JP5226437B2 - Road surface flatness measuring device - Google Patents

Description

  The present invention relates to a road surface flatness measuring apparatus, and more particularly, to an IRI that travels at a traveling speed based on an IRI (International Roughness Index), using a road surface displacement measured by a test vehicle (a vehicle that performs measurement on an actual road surface). The present invention relates to a road surface flatness measuring apparatus that calculates IRI every moment using a response as a simulation result when applied to a compliant reference vehicle.

At present, the international roughness index (IRI: International Roughness Index: m / km) proposed by the World Bank has been used internationally, and it is said that the correlation with the ride comfort is also good. For example, attention is paid to the relationship between the longitudinal profile of the road surface and the ride comfort, and it is said that the IRI ride comfort is related by performing a ride comfort evaluation test on the applicability of the IRI on the expressway road surface. In addition, there are places where businesses that manage roads consider highway management by IRI, and a measuring device that easily obtains IRI is desired. Furthermore, IRI is introduced as a riding comfort evaluation index in the concrete pavement specification.
In the conventional road surface flatness measuring device, as a method of calculating the cumulative fluctuation displacement of the suspension per unit distance according to IRI, the characteristics of the test vehicle in the frequency domain are corrected, and the input frequency component is corrected by the difference in traveling speed. ing. For this reason, if a certain amount of data is not accumulated, the frequency component of the acceleration waveform cannot be obtained by Fourier transform, and the test vehicle has a substantially constant traveling speed within the measurement section length for calculating IRI. Was forced to maintain.

  For example, when driving on a road surface with a wave of 1 m on the surface at a speed of 80 km / hr (80000 m / hr), the displacement input for the wave of 1 m on the test vehicle is given by the following equation (30). According to the above, it acts 22.2 times per second, but when traveling at 40 km / hr (40000 m / hr), the following equation (31) is obtained. According to this, the function is 11.1 times per second, and the same vibration characteristics are tested. The impact on the car will be different. For this reason, it is necessary to correct the above-described frequency component.

このような従来のＩＲＩ算出手法に基づく路面平坦性測定装置としては、例えば、特開２００５−３１５６７５号公報に開示されたものがある（特許文献１参照。）。

As a road surface flatness measuring apparatus based on such a conventional IRI calculation method, for example, there is one disclosed in JP-A-2005-315675 (see Patent Document 1).

"JP 2005-315675 A"

However, in the road surface flatness measuring apparatus adopting the conventional IRI calculation method described in the above background art, as described above, if a certain amount of measurement data is not accumulated, the frequency component of the acceleration waveform is Fourier transformed. Thus, there is a problem that it is necessary to maintain a substantially constant traveling speed within the measurement section length for calculating the IRI.
Therefore, one problem to be solved when developing the road surface flatness measuring device is to easily cope with the change in the traveling speed of the test vehicle within the predetermined measurement section length in the IRI calculation, The purpose was to enable more accurate measurement.
In other words, it is necessary to be able to process the acceleration data acquired every moment on the time axis, and to solve the problem of removing the frequency component of the wheel speed of the test vehicle included in the acceleration data. There was a need.
Further, another problem to be solved by the present invention is that even if the test vehicle has a nonlinear characteristic such that the damping constant of the suspension changes depending on the frequency, more accurate measurement can be performed. Was to do. This is because, in such a measurement vehicle, even if the road surface shape is the same, the response acceleration of the vehicle may change depending on the vehicle speed of the test vehicle. It has been an issue to be able to change the value of the vibration parameter of the measurement vehicle according to the running speed from moment to moment by processing.

The present invention has been made in view of the above-described conventional problems, and can cope with changes in the traveling speed of a vehicle (test vehicle) measured within a predetermined measurement section length in IRI calculation. It is an object of the present invention to provide a road surface flatness measuring apparatus that makes it possible to make a more accurate measurement by making it possible to make speed correction every time a speed change.
Another object of the present invention is that even if the test vehicle has non-linear characteristics such that the damping constant of the suspension changes depending on the frequency, this enables road surface flatness that enables more accurate measurement. It is in providing a sex measuring device.

In order to achieve the above-described object, a road surface flatness measuring apparatus according to the first aspect of the present invention includes a first detection position located on the axle side of a test vehicle supported by a suspension or a spring, or a lower portion of the suspension, and A road surface flatness measuring device that calculates an IRI (International Roughness Index) based on acceleration or velocity data of the first detection position among the second detection positions located on the vehicle body side or the suspension upper side of the test vehicle. In
A first detector for detecting vertical acceleration or velocity perpendicular to the axle direction at the first detection position;
Traveling speed detecting means for detecting the traveling speed of the test vehicle;
Means for taking in the acceleration or speed of the first detection position detected by the first detector and the traveling speed detected by the traveling speed detecting means at predetermined time intervals;
Processing means for determining the IRI based on the captured acceleration or velocity of the first detection position;
Storage means for recording measurement data detected by the traveling speed detection means and the first detector, and storing various data read by the processing means;
With
The storage means
When the test car expressed by a quarter car model is called a measurement car, the acceleration or velocity of the first detection position of the vibration system generated by road surface displacement input given to the vibration system of the measurement car or the Means for storing a first impulse response function indicating a time domain relationship between a vibration response relating to a displacement corresponding to an acceleration or the velocity and the road surface displacement input;
When a quarter car model having a quarter car parameter used for calculating the IRI is referred to as a reference car, the road surface displacement input given to the vibration system of the reference car and the vibration system generated by the road surface displacement input Means for storing a second impulse response function indicating a relationship in a time domain with an acceleration or velocity of one detection position or a vibration response relating to a displacement corresponding to the acceleration or the velocity;
The road surface displacement input given to the vibration system of the reference vehicle, and the vibration response related to the acceleration or velocity of the second detection position of the vibration system caused by the road surface displacement input or the displacement corresponding to the acceleration or the velocity. Means for storing a third impulse response function indicative of a time domain relationship;
Including
The processor is
A predetermined fixed time interval for executing a process of taking in the acceleration or the speed detected by the first detector and the travel speed detected by the travel speed detection means, and the travel speed detection means detect Means for determining the travel distance every predetermined time interval from the travel speed;
The road surface for each mileage interval based on the first impulse response function stored in the storage means, the acceleration or the velocity detected by the first detector or the displacement corresponding to the acceleration or the velocity. Means to obtain momentary displacement input,
Means for momentarily converting the travel distance interval into each time interval when traveling at the reference speed of the IRI calculation;
Based on the second impulse response function stored in the storage means, the road surface displacement input for each predetermined time interval converted to a time interval when traveling at the reference speed of the IRI calculation is used. Means for obtaining momentarily as acceleration, velocity or displacement of one detection position;
Based on the third impulse response function stored in the storage means, the road surface displacement input for each predetermined time interval converted to a time interval when traveling at the reference speed of the IRI calculation is used. Means for obtaining momentarily as acceleration, velocity or displacement of the two detection positions;
From the first detection position and the acceleration, velocity or displacement of the second detection position determined by the second and third impulse response functions, the first detection position and the second detection position A means for obtaining a cumulative value for each predetermined measurement road section length from moment to moment for a change in relative displacement;
Based on a ratio between a cumulative value for each predetermined measurement section length of a change in the relative displacement between the first detection position and the second detection position and the predetermined measurement road section length, the predetermined Means for obtaining the IRI for each measurement section length of
It is characterized by comprising.

According to a second aspect of the present invention, there is provided the road surface flatness measuring apparatus according to the first aspect of the present invention, the first detection position and the vehicle body side of the test vehicle, In the road surface flatness measuring apparatus that calculates IRI (International Roughness Index) based on acceleration or velocity data of the second detection position among the second detection positions located on the suspension upper side,
A second detector for detecting vertical acceleration or velocity perpendicular to the axle direction at the second detection position;
Traveling speed detecting means for detecting the traveling speed of the test vehicle;
Means for taking in the acceleration or speed of the second detection position detected by the second detector and the traveling speed detected by the traveling speed detecting means at predetermined time intervals;
Processing means for determining the IRI based on the captured acceleration or velocity of the second detection position;
Storage means for recording measurement data detected by the traveling speed detection means and the second detector, and for recording various data read by the processing means;
With
The storage means
When the test car expressed by a quarter car model is called a measurement car, the acceleration or velocity of the second detection position of the vibration system generated by road surface displacement input given to the vibration system of the measurement car or the Means for storing a fourth impulse response function indicating a time domain relationship between a vibration response relating to a displacement corresponding to acceleration or the speed and the road surface displacement input;
When a quarter car model having a quarter car parameter used for calculating the IRI is referred to as a reference car, the road surface displacement input given to the vibration system of the reference car and the vibration system generated by the road surface displacement input Means for storing a second impulse response function indicating a relationship in a time domain with an acceleration or velocity of one detection position or a vibration response relating to a displacement corresponding to the acceleration or the velocity;
The road surface displacement input given to the vibration system of the reference vehicle, and the vibration response related to the acceleration or velocity of the second detection position of the vibration system caused by the road surface displacement input or the displacement corresponding to the acceleration or the velocity. Means for storing a third impulse response function indicative of a time domain relationship;
The processor is
A predetermined fixed time interval for executing a process of taking in the acceleration or the speed detected by the second detector and the traveling speed detected by the traveling speed detecting means, and the traveling speed detecting means detects Means for determining the travel distance every predetermined time interval from the travel speed;
The acceleration detected by the second detector or the velocity or the displacement corresponding to the acceleration or the velocity based on the fourth impulse response function stored in the storage means for each travel distance interval Means to obtain momentary displacement input,
Means for momentarily converting the travel distance interval into each time interval when traveling at a reference speed of IRI calculation;
Based on the second impulse response function stored in the storage means, the road surface displacement input for each predetermined time interval converted to a time interval when traveling at the reference speed of the IRI calculation is used. Means for obtaining momentarily as acceleration, velocity or displacement of one detection position;
Based on the third impulse response function stored in the storage means, the road surface displacement input for each predetermined time interval converted to a time interval when traveling at the reference speed of the IRI calculation is used. Means for obtaining momentarily as acceleration, velocity or displacement of the two detection positions;
From the first detection position and the acceleration, velocity or displacement of the second detection position determined by the second and third impulse response functions, the first detection position and the second detection position A means for obtaining a cumulative value for each predetermined measurement road section length from moment to moment for a change in relative displacement;
Based on a ratio between a cumulative value for each predetermined measurement section length of a change in the relative displacement between the first detection position and the second detection position and the predetermined measurement road section length, the predetermined Means for obtaining the IRI for each measurement section length of
It is characterized by comprising.

According to a third aspect of the present invention, there is provided the road surface flatness measuring apparatus according to the first aspect of the present invention, the first detection position located at the axle side of the test vehicle supported by the suspension or the spring, or the lower portion of the suspension, and the vehicle body side of the test vehicle. In the road surface flatness measuring apparatus for calculating IRI (International Roughness Index) based on acceleration or speed data of the second detection position located above the suspension,
A first detector for detecting vertical acceleration or velocity perpendicular to the axle direction at the first detection position;
A second detector for detecting vertical acceleration or velocity perpendicular to the axle direction at the second detection position;
Traveling speed detecting means for detecting the traveling speed of the test vehicle;
Means for taking in accelerations or speeds of the first and second detection positions detected by the first and second detectors and a traveling speed detected by the traveling speed detecting means at predetermined constant time intervals. When,
Processing means for determining the IRI based on the captured accelerations or velocities of the first and second detection positions;
Storage means for storing measurement data detected by the traveling speed detection means and the first and second detectors, and storing various data read by the processing means;
With
The storage means
When the test car expressed by a quarter car model is called a measurement car, the acceleration or velocity of the first detection position of the vibration system generated by road surface displacement input given to the vibration system of the measurement car or the Means for storing a first impulse response function indicating a time domain relationship between a vibration response relating to a displacement corresponding to an acceleration or the velocity and the road surface displacement input;
Vibration response related to acceleration or velocity of the second detection position of the vibration system generated by the road surface displacement input given to the vibration system of the test vehicle, or displacement corresponding to the acceleration or the velocity, and the road surface displacement input Means for storing a fourth impulse response function indicating the relationship in time domain with
When a quarter car model having a quarter car parameter used for calculating the IRI is called a reference car, the road surface displacement input given to the vibration system of the reference car, and the first of the vibration system generated by the road surface displacement input Means for storing a second impulse response function indicating a time domain relationship with an acceleration or velocity of the detected position or a vibration response relating to a displacement corresponding to the acceleration or the velocity;
The road surface displacement input given to the vibration system of the reference vehicle, and the vibration response related to the acceleration or velocity of the second detection position of the vibration system caused by the road surface displacement input or the displacement corresponding to the acceleration or the velocity. Means for storing a third impulse response function indicative of a time domain relationship;
Including
The processor is
A predetermined fixed time interval for executing a process of taking in the acceleration or the speed detected by the first detector and the travel speed detected by the travel speed detection means, and the travel speed detection means detect Means for determining the travel distance every predetermined time interval from the travel speed;
The road surface for each mileage interval based on the first impulse response function stored in the storage means, the acceleration or the velocity detected by the first detector or the displacement corresponding to the acceleration or the velocity. Means to obtain momentary displacement input,
The acceleration detected by the second detector or the velocity or the displacement corresponding to the acceleration or the velocity based on the fourth impulse response function stored in the storage means for each travel distance interval Means to obtain momentary displacement input,
A road surface displacement input for each travel distance interval determined from the acceleration or the speed detected by the first detector or a displacement corresponding to the acceleration or the speed;
Means for constantly obtaining an average road surface displacement input with the road surface displacement input for each travel distance interval obtained from the acceleration or the speed detected by the second detector or the acceleration or a displacement corresponding to the speed;
Means for momentarily converting the travel distance interval into a time interval when traveling at the reference speed of the IRI calculation;
The road surface displacement input obtained as an average of the road surface displacement input for each predetermined time interval converted into the time interval when traveling at the reference speed of the IRI calculation is stored in the storage means. Means for obtaining the acceleration, velocity or displacement of the first detection position from time to time based on the impulse response function of 2;
The road surface displacement input as a result of averaging the road surface displacement input for each of the predetermined time intervals converted into the time interval when traveling at the reference speed of the IRI calculation is the third force stored in the storage means. Means for obtaining momentarily as acceleration, velocity or displacement of the second detection position based on a product response function;
From the first detection position and the acceleration, velocity or displacement of the second detection position determined by the second and third impulse response functions, the first detection position and the second detection position A means for obtaining a cumulative value for each predetermined measurement road section length from moment to moment for a change in relative displacement;
Based on the ratio between the accumulated value for each predetermined measurement section length of the change in the relative displacement between the first detection position and the second detection position and the predetermined measurement road section length. Means for determining the IRI for each measured measurement section length;
It is characterized by comprising.

Further, the road surface flatness measuring device according to the invention described in claim 4 is a means for obtaining the number of revolutions per unit time of the wheel based on the traveling speed of the test vehicle detected by the traveling speed detecting means;
From the acceleration or velocity detected by the first detector and / or the second detector or the frequency component included in the displacement corresponding to the acceleration or the velocity, it is calculated by the reciprocal of the rotation cycle of the wheel. Means for removing only frequency components existing in the vicinity of a frequency that is an integral multiple of the frequency;
Is further provided.
Furthermore, the road surface flatness measuring apparatus according to the invention described in claim 5 is the first impulse response function and / or the fourth impulse response function in a vibration system simulating a quarter car of the test vehicle. The vibration parameter is further provided with means for changing the vibration parameter based on the traveling speed of the test vehicle detected by the traveling speed detecting means.

According to the road surface flatness measuring apparatus according to claim 1 of the present invention, the first detection position located at the axle side of the test vehicle supported by the suspension or the spring or the lower portion of the suspension and the vehicle body side of the test vehicle or the In a road surface flatness measuring apparatus that calculates IRI (International Roughness Index) based on acceleration or velocity data of the first detection position among the second detection positions located on the suspension upper side,
A first detector for detecting vertical acceleration or velocity perpendicular to the axle direction at the first detection position;
Traveling speed detecting means for detecting the traveling speed of the test vehicle;
Means for taking in the acceleration or speed of the first detection position detected by the first detector and the traveling speed detected by the traveling speed detecting means at predetermined time intervals;
Processing means for determining the IRI based on the captured acceleration or velocity of the first detection position;
Storage means for recording measurement data detected by the traveling speed detection means and the first detector, and storing various data read by the processing means;
With
The storage means
When the test car expressed by a quarter car model is called a measurement car, the acceleration or velocity of the first detection position of the vibration system generated by road surface displacement input given to the vibration system of the measurement car or the Means for storing a first impulse response function indicating a time domain relationship between a vibration response relating to a displacement corresponding to an acceleration or the velocity and the road surface displacement input;
When a quarter car model having a quarter car parameter used for calculating the IRI is referred to as a reference car, the road surface displacement input given to the vibration system of the reference car and the vibration system generated by the road surface displacement input Means for storing a second impulse response function indicating a relationship in a time domain with an acceleration or velocity of one detection position or a vibration response relating to a displacement corresponding to the acceleration or the velocity;
The road surface displacement input given to the vibration system of the reference vehicle, and the vibration response related to the acceleration or velocity of the second detection position of the vibration system caused by the road surface displacement input or the displacement corresponding to the acceleration or the velocity. Means for storing a third impulse response function indicative of a time domain relationship;
Including
The processor is
A predetermined fixed time interval for executing a process of taking in the acceleration or the speed detected by the first detector and the travel speed detected by the travel speed detection means, and the travel speed detection means detect Means for determining the travel distance every predetermined time interval from the travel speed;
The road surface for each mileage interval based on the first impulse response function stored in the storage means, the acceleration or the velocity detected by the first detector or the displacement corresponding to the acceleration or the velocity. Means to obtain momentary displacement input,
Means for momentarily converting the travel distance interval into each time interval when traveling at the reference speed of the IRI calculation;
Based on the second impulse response function stored in the storage means, the road surface displacement input for each predetermined time interval converted to a time interval when traveling at the reference speed of the IRI calculation is used. Means for obtaining momentarily as acceleration, velocity or displacement of one detection position;
Based on the third impulse response function stored in the storage means, the road surface displacement input for each predetermined time interval converted to a time interval when traveling at the reference speed of the IRI calculation is used. Means for obtaining momentarily as acceleration, velocity or displacement of the two detection positions;
From the first detection position and the acceleration, velocity or displacement of the second detection position determined by the second and third impulse response functions, the first detection position and the second detection position A means for obtaining a cumulative value for each predetermined measurement road section length from moment to moment for a change in relative displacement;
Based on a ratio between a cumulative value for each predetermined measurement section length of a change in the relative displacement between the first detection position and the second detection position and the predetermined measurement road section length, the predetermined Means for obtaining the IRI for each measurement section length of
In order to process the acceleration data or the speed detection data detected only by the first detector provided on the axle side of the test vehicle supported by the suspension or the spring or the lower part of the suspension each time, the configuration becomes In addition to simplification, in IRI calculation, even if the running speed of the test vehicle changes within a predetermined measurement section length, it is possible to cope with it, and speed correction is performed every time the speed changes Therefore, it is possible to measure the flatness with higher accuracy.

According to the road surface flatness measuring apparatus according to claim 2 of the present invention, the first detection position located at the axle side of the test vehicle supported by the suspension or the spring or the lower portion of the suspension and the vehicle body side of the test vehicle or the In the road surface flatness measuring apparatus that calculates IRI (International Roughness Index) based on acceleration or velocity data of the second detection position among the second detection positions located on the suspension upper side,
A second detector for detecting vertical acceleration or velocity perpendicular to the axle direction at the second detection position;
Traveling speed detecting means for detecting the traveling speed of the test vehicle;
Means for taking in the acceleration or speed of the second detection position detected by the second detector and the traveling speed detected by the traveling speed detecting means at predetermined time intervals;
Processing means for determining the IRI based on the captured acceleration or velocity of the second detection position;
Storage means for recording measurement data detected by the traveling speed detection means and the second detector, and for recording various data read by the processing means;
With
The storage means
When the test car expressed by a quarter car model is called a measurement car, the acceleration or velocity of the second detection position of the vibration system generated by road surface displacement input given to the vibration system of the measurement car or the Means for storing a fourth impulse response function indicating a time domain relationship between a vibration response relating to a displacement corresponding to acceleration or the speed and the road surface displacement input;
When a quarter car model having a quarter car parameter used for calculating the IRI is referred to as a reference car, the road surface displacement input given to the vibration system of the reference car and the vibration system generated by the road surface displacement input Means for storing a second impulse response function indicating a relationship in a time domain with an acceleration or velocity of one detection position or a vibration response relating to a displacement corresponding to the acceleration or the velocity;
The road surface displacement input given to the vibration system of the reference vehicle, and the vibration response related to the acceleration or velocity of the second detection position of the vibration system caused by the road surface displacement input or the displacement corresponding to the acceleration or the velocity. Means for storing a third impulse response function indicative of a time domain relationship;
The processor is
A predetermined fixed time interval for executing a process of taking in the acceleration or the speed detected by the second detector and the traveling speed detected by the traveling speed detecting means, and the traveling speed detecting means detects Means for determining the travel distance every predetermined time interval from the travel speed;
The acceleration detected by the second detector or the velocity or the displacement corresponding to the acceleration or the velocity based on the fourth impulse response function stored in the storage means for each travel distance interval Means to obtain momentary displacement input,
Means for momentarily converting the travel distance interval into each time interval when traveling at a reference speed of IRI calculation;
Based on the second impulse response function stored in the storage means, the road surface displacement input for each predetermined time interval converted to a time interval when traveling at the reference speed of the IRI calculation is used. Means for obtaining momentarily as acceleration, velocity or displacement of one detection position;
Based on the third impulse response function stored in the storage means, the road surface displacement input for each predetermined time interval converted to a time interval when traveling at the reference speed of the IRI calculation is used. Means for obtaining momentarily as acceleration, velocity or displacement of the two detection positions;
From the first detection position and the acceleration, velocity or displacement of the second detection position determined by the second and third impulse response functions, the first detection position and the second detection position A means for obtaining a cumulative value for each predetermined measurement road section length from moment to moment for a change in relative displacement;
Based on a ratio between a cumulative value for each predetermined measurement section length of a change in the relative displacement between the first detection position and the second detection position and the predetermined measurement road section length, the predetermined Means for obtaining the IRI for each measurement section length of
In order to process the acceleration data or the speed detection data detected only by the second detector provided only on the vehicle body side of the test vehicle supported by the suspension or the spring or the upper side of the suspension, the configuration is Simplified, IRI calculation can respond to changes in the test vehicle's running speed within a predetermined measurement section length, and speed correction can be performed every time the speed changes Therefore, it is possible to measure the flatness with higher accuracy.

According to the road surface flatness measuring apparatus according to claim 3 of the present invention, the first detection position located at the axle side of the test vehicle supported by the suspension or the spring or the lower portion of the suspension and the vehicle body side of the test vehicle or the In a road surface flatness measuring apparatus that calculates IRI (International Roughness Index) based on acceleration or speed data of a second detection position located on the upper side of a suspension,
A first detector for detecting vertical acceleration or velocity perpendicular to the axle direction at the first detection position;
A second detector for detecting vertical acceleration or velocity perpendicular to the axle direction at the second detection position;
Traveling speed detecting means for detecting the traveling speed of the test vehicle;
Means for taking in accelerations or speeds of the first and second detection positions detected by the first and second detectors and a traveling speed detected by the traveling speed detecting means at predetermined constant time intervals. When,
Processing means for determining the IRI based on the captured accelerations or velocities of the first and second detection positions;
Storage means for storing measurement data detected by the traveling speed detection means and the first and second detectors, and storing various data read by the processing means;
With
The storage means
When the test car expressed by a quarter car model is called a measurement car, the acceleration or velocity of the first detection position of the vibration system generated by road surface displacement input given to the vibration system of the measurement car or the Means for storing a first impulse response function indicating a time domain relationship between a vibration response relating to a displacement corresponding to an acceleration or the velocity and the road surface displacement input;
Vibration response related to acceleration or velocity of the second detection position of the vibration system generated by the road surface displacement input given to the vibration system of the test vehicle, or displacement corresponding to the acceleration or the velocity, and the road surface displacement input Means for storing a fourth impulse response function indicating the relationship in time domain with
When a quarter car model having a quarter car parameter used for calculating the IRI is called a reference car, the road surface displacement input given to the vibration system of the reference car, and the first of the vibration system generated by the road surface displacement input Means for storing a second impulse response function indicating a time domain relationship with an acceleration or velocity of the detected position or a vibration response relating to a displacement corresponding to the acceleration or the velocity;
The road surface displacement input given to the vibration system of the reference vehicle, and the vibration response related to the acceleration or velocity of the second detection position of the vibration system caused by the road surface displacement input or the displacement corresponding to the acceleration or the velocity. Means for storing a third impulse response function indicative of a time domain relationship;
Including
The processor is
A predetermined fixed time interval for executing a process of taking in the acceleration or the speed detected by the first detector and the travel speed detected by the travel speed detection means, and the travel speed detection means detect Means for determining the travel distance every predetermined time interval from the travel speed;
The road surface for each mileage interval based on the first impulse response function stored in the storage means, the acceleration or the velocity detected by the first detector or the displacement corresponding to the acceleration or the velocity. Means to obtain momentary displacement input,
The acceleration detected by the second detector or the velocity or the displacement corresponding to the acceleration or the velocity based on the fourth impulse response function stored in the storage means for each travel distance interval Means to obtain momentary displacement input,
A road surface displacement input for each travel distance interval determined from the acceleration or the speed detected by the first detector or a displacement corresponding to the acceleration or the speed;
Means for constantly obtaining an average road surface displacement input with the road surface displacement input for each travel distance interval obtained from the acceleration or the speed detected by the second detector or the acceleration or a displacement corresponding to the speed;
Means for momentarily converting the travel distance interval into a time interval when traveling at the reference speed of the IRI calculation;
The road surface displacement input obtained as an average of the road surface displacement input for each predetermined time interval converted into the time interval when traveling at the reference speed of the IRI calculation is stored in the storage means. Means for obtaining the acceleration, velocity or displacement of the first detection position from time to time based on the impulse response function of 2;
The road surface displacement input as a result of averaging the road surface displacement input for each of the predetermined time intervals converted into the time interval when traveling at the reference speed of the IRI calculation is the third force stored in the storage means. Means for obtaining momentarily as acceleration, velocity or displacement of the second detection position based on a product response function;
From the first detection position and the acceleration, velocity or displacement of the second detection position determined by the second and third impulse response functions, the first detection position and the second detection position A means for obtaining a cumulative value for each predetermined measurement road section length from moment to moment for a change in relative displacement;
Based on the ratio between the accumulated value for each predetermined measurement section length of the change in the relative displacement between the first detection position and the second detection position and the predetermined measurement road section length. Means for determining the IRI for each measured measurement section length;
So that the first detector and the second detector provided on the axle side of the test vehicle supported by the suspension or the spring or the lower part of the suspension and the vehicle body side of the test car or the upper side of the suspension respectively perform detection. In addition, the detection accuracy is further improved, and acceleration data or speed detection data is processed each time. Therefore, in the IRI calculation, even if the traveling speed of the test vehicle changes within a predetermined measurement section length, it can cope with it. In addition, since it becomes possible to perform speed correction for every speed change, it is possible to measure the flatness with higher accuracy.

Further, according to the road surface flatness measuring apparatus of the fourth aspect, the means for removing the frequency component of the wheel rotational speed of the test vehicle included in the acceleration data is also included in the processing means on the time axis. It is possible to remove several frequency components in response to changes in the vehicle speed from moment to moment, and to remove the influence of the frequency components of the wheel speed of the test vehicle in more detail, enabling more accurate measurement. effective.
Furthermore, according to the road surface flatness measuring apparatus according to the fifth aspect of the present invention, when the test vehicle has a nonlinear characteristic such that the damping constant of the suspension changes depending on the frequency (that is, the road surface shape is the same). However, since the acceleration data that is acquired from moment to moment is processed on the time axis every time, the vibration parameters of the test vehicle are also moment by moment. The value can be changed in accordance with the traveling speed of the vehicle, and there is an effect that more accurate measurement is possible.

  BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the best mode of a road surface flatness measuring apparatus according to the present invention will be described in detail in the order of [first embodiment] to [fifth embodiment] with reference to the drawings.

[First Embodiment]
FIG. 1 is a block diagram showing a configuration of a main part of a road surface flatness measuring apparatus according to a first embodiment of the present invention.
In the figure, the road surface flatness measuring apparatus according to the present embodiment is an acceleration as a first detector provided at a first position on the axle side (or “under suspension” or “under spring”) of the test vehicle. Measure the running speed of the test vehicle, the accelerometer 2 as a second detector located at the second position on the vehicle body side (or “upper suspension” or “on spring”) supported by the suspension A GPS receiver 3 as a traveling speed detecting means, a collecting device 4 for collecting and temporarily recording measurement data, and a personal computer (hereinafter abbreviated as “PC”) for calculating IRI (International Roughness Index) from the measurement data 5).
The acquisition device 4 amplifies the strain data output from the accelerometer 1 and converts it into digital information, and amplifies the strain data output from the accelerometer 2 into digital information. PC5 which converts strain amplifier / A / D converter 42 to convert and data from GPS receiver 3 (month / day / time, latitude, longitude, speed (km / hr), traveling direction in which test vehicle exists) RS232-USB converter that converts the data into USB standard data that can be output to USB, and a USB hub 44 that temporarily records the collected measurement data as USB standard data and supplies the data to the PC 5.

FIG. 2 is an explanatory diagram schematically showing the vibration system of the test vehicle. FIG. 3 is an explanatory diagram schematically showing the vibration system of the reference vehicle.
Hereinafter, the operation of the road surface flatness measuring apparatus according to the present embodiment shown in FIG. 2 will be described with reference to FIGS.
The accelerometer 1 serving as a first detector is located on the axle side (or the suspension lower side) of the test vehicle, and the acceleration or speed generated under the spring (or under the suspension) that supports the vibration of the vehicle body caused by road surface unevenness. (More specifically, the acceleration or speed in the vertical direction with respect to the axial direction of the suspension) is detected and sent to the acquisition device 4.
The accelerometer 2 is positioned on the vehicle body side (or the suspension upper side) supported by the suspension of the test vehicle, and the acceleration or speed generated on the spring (or on the suspension) that supports the vehicle body caused by road surface unevenness (more specifically, the suspension The acceleration or velocity in the vertical direction with respect to the axial direction of the image is detected and sent to the acquisition device 4.
The GPS receiver 3 detects and sends each data of the month / day / time, latitude, longitude, speed (km / hr), and traveling direction of the test vehicle to the acquisition device 4.
The acquisition device 4 temporarily records each measurement data as USB standard data and outputs it to the PC 5 as necessary.

The PC 5 calculates IRI from each measurement data.
More specifically, from the strain amount data a1 and / or a2 (see FIG. 2) of the accelerometer 2 and / or the accelerometer 1 when the simulated test vehicle vibration system (see FIG. 2) travels, the road surface Displacement data Dr is calculated, and the road surface displacement data Dr is input to a simulated reference vehicle vibration system (see FIG. 3) to calculate speed responses v1 and v2, and the speed responses v1 and v2, IRI is calculated based on the travel distance of the test vehicle calculated from the measurement data of the GPS receiver 3 (see FIG. 1).
FIG. 4 is an explanatory diagram showing a schematic diagram of a vibration system of a quarter car model for calculating IRI.
Hereinafter, a method for calculating the IRI will be described with reference to FIG.
The equation of motion of the vibration system of the quarter car model shown in FIG. 4 is expressed by equations (1) and (2) from the balance of forces.

ここで、係数を式（５）〜式（１２）のように置き換え、式（１）と式（２）とを無次元化すると、式（３）および式（４）が得られる。

Here, when the coefficients are replaced as in Expressions (5) to (12) and Expressions (1) and (2) are made dimensionless, Expressions (3) and (4) are obtained.

式（３）及び式（４）をラプラス変換し、伝達関数を求めると、式（３）は、式（３２）となる。但し、式（３２）及び式（３３）において、ｓ：ラプラス演算子、ｘ_１：_ｘ１のラプラス変換、ｘ_２：_ｘ２のラプラス変換、とする。
ｓ^２Ｘ_１＋２ζω_１（Ｘ_１−Ｘ_２）＋ω_１ ^２（Ｘ_１−Ｘ_２）＝０ （３２）
また、式（４）は、式（３３）となる。但し、式（３３）において、ｓ：ラプラス演算子、ｘ_１：_ｘ１のラプラス変換、ｘ_２：_ｘ２のラプラス変換、ｘ_０：_ｘ０のラプラス変換とする。

When Laplace transform is performed on Expressions (3) and (4) to obtain a transfer function, Expression (3) becomes Expression (32). In Equations (32) and (33), s is a Laplace operator, x _{1 is} a Laplace transform of _x1 , and x _{2 is} a Laplace transform of _x2 .
s ² X ₁ + 2ζω ₁ (X ₁ −X ₂ ) + ω ₁ ² (X ₁ −X ₂ ) = 0 (32)
Moreover, Formula (4) becomes Formula (33). In Equation (33), s: Laplace operator, x ₁ : Laplace transform of _x1 , x ₂ : Laplace transform of _x2 , and x ₀ : Laplace transform of _x0 .

また、ラプラス変換では、ｘの時間微分は

In Laplace transform, the time derivative of x is

となる。
上式より、式（１３）〜式（１６）が得られる。このうち、式（１５）および式（１６）は、式（４）および式（３）より得られる。

It becomes.
From the above equation, equations (13) to (16) are obtained. Among these, Formula (15) and Formula (16) are obtained from Formula (4) and Formula (3).

式（４）および式（３）、（４）より、

From Equation (4) and Equations (3) and (4),

式（１５）および式（１６）で示される伝達関数を、離散時間領域の力積応答関数に変換する。
ここでは、双線形z変換を使うと、ラプラス演算子sを下式でz変換演算子に変え、（３４）式を得る。但し、（３４）式において、Ｔは離散時間系の時間間隔である。

The transfer function shown by Formula (15) and Formula (16) is converted into an impulse response function in the discrete time domain.
Here, when the bilinear z-transform is used, the Laplace operator s is changed to the z-transform operator by the following formula to obtain the formula (34). However, in the equation (34), T is a time interval of a discrete time system.

かつ、連続時間系の円振動数ω₁、ω₂を（３５）式により離散時間系の円振動数ω_a1、ω_a2に変換する。ここでＴは、サンプリング時間間隔である。

Further, the circular frequencies ω ₁ and ω ₂ of the continuous time system are converted into the circular frequencies ω _a1 and ω _a2 of the discrete time system by the equation (35). Here, T is a sampling time interval.

前述の運動方程式を無次元化した時の係数を、式（１５）および式（１６）をz変換した後に、さらに次のように置き換えると、

If the coefficient when the above equation of motion is made dimensionless is replaced with the following after z-transforming Equation (15) and Equation (16),

基準車のバネ上、バネ下変位を、試験車（即ち測定車両）のバネ上、バネ下変位をｘ′_１・ｘ′_２とし、
式（１５）および式（１６）を、路面入力に対するバネ上・バネ下の変位応答についての力積応答関数の形とすると、これらの式は式（１７）および式（１８）で表される。これらの式は、路面入力→基準車応答を示すものである。

The sprung and unsprung displacements of the reference vehicle are the sprung and unsprung displacements of the test vehicle (ie, the measurement vehicle), and x ′ ₁ and x ′ ₂
Assuming that the equations (15) and (16) are in the form of impulse response functions for the sprung and unsprung displacement responses to the road surface input, these equations are expressed by the equations (17) and (18). . These equations show road surface input → reference vehicle response.

式（１７）および式（１８）を、バネ上・バネ下の変位応答に対する路面入力についての力積応答関数の形にすると、式（１９）、（２０）で表される。これらの式は、試験車応答→路面入力を示すものである。

Expressions (17) and (18) are expressed by expressions (19) and (20) when the form of the impulse response function for the road surface input with respect to the unsprung and unsprung displacement responses. These equations show test vehicle response → road surface input.

なお、式（１７）〜式（２０）式の係数算定において、基準車については、基準車のm₁、m₂、k₁、k₂、cの値を用い、試験車については、試験車のm₁、m₂、k₁、k₂、cの値を用いるものとする。
図５は、本発明の第１の実施の形態に係る路面平坦性測定装置の全体的な処理の流れを示すフローチャート図である。
以下、図１〜４を参照し、図５に示すフローチャート図を使用して、第１の実施の形態に係る路面平坦性測定装置の全体的な処理の流れを説明する。

In calculating the coefficients of the equations (17) to (20), the values of m ₁ , m ₂ , k ₁ , k ₂ , and c of the reference vehicle are used for the reference vehicle, and the test vehicle is used for the test vehicle. The values of m ₁ , m ₂ , k ₁ , k ₂ , and c are used.
FIG. 5 is a flowchart showing an overall processing flow of the road surface flatness measuring apparatus according to the first embodiment of the present invention.
Hereinafter, an overall processing flow of the road surface flatness measuring apparatus according to the first embodiment will be described with reference to FIGS. 1 to 4 and a flowchart shown in FIG.

(Step S1)
First, in step S1, the PC 5 reads the data (setting value data) shown in Table 1 below from a file (not shown).

(Step S2)
In step S1, the PC 5 preprocesses the read data in Table 1 as a set value so that it can be referred to, and proceeds to the processing in step S6 and subsequent steps.
Note that the PC 5 executes the processes in and after step S3 in parallel with the processes in steps S1 and S2. Hereinafter, the processing after step S3 will be described.
(Step S3)
In step S3, the PC 5 sets a file path for saving the acceleration data and the IRI calculation result as a data write file setting, and further opens a file for saving the IRI calculation result, and sets the acceleration data and the IRI calculation result. A state where the IRI calculation result can be used is stored.
(Step S4)
In step S4, the PC 5 opens the acquisition device 4 (DBU) and establishes a communication route with the acquisition device 4.

(Step S5)
In step S5, the PC 5 displays error information on the display device (not shown) when the communication path with the acquisition device 4 fails, and when the communication path with the acquisition device 4 is successfully established, the step is performed. Proceed to S6.
(Step S6)
In step S6, the PC 5 performs preprocessing of the acquisition device 4 so that the acquisition device 4 can be activated.
(Step S7)
In step S7, the PC 5 displays error information on the display device when the preprocessing of the acquisition device 4 fails, and proceeds to step S8 when the preprocessing of the acquisition device 4 is successful.
(Step S8)
In step S8, the PC 5 activates the acquisition device 4, starts the measurement result acquisition operation, and then activates the subroutine SUB1 shown as step S14, and also uses this subroutine SUB1 as a measurement stop button. It is repeatedly executed until (not shown) is pressed.
When the acquisition device 4 is activated, the PC 5 reads the device numbers of the two DBUs, sets the master / slave, sets the measurement conditions, sets the sampling time interval, and sets the balance.
Hereinafter, the operation after step S15 in the subroutine SUB1 will be described.

(Step S15)
In step S15, the PC 5 takes in the acceleration data stored in the buffer, and then executes the processing of the subroutine SUB2 shown as step S17. This process is repeatedly executed for the number of data per channel of the acceleration data accumulated in the buffer. The acceleration data includes sprung acceleration data and unsprung acceleration data.
Hereinafter, a part of the processing in the subroutine SUB2 will be described, but the processing in step S20 will be described later.
(Step S22)
By selecting the operation button (not shown), in step S22, the PC 5 outputs each sprung (and / or) unsprung acceleration data to a monitor (display device).
Alternatively, in this processing step, an interrupt process may be automatically performed when the acceleration data of the sprung and unsprung parts are gathered.
(Step S23)
Further, by the selection operation of the operation button, in step S23, the PC 5 outputs the vehicle speed data to the monitor (display device) and continues the loop process.

Alternatively, in this processing step, an interrupt process may be automatically performed when the vehicle speed data is ready.
On the other hand, in parallel with the execution of each processing step started from step S3 of the main routine, the PC 5 executes the processing after step S9 of the main routine. Hereinafter, the processing after step S9 will be described.
(Step S9)
In step S <b> 9, the PC 5 performs communication settings (more specifically, setting of communication parameters for the RS232 for GPS) with respect to the RS232C-USB converter 43.
(Step S10)
In step S10, the PC 5 opens the GPS receiver 3 so that GPS can be used.
(Step S11)
In step S11, if the opening process of the GPS receiver 3 fails, the PC 5 displays error information on the display device, and if the opening process of the GPS receiver 3 is successful, the process proceeds to step S12.

(Step S12)
In step S12, the PC 5 reads GPS data collected by the GPS receiver 3.
(Step S13)
In step S13, the PC 5 outputs the common variable (global variable on the program). More specifically, the PC 5 reads the RMC sentence collected by the GPS receiver 3, and stores each data of month / day / time, latitude, longitude, speed (km / hr), and traveling direction in the subroutine SUB2 (step S14 and subsequent steps). In the subroutine). For this reason, each of the above data is converted into a common variable and output. Depending on the specifications of the task management program (OS), it is possible to notify the task management program (OS) of the subroutine SUB1 of the completion of this output and the entry at the time of execution (here, step S16). is there.
Hereinafter, the process of step S16 of the subroutine SUB1 will be described.
(Step S16)
In step S16, the PC 5 captures the current GPS data output as a common variable in step S13. More specifically, the data of the month / day / time, latitude, longitude, speed (km / hr), and traveling direction are taken in, and the latitude and longitude data can be referred to in the processing (separate task) after step S21. After that, the task management program (OS) of the subroutine SUB2 is notified.

Hereinafter, another part of the processing in the subroutine SUB1 will be described.
(Step S18)
In step S18, the PC 5 calculates the vehicle speed from the GPS data and determines whether the calculated vehicle speed is greater than 5 km / h. If the vehicle speed is greater than 5 km / h, the measured vehicle speed data If the vehicle speed is not higher than 5 km / h, the vehicle speed data of the previous measurement value can be referred to in the subsequent processing step.
Hereinafter, the process of step S19 (interrupt task process) in the subroutine SUB2 will be described.
(Step S19)
Processing of the interrupt task after step S19 is started when the data of the month / day / time, latitude, longitude, speed (km / hr), and traveling direction are collected, and the PC 5 stores these data in each file. Write.

(Step S20)
Processing of the interrupt task after step S20 is started when the data of sprung, unsprung, and vehicle speed are collected, and the PC 5 performs processing of sequentially calculating IRI at each repetition timing. This process is controlled at the start and end by an IRI calculation button (not shown). Further, the processing of step S21 and / or step S24 and / or step S25 is selected and executed by the operation of the operation button (not shown).
First, the case where the process of step S21 is selected will be described.

(Step S21)
In step S21, the PC 5 additionally writes IRI calculation results, vehicle speed, latitude, and longitude data to each file.
Next, the case where the process of step S24 is selected will be described.
(Step S24)
In step S24, the PC 5 performs a partial IRI calculation (for example, an IRI calculation every 5 [m]) and outputs the monitor output.
Finally, the case where the process of step S25 is selected will be described.
(Step S25)
In step S25, the PC 5 performs a total IRI calculation (for example, an IRI calculation every 100 [m]) and outputs the monitor output.
A part of the processing of the PC 5 can be delegated to the acquisition device 4.
FIG. 6 is a configuration diagram showing a functional block configuration in the PC 5 of the road surface flatness measuring apparatus according to the first embodiment of the present invention.

Hereinafter, the operation of the functional blocks in the PC 5 of the road surface flatness measuring apparatus according to the first embodiment of the present invention will be described.
In the function block 111, detection data of the accelerometer 1 (first acceleration or speed detector attached to the first detection position) as a first detector located on the axle side (or suspension lower side) of the test vehicle. The acceleration or speed generated under the spring (or under the suspension) that is located on the axle side (or under the suspension) of the test vehicle and supports the vibration of the vehicle body caused by road surface unevenness (more specifically, the suspension axis) Acceleration or velocity in the vertical direction relative to the direction).
The functional block 311 (travel speed detector) is a travel speed detection means for detecting the travel speed of the test vehicle based on the detection data of the GPS receiver 3. More specifically, for example, the moving speed of the test vehicle is detected from GPS data, or the vehicle speed pulse of the test vehicle is captured and converted into the moving speed of the test vehicle.
In the function block 411, the acceleration or speed detected by the first detector and the travel speed detected by the travel speed detector are captured at predetermined time intervals. At this time, data of two channels (analog data) are collected in synchronization, and each of the data is converted into a digital value, and then delivered to the processing unit 51.
The functional block 51 (processing unit) includes functional blocks 511 to 517, and finally calculates an IRI (hereinafter abbreviated as “IRI”).

The functional block 412 (storage unit) includes functional blocks 4121 to 4123, stores the first to third impulse response functions necessary for the processing of the processing unit 51, and responds to a request from the processing unit 51. These functions are supplied to the processing unit 51.
The function block 4121 (first impulse response function storage unit) stores the first impulse response function and supplies the function in response to a request from the function block 512 of the processing unit 51. This is a response function storage unit, and this first impulse response function is a function (one formula) for calculating a road surface displacement input from a displacement corresponding to the acceleration or velocity of the first detector described above.
The functional block 4122 (second impulse response function storage unit) is a functional block that stores the second impulse response function and supplies the function in response to a request from the function block 514 of the processing unit 51. This second impulse response function is a function (two formulas) for calculating the road surface displacement input to the acceleration or velocity of the first detection position, or the displacement corresponding to the acceleration or velocity.
The functional block 4123 (third impulse response function storage unit) is a functional block that stores the third impulse response function and supplies the function in response to a request from the function block 515 of the processing unit 51. The third impulse response function is a function (formula 3) for calculating the road surface displacement input to the acceleration or velocity of the second detection position, or the displacement corresponding to the acceleration or velocity.

Hereinafter, the operation of the processing unit 51 will be described.
The function block 511 (means for obtaining the travel distance for each time interval) is a means for obtaining the travel distance for each fixed time interval, and is taken into the function block 411 from the function block 311 (travel speed detector). By multiplying the determined speed and the fixed time interval taken into the function block 411, the travel distance advanced in the fixed time interval is obtained.
The function block 512 stores the acceleration or speed of the first detector taken into the function block 411 from the function block 311 (travel speed detector), or the displacement corresponding to the acceleration or speed, and the function block 4121. From the first impulse response function, a road surface displacement input for each fixed time interval is calculated and used as a road surface displacement input for each traveling distance interval corresponding to each fixed time interval of the function block 511.
The function block 513 is a means for converting each travel distance interval to each time interval when traveling at a reference speed for IRI calculation. The function block 511 calculates the travel distance for each fixed time interval as a reference for IRI calculation. By dividing by the speed, each travel distance interval is converted into a time interval when traveling at the reference speed of IRI calculation.

That is, if the vehicle speed at the time of measurement by the test vehicle is different from 80 km / hr (reference speed for IRI calculation) in the case of IRI calculation, the distance moved at the sampling time interval at the time of measurement is moved at the vehicle speed of 80 km / hr. If need to convert to time interval. Here, for this purpose, this conversion processing is performed by the following processing.
That is, if V is a measured vehicle speed (km / hr), T is a sampling time interval (s), and T ₈₀ is an equivalent sampling time interval at 80 km / hr, T ₈₀ is

となる。

It becomes.

The function block 514 performs a first detection on the basis of the second impulse response function stored in the function block 4122 of the storage unit 412 with respect to the converted road surface displacement input for each of the converted time intervals. Find the acceleration and velocity (or displacement) of the position. More specifically, from each fixed time interval when traveling at the reference speed of the IRI calculation obtained by the conversion processing of the function block 513 and the road surface displacement input of the function block 512 corresponding to them, the storage unit 412 Using the second impulse response function stored in the function block 4122, the acceleration and velocity (or displacement) at the first detection position are obtained.
The function block 515 performs the second detection on the basis of the third impulse response function stored in the function block 4123 of the storage unit 412 based on the calculated road surface displacement input for each of the converted time intervals. Find the acceleration and velocity (or displacement) of the position. More specifically, from each fixed time interval when traveling at the reference speed of the IRI calculation obtained by the conversion processing of the function block 513 and the road surface displacement input of the function block 512 corresponding to them, the storage unit 412 Using the third impulse response function stored in the function block 4123, the acceleration and velocity (or displacement) at the second detection position are obtained.

The function block 516 calculates the first detection position and the first detection position from the first detection position and the acceleration and velocity (or displacement) at the second detection position obtained using the second and third impulse response functions. A change in relative displacement with respect to the second detection position is obtained. More specifically, the difference between the acceleration and velocity (or displacement) obtained in the function block 514 and the acceleration and velocity (or displacement) obtained in the function block 515 is taken. The second order integration is performed, and in the case of speed, the first order integration is performed to obtain the relative displacement between the first detection position and the second detection position.
For example, when obtaining displacement from acceleration, T is sampling time interval (s), _An is acceleration data, A _n-1 is acceleration data one sample before, A _n-2 is acceleration data two samples before, X _{When n-1} is a displacement output one sample before, _Xn-2 is a displacement output two samples before, and _Xn is a displacement output to be obtained, _Xn to be obtained can be calculated by Expression (23).

次に、第１の検出位置と第２の検出位置との相対変位を求める手段について説明する。
第１の検出位置と第２の検出位置との相対変位は、（２）式と（３）式に、基準ＱＣモデルの振動パラメータと、80km/hrでの相当サンプリング時間間隔とを適用して（２４）式により算出する。但し、（２４）式において、Ｘ₁はバネ上変位、Ｘ₂はバネ下変位、nは現在データ、n-1は１サンプル前のデータとし、Ｙ_relは、求めるサンプリング時間毎のバネ上、バネ下相対変位の絶対値の変動分とする。

Next, means for obtaining the relative displacement between the first detection position and the second detection position will be described.
The relative displacement between the first detection position and the second detection position is obtained by applying the vibration parameter of the reference QC model and the equivalent sampling time interval at 80 km / hr to the expressions (2) and (3). It calculates with (24) Formula. However, in (24), X ₁ is sprung displacement, X ₂ is the unsprung displacement, n represents current data, n-1 is the previous sample data, Y _rel obtains sprung at each sampling time, The absolute value of the unsprung relative displacement is the change.

機能ブロック５１７は、第１の検出位置と第２の検出位置との相対変位と、予め定められた測定道路区間長との比に基づいて、ＩＲＩを求める手段であり、より具体的には、機能ブロック５１６で求めた相対変位の絶対値を取り、予め定められた区間内のそれらの値を積算し、この積算された値を予め定められた区間長で割ったものをＩＲＩとして求める。
この時、ＩＲＩは、設定した測定道路区間内でＹrelを積算し、設定した測定道路区間長Ｌとの比として（２５）式より求める。

The functional block 517 is a means for obtaining the IRI based on the ratio between the relative displacement between the first detection position and the second detection position and a predetermined measurement road section length. More specifically, The absolute value of the relative displacement obtained in the function block 516 is taken, those values in a predetermined section are integrated, and the integrated value is divided by a predetermined section length to obtain IRI.
At this time, the IRI is obtained by integrating Yrel within the set measurement road section and calculating the ratio with the set measurement road section length L from the equation (25).

〔第２の実施の形態〕
本発明の第２の実施の形態に係る路面平坦性測定装置の要部の構成は、本発明の第１の実施の形態に係る路面平坦性測定装置の要部の構成（図１）と同様である。また、全体的な処理の流れも、本発明の第１の実施の形態に係る路面平坦性測定装置の全体的な処理の流れ（図５）と同じである。但し、第１の実施の形態における加速度／速度第１検出器１１１に代えて、加速度／速度第２検出器１２１を設けた点と、ＰＣ５おける機能ブロックの構成と動作が異なっているので、以下ではその点を中心に説明する。

[Second Embodiment]
The structure of the main part of the road surface flatness measuring apparatus according to the second embodiment of the present invention is the same as the structure of the main part of the road surface flatness measuring apparatus according to the first embodiment of the present invention (FIG. 1). It is. The overall processing flow is also the same as the overall processing flow (FIG. 5) of the road surface flatness measuring apparatus according to the first embodiment of the present invention. However, since the acceleration / speed second detector 121 is provided in place of the acceleration / speed first detector 111 in the first embodiment, and the configuration and operation of the functional block in the PC 5 are different, the following is true. Then, it explains focusing on that point.

FIG. 7 is a configuration diagram showing the configuration of functional blocks in the PC 5 of the road surface flatness measuring apparatus according to the second embodiment of the present invention.
Hereinafter, the operation of the functional blocks in the PC 5 of the road surface flatness measuring apparatus according to the second embodiment of the present invention will be described.
In the function block 121, based on the detection data of the accelerometer 2 (second acceleration or speed detector attached to the second detection position) located on the vehicle body side (or the suspension upper side, so-called spring) supported by the suspension, Acceleration or speed generated on the spring (or on the suspension) that is located on the vehicle body side (or on the suspension upper side) supported by the suspension and is generated by road surface irregularities (more specifically, in the vertical direction with respect to the axial direction of the suspension) Acceleration or speed).
The function block 311 (travel speed detector) is as described in the first embodiment.
In the function block 421, the acceleration or speed detected by the second detector described above and the traveling speed detected by the traveling speed detector are captured at predetermined time intervals. At this time, data of two channels (analog data) are collected in synchronism, and each of the data is converted into a digital value and then delivered to the processing unit 52.

The functional block 52 (processing unit) includes functional blocks 521 to 527, and finally calculates an international roughness index (hereinafter abbreviated as “IRI”).
The function block 422 (storage unit) includes function blocks 4221, 4122, and 4123, stores the second to fourth impulse response functions necessary for the processing of the processing unit 52, and responds to requests from the processing unit 52. Provide these functions accordingly.
The function blocks 4122 (second impulse response function) and 4123 (third impulse response function) are as described in the first embodiment.
The functional block 4221 (fourth impulse response function storage unit) is a functional block that stores the fourth impulse response function and supplies the function in response to a request from the function block 525 of the processing unit 52. The fourth impulse response function is a function (equation 4) for calculating the road surface displacement input from the displacement corresponding to the acceleration or velocity of the second detector.

Hereinafter, the operation of the processing unit 52 will be described.
The function block 521 (means for determining the travel distance for each time interval) is a means for determining the travel distance for each fixed time interval, and is taken into the function block 421 from the function block 311 (travel speed detector). By multiplying the determined speed by a fixed time interval taken into the function block 421, the travel distance advanced in the fixed time interval is obtained.
The function block 522 stores the acceleration or speed of the second detector taken into the function block 421 from the function block 311 (traveling speed detector), or the displacement corresponding to these accelerations or speeds, and the function block 4221 stores the first. The road surface displacement input for each fixed time interval is calculated from the impulse response function of 4, and this is used as the road surface displacement input for each travel distance interval corresponding to each fixed time interval of the function block 521.
The function block 523 is a means for converting each travel distance interval to each time interval when traveling at a reference speed for IRI calculation. The function block 521 uses the travel distance for each fixed time interval as a reference for IRI calculation. By dividing by the speed, each travel distance interval is converted to a time interval when traveling at the reference speed of IRI calculation.
That is, if the vehicle speed at the time of measurement by the test vehicle is different from 80 km / hr (reference speed for IRI calculation) in the case of IRI calculation, the distance moved at the sampling time interval at the time of measurement is moved at the vehicle speed of 80 km / hr. If need to convert to time interval. Here, for this purpose, this conversion processing is performed by the processing of the above-described equation (22).

The function block 525 performs a second detection on the basis of the third impulse response function stored in the function block 4123 of the storage unit 412 with respect to the calculated road surface displacement input at each of the converted time intervals. Find the acceleration and velocity (or displacement) of the position. More specifically, from each fixed time interval when traveling at the reference speed of the IRI calculation obtained by the conversion processing of the function block 523 and the road surface displacement input of the function block 522 corresponding thereto, the storage unit 422 Using the third impulse response function stored in the function block 4123, the acceleration and velocity (or displacement) at the second detection position are obtained.
The function block 526 calculates the first detection position and the first detection position from the first detection position and the acceleration and velocity (or displacement) at the second detection position obtained using the second and third impulse response functions. The amount of change in relative displacement with respect to the detection position 2 is obtained. More specifically, the difference between the acceleration and velocity (or displacement) obtained in the function block 524 and the acceleration and velocity (or displacement) obtained in the function block 525 is taken. The second-order integration is performed, and in the case of speed, the first-order integration is performed to obtain the relative displacement between the first detection position and the second detection position as in the first embodiment described above (in function block 516). See description.)
In the same manner as in the first embodiment described above, the function block 527 is based on the ratio between the relative displacement between the first detection position and the second detection position and the predetermined measurement road section length. (Refer to the description of the function block 517).

[Third Embodiment]
The configuration of the main part of the road surface flatness measuring apparatus according to the third embodiment of the present invention is the same as the configuration of the main part (FIG. 1) of the road surface flatness measuring apparatus according to the first embodiment of the present invention. It is. The overall processing flow is also the same as the overall processing flow (FIG. 5) of the road surface flatness measuring apparatus according to the first embodiment of the present invention. However, in the case of this embodiment as a detector, the two detectors (acceleration / velocity first detector 111 and second detector 121) are provided, and the configuration and operation of the functional block in the PC 5 are different. Therefore, the following description will focus on that point.
FIG. 8 is a configuration diagram showing the configuration of functional blocks in the PC 5 of the road surface flatness measuring apparatus according to the third embodiment of the present invention.

Hereinafter, the operation of the functional blocks in the PC 5 of the road surface flatness measuring apparatus according to the third embodiment of the present invention will be described.
The function blocks 111 and 311 are the same as in the first embodiment of the present invention, and the function block 121 is the same as in the second embodiment of the present invention.
In the function block 431, the acceleration or speed detected by the first and second detectors 111 and 121 described above and the traveling speed detected by the traveling speed detector are captured at predetermined time intervals. At this time, the data (analog data) of the three channels are collected in synchronism, and each of the data is converted into a digital value before being delivered to the processing unit 53.
The functional block 53 (processing unit) includes functional blocks 531 to 539 and finally calculates an IRI (hereinafter abbreviated as “IRI”).
The function block 432 (storage unit) includes function blocks 4121 to 4123 and 4221, stores the first to fourth impulse response functions necessary for the processing of the processing unit 53, and responds to a request from the processing unit 53. In response, these functions are supplied to the processing unit 53.

The function blocks 4121 to 4123 are the same as those of the first embodiment of the present invention, and the function block 4221 is the same as that of the second embodiment of the present invention.
Hereinafter, the operation of the processing unit 53 will be described.
The function block 531 (means for obtaining a travel distance for each time interval) is a means for obtaining a travel distance for each fixed time interval, and is taken into the function block 431 from the function block 311 (travel speed detector). By multiplying the determined speed by a fixed time interval taken into the function block 431, the travel distance advanced in the fixed time interval is obtained.
The function block 532 includes the acceleration or speed of the first detector taken into the function block 431 from the function block 311 (travel speed detector), or the displacement corresponding to these accelerations or speeds, and the function block (first force). Product response function storage unit) 4121 from the first impulse response function stored in 4121, road surface displacement input for each fixed time interval is calculated, and this is calculated for each travel distance corresponding to each fixed time interval of the function block 531. The road surface displacement is input at every interval.

The function block 533 is read from the function block 311 (traveling speed detector) and delivered via the function block 431. The acceleration or speed of the second detector, or the displacement corresponding to these acceleration or speed, and the function block The road displacement input for each fixed time interval is calculated from the fourth impulse response function stored in 4221, and the road surface displacement input for each travel distance interval corresponding to each fixed time interval of the function block 511 is calculated. And
The function block 534 is a means for converting each travel distance interval into each time interval when traveling at the reference speed for IRI calculation. The function block 531 converts the travel distance for each fixed time interval into the IRI calculation reference. By dividing by the speed, each travel distance interval is converted into a time interval when traveling at the reference speed of IRI calculation.
That is, if the vehicle speed at the time of measurement by the test vehicle is different from 80 km / hr (reference speed for IRI calculation) in the case of IRI calculation, the distance moved at the sampling time interval at the time of measurement is moved at the vehicle speed of 80 km / hr. If need to convert to time interval. Here, for this purpose, this conversion processing is performed by the processing of the above-described equation (22).

The function block 535 includes a road surface displacement input for each travel distance interval determined from the acceleration or speed detected by the first detector and a distance for each travel distance interval determined from the acceleration or speed detected by the second detector. Means for obtaining an average road surface displacement input with the road surface displacement input. More specifically, the average road surface displacement input is obtained by {(road surface displacement input obtained in function block 532) + (road surface displacement input obtained by calculation means described later in accordance with function block 522)} / 2. Here, the calculation means according to the aforementioned function block 522 is the acceleration or speed of the second detector taken from the function block 311 (travel speed detector) and delivered via the function block 431, or these accelerations. Alternatively, the road surface displacement input for each fixed time interval is calculated from the displacement corresponding to the speed and the fourth impulse response function stored in the function block 4221, and this is corresponded to each fixed time interval of the function block 531. It is a calculation means for inputting road surface displacement for each travel distance interval.
More specifically, the road surface profile X _r (average road surface displacement input) is obtained from equation (21) using the vibration parameters of the measurement vehicle and the sampling time interval during measurement in equations (19) and (20) of the attached document. Is calculated.

機能ブロック５３６は、上記変換された各々の一定時間間隔毎の前記求められた路面変位入力の平均値を、記憶部４１２の機能ブロック４１２２に記憶された第２の力積応答関数に基づき、第１の検出位置の加速度と、速度（または変位）を求める。より具体的には、機能ブロック５３４の変換処理で求めたＩＲＩ算定の基準速度で走行する場合の各々の一定時間間隔と、それらに対応する機能ブロック５３５の路面変位平均入力とから、記憶部４１２の機能ブロック４１２２に記憶された第２の力積応答関数を用いて、第１の検出位置における加速度および速度（または変位）を求める。

Based on the second impulse response function stored in the function block 4122 of the storage unit 412, the function block 536 calculates the average value of the calculated road surface displacement input for each of the converted time intervals. The acceleration and speed (or displacement) of the detection position of 1 are obtained. More specifically, from each fixed time interval when traveling at the reference speed for IRI calculation obtained by the conversion processing of the function block 534 and the road surface displacement average input of the function block 535 corresponding thereto, the storage unit 412 Using the second impulse response function stored in the functional block 4122, the acceleration and velocity (or displacement) at the first detection position are obtained.

Based on the third impulse response function stored in the function block 4123 of the storage unit 412, the function block 537 calculates the second road surface displacement average input for each of the converted time intervals. Obtain the acceleration and velocity (or displacement) of the detected position. More specifically, the storage unit 432 is obtained from each fixed time interval when traveling at the reference speed of the IRI calculation obtained by the conversion processing of the function block 534 and the road surface displacement average input of the function block 533 corresponding thereto. Using the third impulse response function stored in the functional block 4123, acceleration and velocity (or displacement) at the second detection position are obtained.
The function block 538 calculates the first detection position and the first detection position from the first detection position and the acceleration and velocity (or displacement) at the second detection position obtained using the second and third impulse response functions. The amount of change in relative displacement with respect to the detection position 2 is obtained. More specifically, the difference between the acceleration and velocity (or displacement) obtained in the function block 536 and the acceleration and velocity (or displacement) obtained in the function block 537 is taken. The second-order integration is performed, and in the case of speed, the first-order integration is performed to obtain the relative displacement between the first detection position and the second detection position as in the first embodiment described above (in function block 516). See description.)
In the same manner as in the first embodiment described above, the function block 539 is based on the ratio between the relative displacement between the first detection position and the second detection position and the predetermined measurement road section length. (Refer to the description of the function block 517).

[Fourth Embodiment]
The structure of the main part of the road surface flatness measuring apparatus according to the fourth embodiment of the present invention is the same as the structure of the main part of the road surface flatness measuring apparatus according to the third embodiment of the present invention (FIG. 3). It is. The overall processing flow is also the same as the overall processing flow (FIG. 5) of the road surface flatness measuring apparatus according to the third embodiment of the present invention. However, since only the configuration and operation of the functional block in the PC 5 are different, the following description will be focused on that point.
FIG. 9 is a configuration diagram showing a functional block configuration in the PC 5 of the road surface flatness measuring apparatus according to the fourth embodiment of the present invention.
With respect to the frequency component included in the acceleration or speed detected by the accelerometers 1 and 2 (FIG. 1), means for removing only the component in the vicinity of the integral multiple of the frequency based on the number of rotations of the wheel per unit time. It is possible to apply. More specifically, means for removing frequency components that are 1 time, 2 times, and 3 times the wheel rotation speed using a notch filter (narrow band band stop filter) as shown in FIG. 10 is applicable.

FIG. 10 is a circuit diagram illustrating a configuration example of the notch filter.
In the figure, the capacitor and the reactor are arranged in series, but both may be in parallel. The ideal characteristic is to cut only periodic noise signals and pass other signal components as they are.
FIG. 11 is a graph showing the characteristics of a notch filter that removes periodic signal components as noise from frequency components included in acceleration or velocity, FIG. 11A shows amplitude characteristics, and FIG. Indicates phase characteristics. This point is taken into consideration in the functional block in the PC 5 of the road surface flatness measuring apparatus according to the fourth embodiment of the present invention.
FIG. 12 is a graph showing other characteristics of the notch filter. FIG. 12 (a) shows the amplitude characteristics, and FIG. 12 (b) shows the phase characteristics. Further, FIG. 13 is a graph showing other examples of amplitude characteristics of the notch filter.
FIG. 13A shows the most ideal characteristics, and FIGS. 13B to 13F show various approximate characteristics of the ideal characteristics.

Hereinafter, the operation of functional blocks in the PC 5 of the road surface flatness measuring apparatus according to the fourth embodiment of the present invention will be described with reference to FIG.
The function blocks 111 and 311 are the same as in the first embodiment of the present invention, and the function block 121 is the same as in the second embodiment of the present invention.
In the function block 441, the acceleration or speed detected by the first and second detectors and the travel speed detected by the travel speed detector are captured at predetermined time intervals. At this time, data of three channels (analog data) are collected in synchronization, and each of the data is converted into a digital value, and then can be delivered to the processing unit 54 via the function block 442. .
The functional block 54 (processing unit) includes functional blocks 541 to 549 and finally calculates an IRI (hereinafter abbreviated as “IRI”). The functional block 54 (processing unit) takes in the digital data from the functional block 441 via the functional block 442. Except for this point, the processing of the functional block 53 in the third embodiment is performed. Therefore, the description is omitted below.

The function block 432 (storage unit) is also as described in the third embodiment.
The functional block 442 added in this embodiment includes means for determining the number of rotations of the wheel per unit time based on the traveling speed of the test vehicle detected by the functional block 311 (traveling speed detector), The frequency component included in the acceleration or speed detected by the detector or the second detector, or the first detector and the second detector, based on the number of rotations of the wheel per unit time, and an integral multiple thereof It is a means for removing only components in the vicinity of the frequency. More specifically, the narrow band stop filter is a means for removing frequency components that are 1 time, 2 times, and 3 times the number of wheel rotations. Among the travel speed data and acceleration data obtained in the function block 441, acceleration data From the following, for example, the following processing is performed to remove frequency components that are 1 time, 2 times, and 3 times the number of wheel rotations, which is considered to be due to wheel imbalance.
That is, ω: cutoff center frequency (rad / s), ζ: passband bandwidth, Δt: sampling time interval (s), N: rotational speed magnification (1, 2, 3), V: vehicle speed (m / s), L: tire circumference (m), Y _n: output, Y _n-1: 1 samples before the output, Y _n-2: 2 sample prior to output, Xn: input, X _n-1: 1 sample When the previous input, X _n-2 , is input two samples before, first, this ω is obtained by the equation (28).

次に、Ｔ＝ω・Δｔとして、例えば（２９）式により、狭帯域バンドストップフィルタの係数：ａ，ｂ，ｃ，ｄを求める。

Next, assuming that T = ω · Δt, the coefficients: a, b, c, d of the narrow band band stop filter are obtained by the equation (29), for example.

これにより、狭帯域バンドストップフィルタの一例は（２６）式で与えられる。

Thereby, an example of a narrow-band band stop filter is given by equation (26).

この第４の実施の形態は、図９に示す限りにおいては、本発明の第３の実施の形態に機能ブロック４４２を付加したものとなっているが、機能ブロック４４２は、同様に、本発明の第１の実施の形態にも付加することが可能であり、また、本発明の第２の実施の形態にも付加することが可能である。

In the fourth embodiment, the function block 442 is added to the third embodiment of the present invention as far as it is shown in FIG. 9, but the function block 442 is also similar to the present invention. It is also possible to add to the first embodiment of the present invention, and it is also possible to add to the second embodiment of the present invention.

[Fifth Embodiment]
The configuration of the main part of the road surface flatness measuring device according to the fifth embodiment of the present invention is the same as the configuration of the main part of the road surface flatness measuring device according to the first embodiment of the present invention (FIG. 1). It is. The overall processing flow is also the same as the overall processing flow (FIG. 5) of the road surface flatness measuring apparatus according to the first embodiment of the present invention. However, since only the configuration and operation of the functional block in the PC 5 are different, the following description will be focused on that point.
FIG. 14: is a block diagram which shows the structure of the functional block in PC5 of the road surface flatness measuring apparatus based on the 5th Embodiment of this invention.
The present embodiment is characterized in that a vehicle speed dependent parameter is used as a moving average value of a parameter every moment within a certain time interval. That is, some test vehicles have nonlinear characteristics such that the suspension damping constant changes depending on the frequency. In this case, even if the road surface shape is the same, the response acceleration of the test vehicle may change depending on the vehicle speed. Therefore, in the function block 452, in the case of such a test vehicle, the vibration parameter c of the measurement vehicle in the above-described equations (1) and (4) is changed to a value corresponding to the vehicle speed measured every moment. However, at this time, if the parameter is changed for each measurement sampling, the result may diverge when the equations (1) and (4) are calculated. Therefore, in the function block 452, the vehicle speed dependent parameter is used as a moving average value of the parameter every moment within a certain time interval.

Hereinafter, the operation of the functional blocks in the PC 5 of the road surface flatness measuring apparatus according to the fifth embodiment of the present invention will be described.
The function blocks 111 and 311 are the same as in the first embodiment of the present invention, and the function block 121 is the same as in the second embodiment of the present invention.
The function block 441 is the same as that of the third embodiment of the present invention.
The functional block 55 (processing unit) includes functional blocks 551 to 559 and finally calculates an IRI (hereinafter abbreviated as “IRI”). The function block 55 captures outputs from the function block 4121 (first impulse response function storage unit) of the function block 451 and the function block 4221 (fourth impulse response function) of the function block (storage unit) 451. However, since this is the same as the processing of the functional block 54 in the third embodiment except for this point, description thereof will be omitted below.
As for the function block 451 (storage unit), the function block 4121 (first impulse response function storage unit) and the function block 4221 (fourth impulse response function storage unit) of the function block (storage unit) 451 are also included. Is the same as the third embodiment described above except that the output from is transferred to the function block 55 (processing unit) via the function block 452.

The function block 442 is as described in the fourth embodiment.
The function block 452 includes a first impulse response function (stored in the function block 4121) or a fourth impulse response function (stored in the function block 4221) in the vibration system of the measurement vehicle expressed by the above-described quarter car model. Alternatively, it is means for changing the vibration parameters of the first impulse response function and the fourth impulse response function based on the traveling speed of the test vehicle detected by the traveling speed detector. Some test vehicles have nonlinear characteristics such that the damping constant of the suspension changes depending on the frequency. In this case, since the response acceleration of the test vehicle may change depending on the vehicle speed even if the road surface shape is the same, in the function block 452, in the case of such a test vehicle, the measurement vehicle in the above formulas (1) and (4) The vibration parameter c is changed to a value corresponding to the vehicle speed measured every moment. However, at this time, if the parameter is changed for each measurement sampling, the result may diverge when the equations (1) and (4) are calculated. Therefore, in the function block 452, the vehicle speed dependent parameter is used as a moving average value of the parameter every moment within a certain time interval.
As a method for obtaining a moving average value of a parameter every moment within a certain time interval, for example, in the case of data processing every moment, a filter as shown in the equation (27) can be used.

In the fifth embodiment, a function block 452 is added to the fourth embodiment of the present invention as far as it is shown in FIG. 14, but the function block 452 is also similar to the present invention. It is also possible to add to the first to third embodiments.
In addition, it is assumed that at least a part of the processing of each component of the road surface flatness measuring apparatus according to the present invention is executed by computer control, and the above-described processing is executed by the computer according to the procedure shown in the flowchart of FIG. May be stored and distributed in a computer-readable recording medium such as a semiconductor memory, a CD-ROM, or a magnetic tape. A computer including at least a microcomputer, a personal computer, and a general-purpose computer may read the program from the recording medium and execute the program.

It is a block diagram which shows the structure of the principal part of the road surface flatness measuring apparatus which concerns on the 1st Embodiment of this invention. It is explanatory drawing which showed the vibration system of the test vehicle simulated. It is explanatory drawing which showed the vibration system of the reference | standard vehicle in simulation. It is explanatory drawing which shows the schematic diagram of the vibration system of the quarter car which calculates IRI. It is a flowchart figure which shows the flow of the whole process of the road surface flatness measuring apparatus which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the structure of the functional block in PC5 of the road surface flatness measuring apparatus which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the structure of the functional block in PC5 of the road surface flatness measuring apparatus which concerns on the 2nd Embodiment of this invention. It is a block diagram which shows the structure of the functional block in PC5 of the road surface flatness measuring apparatus which concerns on the 3rd Embodiment of this invention. It is a block diagram which shows the structure of the functional block in PC5 of the road surface flatness measuring apparatus which concerns on the 4th Embodiment of this invention. FIG. 10 is a circuit diagram illustrating a configuration example of the notch filter. FIGS. 11A and 11B are graphs showing characteristics of a notch filter that removes periodic signal components as noise from frequency components included in acceleration or velocity, FIG. 11A shows amplitude characteristics, and FIG. 11B shows phase characteristics. It is shown. FIGS. 12A and 12B are graphs showing other characteristics of the notch filter, in which FIG. 12A shows amplitude characteristics, and FIG. 12B shows phase characteristics. It is a graph which shows other examples of the amplitude characteristic of a notch filter. It is a block diagram which shows the structure of the functional block in PC5 of the road surface flatness measuring apparatus which concerns on the 5th Embodiment of this invention.

Explanation of symbols

1 Accelerometer (Unsprung)
2 Accelerometer (on spring)
3 GPS receiver 4 Acquisition device 5 Personal computer (Acquisition / evaluation software)
41 Strain amplifier, A / D converter (Unsprung)
42 Strain Amplifier / A / D Converter (For Spring)
43 RS232C-USB Converter 44 USB Hub 51, 52, 53, 54, 55 Functional Block (Processing Unit)
111 functional blocks (acceleration / velocity: first detector)
121 Function block (acceleration / speed: second detector)
311 Function block (travel speed detector)
411 functional block (device that captures the acceleration / speed signal of the first detector and the travel speed signal of the travel speed detector at regular time intervals)
412, 422, 432, 451 function block (storage unit)
421 functional block (device that captures the acceleration / speed signal of the second detector and the travel speed signal of the travel speed detector at regular time intervals)
431, 441 function blocks (devices that capture the acceleration / speed signals of the first and second detectors and the traveling speed signals of the traveling speed detector at regular time intervals)
442 functional block (means for removing only components in the vicinity of a frequency that is an integral multiple of the number of wheel revolutions based on the running speed)
452 functional block (means for changing the vibration parameter based on the speed detected by the travel speed detector),
512, 532, 542, 552 function blocks (means for obtaining road surface displacement input for each mileage from the signal of the first detector),
511, 521, 531, 541, 551 function block (means for determining the travel distance for each time interval)
522, 533, 543, 553 function block (means for obtaining road surface displacement input for each mileage from the signal of the second detector)
513, 523, 534, 544, 554 function blocks (means for converting each mileage interval into a respective time interval when traveling at the reference speed for calculating the international roughness index)
514, 524, 536, 546, 556 function block (means for obtaining acceleration, velocity or displacement of the first detection position)
515, 525, 537, 547, 557 function block (means for obtaining the acceleration, speed or displacement of the second detection position)
516, 526, 538, 548, 558 functional block (means for obtaining a change in relative displacement between the first detection position and the second detection position)
517, 527, 539, 549559, function block (means for obtaining international roughness index for each set distance)
535, 545, 555 function block (means for obtaining average road surface displacement input)
4121 functional block (first impulse response function storage unit)
4122 functional block (second impulse response function storage unit)
4123 functional block (third impulse response function storage unit)
4221 Function block (fourth impulse response function storage unit)

Claims (5)

Of the first detection position located on the axle side of the test vehicle supported by the suspension or the spring or the lower part of the suspension and the second detection position located on the vehicle body side of the test vehicle or above the suspension, the first detection position In a road surface flatness measuring apparatus that calculates IRI (International Roughness Index) based on acceleration or velocity data of a detected position,
A first detector for detecting vertical acceleration or velocity perpendicular to the axle direction at the first detection position;
Traveling speed detecting means for detecting the traveling speed of the test vehicle;
Means for taking in the acceleration or speed of the first detection position detected by the first detector and the traveling speed detected by the traveling speed detecting means at predetermined time intervals;
Processing means for determining the IRI based on the captured acceleration or velocity of the first detection position;
Storage means for recording measurement data detected by the traveling speed detection means and the first detector, and storing various data read by the processing means;
With
The storage means
When the test car expressed by a quarter car model is called a measurement car, the acceleration or velocity of the first detection position of the vibration system generated by road surface displacement input given to the vibration system of the measurement car or the Means for storing a first impulse response function indicating a time domain relationship between a vibration response relating to a displacement corresponding to an acceleration or the velocity and the road surface displacement input;
When a quarter car model having a quarter car parameter used for calculating the IRI is referred to as a reference car, the road surface displacement input given to the vibration system of the reference car and the vibration system generated by the road surface displacement input Means for storing a second impulse response function indicating a relationship in a time domain with an acceleration or velocity of one detection position or a vibration response relating to a displacement corresponding to the acceleration or the velocity;
The road surface displacement input given to the vibration system of the reference vehicle, and the vibration response related to the acceleration or velocity of the second detection position of the vibration system caused by the road surface displacement input or the displacement corresponding to the acceleration or the velocity. Means for storing a third impulse response function indicative of a time domain relationship;
Including
The processor is
A predetermined fixed time interval for executing a process of taking in the acceleration or the speed detected by the first detector and the travel speed detected by the travel speed detection means, and the travel speed detection means detect Means for determining the travel distance every predetermined time interval from the travel speed;
The road surface for each mileage interval based on the first impulse response function stored in the storage means, the acceleration or the velocity detected by the first detector or the displacement corresponding to the acceleration or the velocity. Means to obtain momentary displacement input,
Means for momentarily converting the travel distance interval into each time interval when traveling at the reference speed of the IRI calculation;
Based on the second impulse response function stored in the storage means, the road surface displacement input for each predetermined time interval converted to a time interval when traveling at the reference speed of the IRI calculation is used. Means for obtaining momentarily as acceleration, velocity or displacement of one detection position;
Based on the third impulse response function stored in the storage means, the road surface displacement input for each predetermined time interval converted to a time interval when traveling at the reference speed of the IRI calculation is used. Means for obtaining momentarily as acceleration, velocity or displacement of the two detection positions;
From the first detection position and the acceleration, velocity or displacement of the second detection position determined by the second and third impulse response functions, the first detection position and the second detection position A means for obtaining a cumulative value for each predetermined measurement road section length from moment to moment for a change in relative displacement;
Based on a ratio between a cumulative value for each predetermined measurement section length of a change in the relative displacement between the first detection position and the second detection position and the predetermined measurement road section length, the predetermined Means for obtaining the IRI for each measurement section length of
A road surface flatness measuring apparatus comprising: Of the first detection position located on the axle side of the test vehicle supported by the suspension or the spring or the lower part of the suspension and the second detection position located on the vehicle body side of the test vehicle or above the suspension, the second detection position In a road surface flatness measuring apparatus that calculates IRI (International Roughness Index) based on acceleration or velocity data of a detected position,
A second detector for detecting vertical acceleration or velocity perpendicular to the axle direction at the second detection position;
Traveling speed detecting means for detecting the traveling speed of the test vehicle;
Means for taking in the acceleration or speed of the second detection position detected by the second detector and the traveling speed detected by the traveling speed detecting means at predetermined time intervals;
Processing means for determining the IRI based on the captured acceleration or velocity of the second detection position;
Storage means for recording measurement data detected by the traveling speed detection means and the second detector, and for recording various data read by the processing means;
With
The storage means
When the test car expressed by a quarter car model is called a measurement car, the acceleration or velocity of the second detection position of the vibration system generated by road surface displacement input given to the vibration system of the measurement car or the Means for storing a fourth impulse response function indicating a time domain relationship between a vibration response relating to a displacement corresponding to acceleration or the speed and the road surface displacement input;
When a quarter car model having a quarter car parameter used for calculating the IRI is referred to as a reference car, the road surface displacement input given to the vibration system of the reference car and the vibration system generated by the road surface displacement input Means for storing a second impulse response function indicating a relationship in a time domain with an acceleration or velocity of one detection position or a vibration response relating to a displacement corresponding to the acceleration or the velocity;
The road surface displacement input given to the vibration system of the reference vehicle, and the vibration response related to the acceleration or velocity of the second detection position of the vibration system caused by the road surface displacement input or the displacement corresponding to the acceleration or the velocity. Means for storing a third impulse response function indicative of a time domain relationship;
The processor is
A predetermined fixed time interval for executing a process of taking in the acceleration or the speed detected by the second detector and the traveling speed detected by the traveling speed detecting means, and the traveling speed detecting means detects Means for determining the travel distance every predetermined time interval from the travel speed;
The acceleration detected by the second detector or the velocity or the displacement corresponding to the acceleration or the velocity based on the fourth impulse response function stored in the storage means for each travel distance interval Means to obtain momentary displacement input,
Means for momentarily converting the travel distance interval into each time interval when traveling at a reference speed of IRI calculation;
Based on the second impulse response function stored in the storage means, the road surface displacement input for each predetermined time interval converted to a time interval when traveling at the reference speed of the IRI calculation is used. Means for obtaining momentarily as acceleration, velocity or displacement of one detection position;
Based on the third impulse response function stored in the storage means, the road surface displacement input for each predetermined time interval converted to a time interval when traveling at the reference speed of the IRI calculation is used. Means for obtaining momentarily as acceleration, velocity or displacement of the two detection positions;
From the first detection position and the acceleration, velocity or displacement of the second detection position determined by the second and third impulse response functions, the first detection position and the second detection position A means for obtaining a cumulative value for each predetermined measurement road section length from moment to moment for a change in relative displacement;
Based on a ratio between a cumulative value for each predetermined measurement section length of a change in the relative displacement between the first detection position and the second detection position and the predetermined measurement road section length, the predetermined Means for obtaining the IRI for each measurement section length of
A road surface flatness measuring apparatus comprising: Acceleration or speed data of the first detection position located on the axle side of the test vehicle supported by the suspension or the spring or the lower part of the suspension and the second detection position located on the vehicle body side of the test vehicle or above the suspension In a road surface flatness measuring device that calculates IRI (International Roughness Index) based on
A first detector for detecting vertical acceleration or velocity perpendicular to the axle direction at the first detection position;
A second detector for detecting vertical acceleration or velocity perpendicular to the axle direction at the second detection position;
Traveling speed detecting means for detecting the traveling speed of the test vehicle;
Means for taking in accelerations or speeds of the first and second detection positions detected by the first and second detectors and a traveling speed detected by the traveling speed detecting means at predetermined constant time intervals. When,
Processing means for determining the IRI based on the captured accelerations or velocities of the first and second detection positions;
Storage means for storing measurement data detected by the traveling speed detection means and the first and second detectors, and storing various data read by the processing means;
With
The storage means
When the test car expressed by a quarter car model is called a measurement car, the acceleration or velocity of the first detection position of the vibration system generated by road surface displacement input given to the vibration system of the measurement car or the Means for storing a first impulse response function indicating a time domain relationship between a vibration response relating to a displacement corresponding to an acceleration or the velocity and the road surface displacement input;
Vibration response related to acceleration or velocity of the second detection position of the vibration system generated by the road surface displacement input given to the vibration system of the test vehicle, or displacement corresponding to the acceleration or the velocity, and the road surface displacement input Means for storing a fourth impulse response function indicating the relationship in time domain with
When a quarter car model having a quarter car parameter used for calculating the IRI is called a reference car, the road surface displacement input given to the vibration system of the reference car, and the first of the vibration system generated by the road surface displacement input Means for storing a second impulse response function indicating a time domain relationship with an acceleration or velocity of the detected position or a vibration response relating to a displacement corresponding to the acceleration or the velocity;
The road surface displacement input given to the vibration system of the reference vehicle, and the vibration response related to the acceleration or velocity of the second detection position of the vibration system caused by the road surface displacement input or the displacement corresponding to the acceleration or the velocity. Means for storing a third impulse response function indicative of a time domain relationship;
Including
The processor is
A predetermined fixed time interval for executing a process of taking in the acceleration or the speed detected by the first detector and the travel speed detected by the travel speed detection means, and the travel speed detection means detect Means for determining the travel distance every predetermined time interval from the travel speed;
The road surface for each mileage interval based on the first impulse response function stored in the storage means, the acceleration or the velocity detected by the first detector or the displacement corresponding to the acceleration or the velocity. Means to obtain momentary displacement input,
The acceleration detected by the second detector or the velocity or the displacement corresponding to the acceleration or the velocity based on the fourth impulse response function stored in the storage means for each travel distance interval Means to obtain momentary displacement input,
A road surface displacement input for each travel distance interval determined from the acceleration or the speed detected by the first detector or a displacement corresponding to the acceleration or the speed;
Means for constantly obtaining an average road surface displacement input with the road surface displacement input for each travel distance interval obtained from the acceleration or the speed detected by the second detector or the acceleration or a displacement corresponding to the speed;
Means for momentarily converting the travel distance interval into a time interval when traveling at the reference speed of the IRI calculation;
The road surface displacement input obtained as an average of the road surface displacement input for each predetermined time interval converted into the time interval when traveling at the reference speed of the IRI calculation is stored in the storage means. Means for obtaining the acceleration, velocity or displacement of the first detection position from time to time based on the impulse response function of 2;
The road surface displacement input as a result of averaging the road surface displacement input for each of the predetermined time intervals converted into the time interval when traveling at the reference speed of the IRI calculation is the third force stored in the storage means. Means for obtaining momentarily as acceleration, velocity or displacement of the second detection position based on a product response function;
From the first detection position and the acceleration, velocity or displacement of the second detection position determined by the second and third impulse response functions, the first detection position and the second detection position A means for obtaining a cumulative value for each predetermined measurement road section length from moment to moment for a change in relative displacement;
Based on the ratio between the accumulated value for each predetermined measurement section length of the change in the relative displacement between the first detection position and the second detection position and the predetermined measurement road section length. Means for determining the IRI for each measured measurement section length;
A road surface flatness measuring apparatus comprising: Means for determining the number of revolutions of the wheel per unit time based on the running speed of the test vehicle detected by the running speed detecting means;
From the acceleration or velocity detected by the first detector and / or the second detector or the frequency component included in the displacement corresponding to the acceleration or the velocity, it is calculated by the reciprocal of the rotation cycle of the wheel. Means for removing only frequency components existing in the vicinity of a frequency that is an integral multiple of the frequency;
The road surface flatness measuring apparatus according to any one of claims 1 to 3, further comprising: The travel speed of the test vehicle is detected by the travel speed detecting means in the vibration parameter of the first impulse response function and / or the fourth impulse response function in a vibration system simulating a quarter car of the test vehicle. The road surface flatness measuring apparatus according to any one of claims 1 to 4, further comprising means for changing the speed based on the speed.

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