (7), [delta] when the wheel is in the point s,
δ = F _N / C _N −δ ₀ (10)
Given by.

For the height w of the road surface, refer to FIG.
w = Zm-Rs (11)
Given by. Here, Zm is the height of the center of the wheel at the point s (from the road surface position of the reference position), and Rs is the distance from the road surface of the point s to the center of the wheel. Zm is obtained by integrating the acceleration z _m ″ in the vertical direction of the center of the wheel from the start of traveling on the evaluation target road surface of the vehicle, that is,
Zm = ∫∫z _m ″ · dt · dt (12)
Given by. On the other hand, Rs uses the radius Rh of the wheel when the wheel is on a flat road (see FIG. 1C),
Rs = (Rh−δ) / cosβ (13)
(When | β | << 1, cos β = 1 may be set). Here, Rh is an amount that can be experimentally measured in advance, and δ is given by the equation (10). Therefore, the height of the road surface at the point s is calculated using the equations (11) to (13). w can be measured.

Incidentally, in the calculation of the above F _N, the inclination angle beta, is used a value obtained based on the equation of motion of the rotational direction, wherein (7a, b) In, F _T of the wheel since than the slip ratio is given by using equation (3), from the two equations of formula (7a, b), the inclination angle β and the F _N may be calculated. Further, F _T is given by the equation (3), since given than the inclination angle beta, F _N may be calculated using only one of the formula (7a) or (7b).

Diagram 2 of the apparatus is a representation of a preferred embodiment structure of the road surface shape measuring apparatus of the present invention mounted on a vehicle 1 for any test in block diagram form. Referring to the figure, an arithmetic processing unit 50 that calculates the inclination angle of the road surface and the height of the road surface (from the reference position) is mounted on the axle of the wheel 2 of the vehicle and acts on the wheel 2 from the axle. A six-component force meter 10 for detecting front-rear and vertical forces and moments in the rotational direction of the wheel, and a wheel mounted on an arbitrary part (the side closer to the wheel than the suspension) that supports the axle of the wheel 2 A longitudinal acceleration sensor 12 for detecting the longitudinal acceleration x _m ″ of the vehicle, a vertical acceleration sensor 14 for detecting the vertical acceleration z _m ″ of the vertical direction of the wheel 2, and a ground speed for measuring the ground speed in the longitudinal direction of the vehicle. total of 16, each of the signal from the accelerometer 18 to measure acceleration x _{G "longitudinal} direction of the vehicle is input. in addition, a series of sensors or detection instruments described above, any sensor that is commercially available or detected meter In addition, as shown, signals from each sensor or detection instrument are preferably appropriately input to the high-pass filter HF (particularly, the signal after the signal is input to the arithmetic processing unit 50). The cutoff frequency is, for example, 0.1 Hz or less) and a low-pass filter LF (particularly, when the signal is differentiated later. The cutoff frequency is, for example, 50 Hz or more). Although not shown, the arithmetic processing unit 50 may include a microcomputer having a CPU, a ROM, a RAM, and an input / output port device which are connected to each other by a bidirectional common bus.

Device operation (method of measuring the shape of the road surface)
When measuring the shape of the road surface after installing the six component force meter 10 and other sensors or detection instruments on the wheels of the vehicle or any other part and mounting the arithmetic processing unit 50 on the vehicle, While the vehicle is traveling on the evaluation target road surface (FIG. 1 (A)), the mechanical components acting on the wheels and the speed or acceleration of the vehicle are measured as follows.

First, when starting the measurement of the road surface shape, Vxo is recorded as the vehicle speed at that time at the start point of the evaluation target road surface. Then, as the vehicle travels, the travel distance s of the vehicle is measured according to the equation (1). Note that the vehicle speed change amount x _G ′ is obtained by integrating the vehicle longitudinal acceleration x _G ″, which is an output signal of the accelerometer 18 provided in the vehicle body, from when the wheel 2 is on the starting point of the evaluation target road surface. Alternatively, the travel distance s may be given by sequentially integrating the output of the ground speed meter.

Simultaneously with the measurement of the travel distance s, the inclination angle β (s) of the road surface and the height w (s) of the road surface are calculated in the arithmetic processing unit 50. FIG. 3 shows the flow of arithmetic processing executed in the arithmetic processing device 50. In the figure, first, referring to the part marked with region A in the figure, the slip ratio κ of the wheel is
κ = (Re · Ω−Vw) / Vw (14)
May be calculated by: The forward speed Vw of the wheel is
_{Vw = V x0 + x m '} ... (14a)
May be given by x _m ′ is the speed change in the longitudinal direction of the wheel, and is given by integrating the longitudinal acceleration x _m ″ of the longitudinal acceleration sensor 12 of the wheel from when the wheel 2 is on the starting point of the evaluation target road surface. In addition, in the wheel speed Re · Ω in the calculation of the slip ratio in the equation (14), the dynamic radius of the wheel is strictly given as the equation (4c). A moving radius on a flat road may be used.

Thus, when the slip ratio κ is obtained, the slip force _FT is given using the equation (3). On the other hand, as shown in region B, from the equation of motion in the rotational direction of equation (2) and equation (4c),
_{F T · cosβ = (My6-} IΩ') / Re
Because There is calculated, and this value, with a slip force F _T, cos .beta is calculated (divider C), thereby, the value of the tilt angle β of the positive and negative road vertical acceleration is calculated ( See function calculator D. ArccosX [value range: 0 to π / 2] is multiplied by z _m ″ / | z _m ″ | (+1 when climbing, and -1 when descending). As for My6, the detection value of the six component force meter 10 is used. As the rotational angular acceleration Ω ′ of the wheel, a value obtained by differentiating the angular velocity Ω which is one of the outputs of the six-component force meter may be used. The moment of inertia I and the moving radius Re of the wheel on a flat road are given in advance by experiments or the like. Also, the F T _· cos .beta, A F _T · sin .beta obtained from the above and the slip force F _T is calculated as beta (function calculator E), as follows, are used to detect the height of the road surface Good (see * in the figure).

In the calculation of the road surface height w, as shown in the region F, from the relationship of the equations (7a) and (7b),
_{F T · cosβ-F N ·} sinβ = m · x m "+ Fx6
_{F T · sinβ-F N ·} cosβ = m · z m "+ Fz6
Values are calculated, further, by using the above _F T · cos .beta and _F T · sin .beta, term including _{F T} is erased. Thereafter, the used expression (8) is being calculated value of _{F N} is (function calculator G), further, the formula (9) - (13) is used, w (s) is calculated The In such a series of operations, FX6, FZ6 is detected values from the six-component force meter 10 are used, _{x m} "and _{z m"} are each, longitudinal acceleration sensor 12 and the detection of the vertical acceleration sensor 14 A value is used.

  Thus, the obtained inclination angle β and height w may be arbitrarily recorded in a storage device or the like in association with the travel distance s at that time. The series of calculations described above are repeatedly executed sequentially while the vehicle travels on the evaluation target road surface until the vehicle 1 reaches the end point L of the evaluation target road surface.

  Although the present invention has been described in detail with reference to specific embodiments, the present invention is not limited to the above-described embodiments, and various other embodiments are possible within the scope of the present invention. It will be apparent to those skilled in the art.

  For example, the flow of the calculation process illustrated in FIG. 3 is merely an example of the calculation process of the road surface inclination angle β and the height w, and is based on the motion equations (2), (7a), and (7b). It should be understood by those skilled in the art that the operation order may be changed, and such a case also falls within the scope of the present invention.

In the above calculation process, when calculating the slip ratio, the radius in the case of a flat road is approximately used as the moving radius of the wheel, but it is calculated in consideration of the inclination angle of the road surface. May be. In that case, the slip rate is
κ = (Re · Ω · cos β−Vw) / Vw
Therefore, the exact solution of cosβ may be calculated by substituting this into the equation (6a).

FIG. 1A schematically shows a state in which a vehicle equipped with a road surface shape measuring apparatus according to a preferred embodiment of the present invention is run on an evaluation target road surface and the road surface shape is measured. FIG. 1B is a schematic diagram of a wheel or a tire when the road surface has an inclination angle β, and shows a mechanical component acting on the wheel. FIG. 1C is a schematic diagram in a state where the wheel is on a flat road (β = 0), and parameters used for the calculation are shown. FIG. 2 is a schematic diagram of the configuration of the road surface shape measuring apparatus of the present invention. FIG. 3 shows the flow of calculation processing of the road surface shape measuring apparatus of the present invention.

Explanation of symbols

1 ... Vehicle 2 ... Wheel

Claims (14)

  An apparatus for measuring the shape of a road surface, comprising means for calculating an inclination angle of the road surface based on a rotational speed of a wheel when the vehicle travels on the road surface and a moment in a rotational direction acting on the wheel. A device characterized by that.   2. The apparatus according to claim 1, wherein the means for calculating the inclination angle of the road surface includes means for calculating a slip ratio of the wheel when the vehicle travels on the road surface. An apparatus for calculating an inclination angle of the road surface based on a moment in a rotation direction. 3. The apparatus according to claim 2, wherein an inclination angle β of the road surface includes a rotational moment Mo6 acting on the wheel from an axle of the wheel, an inertia moment I in the rotational direction of the wheel, and a rotational angle of the wheel. From the acceleration Ω ′, the effective rolling radius Re of the wheel, the slip rigidity Cκ in the front-rear direction of the wheel, and the slip rate κ, the expression cosβ = (My6-I · Ω ′) / (Re · Cκ · κ)
A device characterized by being calculated by:   2. The apparatus of claim 1, wherein the slope of the road surface is measured as a function of the distance traveled by the vehicle.   The apparatus according to claim 1, wherein a moment in a rotational direction acting on the wheel from an axle of the wheel is a detection value detected by a six-component force meter provided on the wheel.   The apparatus according to claim 1, further comprising: based on a longitudinal force of the vehicle and a vertical force of the vehicle when the vehicle acting on the wheels travels on the road surface. An apparatus comprising means for calculating a change in height.   7. The apparatus according to claim 6, wherein the means for calculating a change in the height of the road surface calculates the height of the road surface from a predetermined reference position on the road surface.   7. The apparatus according to claim 6, wherein the means for calculating the change in the height of the road surface includes an inclination angle of the road surface, a longitudinal force of the vehicle acting on the wheels, and a vertical force of the vehicle. And calculating a change in the height of the road surface.   7. The apparatus according to claim 6, wherein the means for calculating a change in the height of the road surface includes a slip ratio of the wheel, a longitudinal force of the vehicle acting on the wheel, and a vertical force of the vehicle. And calculating a change in the height of the road surface.   7. The apparatus according to claim 6, wherein means for calculating a change in the height of the road surface includes a change in a position of the wheel in a vertical direction of the vehicle, a slip ratio of the wheel or an inclination angle of the road surface, and the wheel. The change in the height of the road surface is calculated based on the amount of deflection in the radial direction of the wheel calculated based on the longitudinal force of the vehicle acting on the vehicle and the vertical force of the vehicle. Equipment.   7. The apparatus of claim 6, wherein a change in the height of the road surface is measured as a function of travel distance of the vehicle.   7. The apparatus according to claim 6, wherein a force in the longitudinal direction of the vehicle and a force in the vertical direction of the vehicle acting on the wheel from an axle of the wheel are detected by a six-component force meter provided on the wheel. A device characterized by a value. A method for measuring the shape of a road surface,
The process of providing a six-component force meter on the wheels of the vehicle;
Running the vehicle;
A process of calculating an inclination angle of the road surface based on a rotational speed of the wheel detected by the six-component force meter during traveling of the vehicle and a rotational moment acting on the wheel from a wheel shaft of the vehicle. And a method comprising:   13. The method of claim 12, further based on a longitudinal force and a vertical force of the vehicle acting on the wheels detected by the six-component force meter while the vehicle is traveling. And calculating a change in the height of the road surface.

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