JP5808656B2 - Three-dimensional laser measurement system and road profile profile creation method - Google Patents

Description

  The present invention measures three-dimensional point cloud data indicating the position and height of a road surface while moving on a road with a measuring vehicle, and creates a profile of the road surface as basic data for IRI calculation based on the data. The present invention relates to a three-dimensional laser measurement system and a method for creating a longitudinal profile thereof.

  The IRI (International Roughness Index) represents road surface irregularities with indices to evaluate the riding comfort of an automobile, and was proposed by the World Bank in 1986. In Japan, it is generally translated as an international roughness index. The calculation of IRI is performed using a quarter car model vehicle composed of two springs and dampers, a defined suspension and tire, and the mass above and below the spring as a simulation.

  What is necessary for the calculation of the IRI is a “longitudinal profile” of the road surface of the road, which is obtained by slicing the road along the longitudinal direction (see Patent Document 1). The longitudinal profile includes the height coordinate indicating the unevenness of the road surface and the distance in the traveling direction, and information on the height is required at one point at intervals of 25 cm or less in the traveling direction at the tire position.

  The IRI calculation is performed based on a predetermined formula using a profile of the road surface. However, since it is practically difficult to perform this calculation manually, the calculation is performed by a computer using a calculation program. A typical example of this program is software called “Proval” which is used by road engineers around the world.

  As described above, IRI basically calculates road surface unevenness and travel distance as a longitudinal profile. The mileage has existing data such as a road ledger for the target section, and is easy to verify after measurement, so the accuracy of the uneven profile is particularly important.

  A device and system for obtaining a profile of a road surface is called a profiler. Depending on the profiler, IRI is classified internationally. The classification is shown in Table 1.

  The class 1 profiler in Table 1 can obtain an accurate longitudinal profile, but it takes time to measure, and the class 4 profiler has a problem with accuracy. The profiler has been used. A class 2 profiler can obtain a longitudinal profile with any measuring device other than leveling, and a class 3 profiler can obtain a road surface response with response-type equipment. There was a problem.

: Japanese Patent No. 4220929

  A typical class 2 profiler is equipped with multiple vehicle height sensors under the measurement vehicle, and continuously measures the height under the vehicle height while correcting the rolling angle and pitching angle with a separately attached gyro. A road profile is obtained. However, there are several adjustment steps, such as being affected by the acceleration of the measurement vehicle and the gyro of each vehicle height sensor, and finally by calibrating with the longitudinal profile obtained by direct leveling. It was essential to improve measurement accuracy.

  The class 3 profiler continuously records the vehicle response to road surface unevenness by a downward acceleration sensor attached to the measurement vehicle, and directly obtains the IRI. This profiler cannot obtain information on the profile itself. In addition, since the influence of the traveling speed of the measurement vehicle and the like is relatively large, the test driving is performed in a known verification section, and the accuracy is ensured by performing calibration so that the response value and the IRI are correlated.

  Furthermore, the conventional class 2 and 3 profilers must be calibrated by the upper class profiler in order to ensure the accuracy of the IRI obtained from the obtained longitudinal profile or response value. At present, calibration is performed by a class 1 profiler that performs leveling. However, these calibrations require time and have limitations on accuracy or correlation.

  The present invention has been made in view of such problems, and a mobile three-dimensional laser measurement system capable of creating a highly accurate longitudinal profile of a road surface without the need for complicated and time-consuming calibration, and a longitudinal profile An object is to provide a method for creating a profile.

In order to achieve the above object, a three-dimensional laser measurement system according to the present invention is a longitudinal profile showing unevenness of a road surface based on three-dimensional point cloud data indicating the plane position and height of a road surface of a road represented by three-dimensional coordinates. A three-dimensional laser measurement system for creating
A laser scanner, a GPS receiver, and an inertial measurement device are mounted on the vehicle body, and the first three-dimensional point cloud data is obtained by measuring the plane position and height of the road surface using the laser scanner while moving on the road. A measuring vehicle that acquires information on the position and orientation of the vehicle body using the GPS receiver and the inertial measurement device;
A longitudinal profile creating device that creates a longitudinal profile of the road surface based on data acquired by the laser scanner, GPS receiver, and inertial measurement device;
The longitudinal profile creation device is:
Second 3D point cloud data displayed in a geographic coordinate system by correcting the first 3D point cloud data acquired by the laser scanner based on information acquired by the GPS receiver and the inertial measurement device A data correction section for creating
The third three-dimensional point group data corresponding to the tire trajectory of the measurement vehicle is cut out from the second three-dimensional point group data, and the longitudinal profile is determined based on the third three-dimensional point group data. A longitudinal profile creation section to create,
The profile profile creation unit
From the third three-dimensional point cloud data, extract the fourth three-dimensional point cloud data including the measurement point at one end of the tire locus based on the plane position information,
Based on the plane position information of the fourth three-dimensional point cloud data, create a first vector of a predetermined size starting from an arbitrary measurement point toward the traveling direction of the measurement vehicle,
In the same procedure as the creation of the first vector, a second vector of the same size starting from the end point of the first vector is repeatedly created,
In the direction orthogonal to the first and second vectors, a plane position of an intermediate point for each predetermined interval in the tire trajectory is calculated,
The height of the intermediate point is calculated based on the plane position of the intermediate point and the third three-dimensional point group data .

Here, the longitudinal profile creation unit uses the measurement point of either the end point or the start point for each laser measurement line of the third three-dimensional point group data as a measurement point at one end of the tire trajectory. It is preferable to extract 4 three-dimensional point cloud data.

  Further, the longitudinal profile creation unit selects the closest measurement point among the measurement points located at positions exceeding the predetermined size from the arbitrary measurement point toward the traveling direction in the fourth three-dimensional point cloud data. It is preferable to select, create a vector having the measurement point as an end point, change the magnitude of the vector to the predetermined size, and create the first vector.

  The longitudinal profile creation unit creates a fourth vector orthogonal to the vector from the midpoint of the first vector or the second vector and toward the center of the trajectory of the tire, and sets the end point of the tire as the tire It is preferable that the position of the end point when the center point of the trajectory is set as the intermediate point.

  Moreover, it is preferable that the profile profile creation unit extracts height information of measurement points in a region around the intermediate point from the third three-dimensional point cloud data, and calculates an average value of the heights. . In particular, it is preferable to draw a circle with a predetermined radius centered on the intermediate point and calculate the average value of the heights of the measurement points included in the circle.

In addition, the road profile profile creation method according to the present invention is
A first step of obtaining first three-dimensional point cloud data by measuring a plane position and a height of a road surface while traveling using a laser scanner mounted on a measurement vehicle;
The first three-dimensional point cloud data is corrected based on the position and orientation information acquired using a GPS receiver and an inertial measurement device mounted on the measurement vehicle, and is displayed in a geographic coordinate system. A second step of creating two 3D point cloud data;
The third 3D point cloud data corresponding to the tire trajectory of the measuring vehicle is cut out from the second 3D point cloud data, and based on the third 3D point cloud data, the road surface And a third step of creating a longitudinal profile showing the irregularities,
The third step further includes
Extracting from the third 3D point cloud data fourth 3D point cloud data including a measurement point at one end of the trajectory of the tire based on plane position information;
Creating a first vector of a predetermined size starting from an arbitrary measurement point and moving in the traveling direction of the measurement vehicle based on the plane position information of the fourth three-dimensional point cloud data;
Repeatedly creating a second vector of the same size starting from the end point of the first vector in the same procedure as the creation of the first vector;
Calculating a plane position of an intermediate point for each predetermined interval in the trajectory of the tire in a direction orthogonal to the first and second vectors;
Calculating the height of the intermediate point based on the plane position of the intermediate point and the third three-dimensional point group data.

  By using the three-dimensional laser measurement system of the present invention, it is possible to create a highly accurate and long-distance road profile based on data measured while moving with a measurement vehicle without requiring calibration. Furthermore, since road surface data can be measured while driving at a normal speed on an expressway, a longitudinal profile of a section of several hundred kilometers can be created by a single measurement.

It is a block diagram which shows the functional structure of the three-dimensional laser measurement system concerning embodiment of this invention. It is a block diagram which shows an example of the hardware resource of the measurement vehicle of FIG. It is a conceptual diagram which shows the mode of the measurement by a measurement vehicle. It is a block diagram which shows an example of the hardware resource of the longitudinal profile production apparatus of FIG. It is a flowchart which shows the procedure which produces the longitudinal profile of a road surface based on three-dimensional point cloud data. It is the figure which looked at the locus of the tire of a measurement car from the upper part. It is FIG. (1) explaining the preparation procedure of a longitudinal profile. It is FIG. (2) explaining the preparation procedure of a longitudinal profile. It is FIG. (3) explaining the preparation procedure of a longitudinal profile. It is FIG. (4) explaining the preparation procedure of a longitudinal profile. It is explanatory drawing of the verification area of measurement accuracy.

  Hereinafter, a three-dimensional laser measurement system according to an embodiment of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing a functional configuration of a three-dimensional laser measurement system according to an embodiment of the present invention. The three-dimensional laser measurement system 1 includes a measurement vehicle 2 that collects necessary data while moving on a road, and a longitudinal profile creation device 2 that creates a longitudinal profile of a road surface based on data collected by the measurement vehicle 2. It consists of

  Before describing the configuration and functions of the three-dimensional laser measurement system, the basic steps for creating a road profile will be described. In the present invention, the profile of the road surface profile is created by the following three steps.

  First, using the laser scanner 21 mounted on the measuring vehicle 2, the plane position and height of the road surface of the road are measured while traveling to obtain the first three-dimensional point cloud data G1 (first step) ).

  Next, the first three-dimensional point cloud data G1 is corrected based on the data acquired using the GPS receiver 22 and the inertial measurement device 23 mounted on the measurement vehicle 2 and displayed in the geographic coordinate system. Second 3D point cloud data G2 is created (second step).

  Finally, the third 3D point cloud data corresponding to the trajectory of any tire of the measuring vehicle 2 is cut out from the second 3D point cloud data G2, and based on the third 3D point cloud data, A road profile is created (third step).

<Configuration and function of measuring vehicle>
Next, the configuration and function of the measuring wheel 2 that realizes the first step will be described. In the measuring wheel 2, a laser scanner 21, a GPS receiver 22, and an inertia measuring device 23 are mounted on the top plate. The measurement vehicle 2 also stores a first point cloud data storage unit 24 that stores the three-dimensional point cloud data acquired by the laser scanner 21 and a measurement data storage that stores the measurement data acquired by the GPS receiver 22 and the inertial measurement device 23. The unit 25 is provided.

  FIG. 2 is a diagram illustrating an example of hardware resources of the measurement vehicle 2. Each function of the measuring vehicle 2 shown by the block in FIG. 1 is implement | achieved using the hardware resource shown in FIG. The measuring wheel 2 includes a CPU 201 that executes a program. The CPU 201 is connected to the ROM 203, the RAM 204, the communication board 205, and the magnetic disk device 210 via the bus 202, and controls these hardware. The communication board 205 is connected to a network such as a LAN (Local Area Network) or the Internet by wire or wireless.

  Further, the CPU 201 is connected to the laser scanner 21, the GPS receiver 22, and the inertial measurement device 23 via the bus 202, and controls the operation of these devices.

  The magnetic disk device 240 stores an OS 241, a program group 242 and a file group 243. The programs in the program group 242 are read and executed by the CPU 201. In the file group 243, various data acquired by the laser scanner 21, the GPS receiver 22, and the inertial measurement device 23 are stored in the form of files. Note that another storage device (for example, a flash memory) may be used instead of the magnetic disk device 240.

  Next, the functions of the laser scanner 21, the GPS receiver 22, and the inertial measurement device 23 will be described with reference to FIGS. FIG. 3 is a conceptual diagram showing a state of measurement by the measuring wheel 2. A laser scanner 21, a GPS receiver 22, and an inertial measurement device 23 are mounted on the top plate of the measurement vehicle 2 in a fixed state. A tire 26 is attached to the lower part of the measuring wheel 2.

  The laser scanner 21 emits a laser pulse LP at a predetermined time interval from a 360-degree continuous rotation scanning unit 211 mounted on the top plate of the measuring vehicle 2, and the laser pulse LP passes between the laser emitting portion and the object. The distance to the road surface of the road 4 is measured during the round trip time. Further, the direction angle can be obtained by the mounting angle and the rotation direction of the scanner 211. As a result, it is possible to obtain three-dimensional coordinates represented by polar coordinates of each measurement point P irradiated with the laser.

  Since the laser scanner 21 is attached to the rear part of the top plate of the measuring wheel 2 at an angle with respect to both the vertical direction and the horizontal direction so that the coordinate group of the target point has no specificity, the road surface A measurement point P is obtained along an oblique laser measurement line T. When the measurement vehicle 2 travels on the road, the laser measurement line T moves in the traveling direction of the measurement vehicle 2 and three-dimensional data of the measurement points P on the road surface is continuously obtained. This three-dimensional data has coordinates of a plane position and a height. The three-dimensional point group data G1, which is a collection of three-dimensional data of the measurement point P obtained in this way, is stored in the first point group data storage unit 24 together with the measurement time.

  The GPS receiver 22 observes a carrier wave of a positioning signal transmitted from each of a plurality of GPS (Global Positioning System) satellites, and based on the observation information of the carrier wave, determines the position of the antenna 221 of the GPS receiver 22 as a third order. Acquired as position information expressed in original coordinates.

  An inertial measurement device (usually called an IMU “Inertial Measurement Unit”) 23 is a device that measures three-axis angles (or angular velocities) and accelerations that govern movement. The inertial measurement device 23 basically obtains a three-dimensional angular velocity and acceleration using a three-axis gyro and a three-direction accelerometer. The inertial measurement device 23 is usually installed at the position of the center of gravity of the moving body to be mounted.

  The position information data acquired by the GPS receiver 22 and the angle (or angular velocity) and acceleration data measured by the inertial measurement device 23 are stored in the measurement data storage unit 25.

<Configuration and function of profile generator>
Next, the configuration and function of the longitudinal profile creating apparatus 3 that realizes the above-described second step and third step will be described. The longitudinal profile creation device 3 includes a position / posture calculation unit 31, a data correction unit 33, and a longitudinal profile creation unit 35. The cross-sectional profile creation device 3 also includes a position / posture data storage unit 32, a second point cloud data storage unit 34, and a longitudinal profile storage unit 36 that store the created data.

  FIG. 4 is a diagram illustrating an example of hardware resources of the cross-sectional profile creation device 3. Each function of the longitudinal profile creating apparatus 3 shown by blocks in FIG. 1 is realized using the hardware resources shown in FIG.

  The longitudinal profile creation device 3 includes a CPU 301 that executes a program. The CPU 301 is connected to the ROM 303, the RAM 304, the display 305, the keyboard 306, the mouse 307, the communication board 308, the optical disk device 309, and the magnetic disk device 310 via the bus 302, and controls these hardware. Note that another storage device (for example, a flash memory) may be used instead of the magnetic disk device 310.

  The display 305 is an example of an output device, and the keyboard 306 and the mouse 307 are examples of an input device. The communication board 308, the optical disk device 309, and the magnetic disk device 310 are examples of devices that also serve as input and output. The communication board 305 is connected to a network such as a LAN or the Internet by wire or wireless.

  The magnetic disk device 310 stores an OS 311, a program group 312 and a file group 313. The program group 312 stores programs for realizing the functions of the position / attitude calculation unit 31, the data correction unit 33, and the longitudinal profile creation unit 35. The programs in the program group 312 are read and executed by the CPU 301. In the file group 313, various types of data created by the position / attitude calculation unit 31, the data correction unit 33, and the longitudinal profile creation unit 35 are stored in the form of files.

  The measurement data stored in the first point cloud data storage unit 24 and the measurement data storage unit 25 of the measurement vehicle 2 are stored in the measurement vehicle 2 via the hardware resource communication boards 205 and 308 or using a memory card or the like. The data is read from the magnetic disk device 210 and transferred to the data correction unit 33 and the position / orientation calculation unit 31 of the longitudinal profile creation unit 35, respectively.

<Description of the second step>
Next, processing in the longitudinal profile creation device 3 will be described. First, a procedure for correcting the first three-dimensional point group data G1 measured by the laser scanner 21 and converting the first three-dimensional point group data G1 into the second three-dimensional point group data G2 in a geographic coordinate system represented by three orthogonal axes ( The second step) will be described.

  The position / posture calculation unit 31 calculates the position and posture angle of the measurement vehicle 2 at each measurement time in a specific coordinate system (geographic coordinate system in the present embodiment). The position / orientation calculation unit 31 receives the latitude, longitude, and height data of the measurement vehicle 2 acquired by the GPS receiver 22 from the measurement data storage unit 25, and the angle (or angular velocity) and angle measured by the inertial measurement device 23. The acceleration data is read, and the position and posture angle (roll angle, pitch angle, yaw angle) of the measuring wheel 2 at each time are calculated based on these data.

  The geographic coordinate system may be either a world geodetic system or an arbitrary coordinate. For example, the laser irradiation point on the road surface at an arbitrary position observed first may be (x, y, z) = (0, 0, 0). . The calculated position and orientation data of the measuring vehicle 2 is stored in the position / orientation data storage unit 32.

  The data correction unit 33 reads the first three-dimensional point group data G1 measured by the laser scanner 21 from the first point group data storage unit 24 of the measurement vehicle 2. Further, the position / posture data storage unit 32 reads out the position and posture data of the measuring vehicle 2 at each time.

  The data correction unit 33 creates second three-dimensional point group data G2 of the geographical coordinate system of the road surface at each time based on the read data. An arithmetic expression for converting the first three-dimensional point group data G1 expressed in polar coordinates into the second three-dimensional point group data G2 expressed in the geographic coordinate system based on the position and orientation data of the measuring vehicle 2 Is widely known as described in, for example, Japanese Patent Application Laid-Open No. 2009-204615, and a description thereof is omitted here. The second three-dimensional point group data G2 of the geographic coordinate system created by the data correction unit 33 is stored in the second point group data storage unit 34.

<Description of the third step>
Next, a procedure (third step) for creating a longitudinal profile of the road surface based on the second three-dimensional point group data G2 converted into the geographic coordinate system will be described with reference to the flowchart of FIG.

  In the third step of the present invention, the third three-dimensional point group data G3 corresponding to the trajectory of any tire of the measuring vehicle 2 is cut out from the second three-dimensional point group data G2, and this third three-dimensional point group data G2 is extracted. A longitudinal profile is created based on the point cloud data G3.

  Specifically, fourth 3D point group data G4 including a measurement point at one end of the tire trajectory Tw is extracted from the third 3D point group data G3 based on the information on the plane position. Further, based on the fourth three-dimensional point group data G4, the plane position of the intermediate point at every predetermined interval in the tire trajectory Tw is calculated, and the plane position of the intermediate point and the third three-dimensional point group data are calculated. The height of the intermediate point is calculated based on G3.

  The data of the height of the intermediate point at every predetermined interval in the tire trajectory Tw obtained in this way becomes the longitudinal profile. Hereinafter, a procedure for creating a longitudinal profile will be specifically described.

  In FIG. 6, the state which looked at the locus | trajectory of the tire of the measurement vehicle 2 from upper direction is shown. In the figure, only members necessary for explanation are displayed. A band of width W indicated by hatching is a locus Tw of the tire 26c at the right rear portion. In the example of the figure, the GPS receiver 22 is installed in the center of the rear part of the top plate of the measuring vehicle 2, and the tires 26 a to 26 d are installed at a predetermined distance from the center line passing through the reference point O of the GPS receiver 22. ing.

  The longitudinal profile creation unit 35 uses the distance L from the center line as a guideline from the second three-dimensional point group data G2 of the geographic coordinate system stored in the second point group data storage unit 34, and the tire 26c on the right rear side. The third 3D point cloud data G3 having a width W corresponding to the trajectory Tw is cut out (step S1).

  The tire trajectory Tw does not need to be the actual trajectory of the tire, and refers to a portion having a width corresponding to the position where the tire 26 is installed (a location separated from the center line by a distance L). Further, in the drawing, the trajectory of the right rear tire 26c is shown as the tire trajectory Tw, but it may be the trajectory of the left rear tire 26d, and further, the trajectory of each of the right and left tires. Also good.

  Next, a method for extracting information on the plane position from the third three-dimensional point cloud data G3 of the extracted trajectory Tw and determining the traveling direction of the tire of the measurement vehicle 2 based on this information will be described.

  FIG. 7 shows a state in which the third three-dimensional point group data G3 having a width W cut out as the trajectory Tw of the tire 26a is projected on the xy plane indicating the plane position. In the figure, the arrow indicates the traveling direction of the measuring vehicle 2. As shown in FIG. 7, the data of the cut measurement points P are arranged in a substantially line shape from the characteristics of laser pulse emission, and form a single line T from the start point to the end point.

  The longitudinal profile creation unit 35 extracts the start point and the end point of the laser measurement line T in order to determine the running direction of the tire. The extraction method uses coordinate calculation to confirm that the movement from the end point of one line to the start point of the next line is made using changes in the magnitude and direction angle of the vector having two adjacent measurement points as the start point and end point. Is.

  FIG. 8 shows a part of the point cloud data G3 of FIG. 7 in a simplified manner for explanation. The position of each measurement point P is represented by an orthogonal coordinate system (x, y). When a sign is added to the measurement point P in the order of measurement time and a vector connecting the measurement points Pn and Pn + 1 is an, the distance between them, that is, the magnitude of the vector an is expressed by the equation (1). Further, the amount of change between the azimuth angle σn of the vector an and the azimuth angle σn + 1 of the vector an + 1 is expressed by Expression (2).

  The start point and end point of the laser measurement line T can be extracted using the above formulas (1) and (2). For example, in FIG. 8, the distance between the points P4 and P5 is larger than the point group on the measurement line T such as the points P3 and P4. Further, the direction angle σ4 of the vector a4 also changes closer to inversion than the direction angle σ3 of the vector a3, so that the point P4 is the end point of the measurement line T.

  Similarly, the distance between the points P7 and P8 is larger than the distance between the points P6 and P7. Further, since the direction angle σ8 of the vector a8 changes closer to inversion compared to the direction angle σ7 of the vector a7, it can be seen that the point P8 is the starting point of the measurement line T.

  Thus, when the magnitude of the vector an and the amount of change in the direction angle both exceed the preset threshold, the measurement point (start point) is the end point of the laser measurement line T, and the next measurement point ( It can be determined that (end point) is the start point of the laser measurement line T. The start point group or end point group extracted in this way is stored in the memory (RAM 304 in FIG. 4) as fourth three-dimensional point group data G4 (see FIG. 9) (step 2).

  If the above-described determination method is used, even if a defect occurs at a measurement point in a range that should be originally acquired, such as the brightness of the road surface during laser measurement, as indicated by a hatched area S in FIG. If the threshold value of the vector size is set larger than the size of the vector a4, that is, the distance between the point P4 and the point P5, the start point of the laser measurement line T is not determined. With this method, the start point and end point of the laser measurement line T can be extracted with sufficient accuracy.

  In the present embodiment, the end point group (P4, P7,...) Is selected as the fourth three-dimensional point group data G4. However, it goes without saying that the start point group may be selected. When the start point group is selected, this is not an essential difference, but the procedure for creating the longitudinal profile is slightly different from the case where the end point group is selected.

  As shown in FIG. 9, the arrangement direction of the fourth three-dimensional point group data G4 coincides with the traveling direction of the tire of the measuring vehicle 2. In the three-dimensional point group data G4, a measurement point b that is a predetermined distance from an arbitrary measurement point a, that is, a distance exceeding 25 cm in the present embodiment and that is in the traveling direction closest to 25 cm is found by calculation. A direction vector Vb is created from the coordinates of the two measurement points a and b, and converted to a unit vector. Further, a vector Vc having a length of 25 cm is created from the unit vector thus obtained (step S3). As shown in FIG. 10, the end point of the vector Vc is a virtual point c that is not actually acquired as measurement point data.

  Next, using the virtual end point c of the vector Vc as a starting point, a vector having the same size as the vector Vc in the traveling direction, that is, a length of 25 cm is created by the same procedure as described above (step S4). By repeating this process until the section for which the longitudinal profile is to be created is completed (No in step S5), it is possible to obtain information related to the travel direction and travel distance of the tire including the curve.

  Next, a method for acquiring height information including road surface irregularities at 25 cm intervals necessary for IRI calculation along the traveling direction of the measurement vehicle 2 will be described with reference to FIG.

  For the travel direction vector Vc obtained in steps S3 and S4 described above, a vector Vd that is orthogonal to the vector Vc from the midpoint of the vector and is directed toward the center of the tire trajectory is created. The end point of the vector Vd is set as an intermediate point of the tire trajectory Tw (in this embodiment, a middle point, that is, a point half the width W). The longitudinal profile creation unit 35 calculates xy coordinates indicating the planar position of the end point (midpoint of the tire trajectory Tw) d of the vector Vd based on the position coordinates of the start point and end point of the vector Vc (step S6).

  Since the midpoint d, which is the end point of the vector Vd, is a virtual point where data is not actually measured, there is no height information. For this reason, the longitudinal profile creation unit 35 assumes a region around the midpoint d, specifically, a circle Cd having a predetermined radius around the midpoint d, and the actual measurement point P in the circle Cd. Data is extracted from the above-described third three-dimensional point cloud data G3.

  When the average value of the height coordinates (z) of the real points in the circle Cd obtained in this way is calculated, information on the height at the midpoint d is obtained (step S7). In steps S6 and S7, if the horizontal position information and height information of all midpoints d in the target section of the vertical profile are calculated, the vertical profile obtained by measuring the road surface of the road required for IRI calculation at intervals of 25 cm. Data of (height including unevenness) is obtained.

  Actually, the work defined by the class 1 profiler is to perform leveling by setting a scale at the above-mentioned virtual point d every 25 cm, and this work is reproduced by the above-described calculation.

  Further, when the total number of vectors Vc obtained in the calculation process of steps S3 and S4 is multiplied by 25 cm between the start point and the end point of the target section of the longitudinal profile traveled by the measuring vehicle 2, the tire travels along the tire travel direction. Cumulative distance is obtained.

  In the present embodiment, the starting point of the vector Vd is set to the midpoint of the vector Vc, but it is not necessarily set to the midpoint of the vector Vc. For example, the vector Vc may be created by using a starting point or an ending point of the vector Vc as a starting point and moving toward the center of the tire trajectory.

  In the present embodiment, the end point of the vector Vd is set at the midpoint of the tire trajectory Tw. However, the end point of the vector Vd is not necessarily the midpoint, and is not limited to the midpoint that is a certain distance away from the end of the tire trajectory Tw. It may be set.

  Further, in the present embodiment, the peripheral area for calculating the average value of the height is the area surrounded by a circle having a predetermined radius from the midpoint d, which is a virtual point, but it is not necessarily a circle. For example, for ease of data extraction, a region surrounded by a square centered on the virtual point d may be used.

<Verification of measurement accuracy>
By using the three-dimensional laser measurement system of the present invention, as shown in FIG. 11, the road surface unevenness and travel distance are measured in the section of road width 7.15 m and extension 50 m, and compared with the values measured by leveling. The measurement accuracy was verified. In the verification, each side of the road in the 50 m section was divided into 5 equal parts, and measurement points were provided at 10 m intervals, and the results of measurement and measurement by the measurement system of the present invention were compared. In the present embodiment, as the laser scanner 21, a scanner capable of measuring 300,000 points (300 kHz) per second and having a point group density of 4 cm is used.

  Table 2 shows the measurement results. Each line shows an actual measurement value, a height (value in the z-axis direction) measured using the measurement system of the present invention, and an error from the actual measurement value for each measurement point.

  When the measurement point 1 was used as a reference point, the measurement error by the measurement system of the present invention was 3 mm at the maximum. This indicates that in the measurement in the measurement system of the present invention, accuracy equivalent to actual measurement can be ensured as a means for obtaining a road surface unevenness profile.

  As described above, in the three-dimensional laser measurement system according to the present invention, a longitudinal profile based on the three-dimensional coordinate data obtained from the road surface is continuously spaced at 25 cm intervals in the traveling direction at the center position of the car tire. Uneven data can be obtained. The post-process for calculating the IRI can be easily calculated using the profile created as described above and using a known program such as “Proval” described above.

  As is clear from the verification results shown in Table 2 above, the height coordinates obtained by using the laser scanner can sufficiently ensure the accuracy of direct leveling, and the calculation algorithm is The three-dimensional laser measurement system of the present invention can be classified as a class 1 profiler because the surveying work is reproduced.

  In addition, if the 3D laser measurement system of the present invention is used, it is possible to collect data without traveling at a low speed even on a highway, so traffic regulation is unnecessary, and a section of several hundred kilometers can be measured in one day. Is possible.

  Furthermore, since the IRI of class 1 can be obtained in a relatively short time even in a long distance section by using the three-dimensional laser measurement system of the present invention, accuracy verification and calibration of conventional class 2 and class 3 profilers are possible. It can be used for

DESCRIPTION OF SYMBOLS 1 Three-dimensional laser measurement system 2 Measuring vehicle 3 Longitudinal profile creation apparatus 4 Road 21 Laser scanner 22 GPS receiver 23 Inertial measurement apparatus 24 1st point group data storage part 25 Measurement data storage part 26, 26a-26d Tire 31 Position and attitude | position Calculation unit 32 Position / attitude data storage unit 33 Data correction unit 34 Second point cloud data storage unit 35 Longitudinal profile creation unit 36 Longitudinal profile storage unit 211 Scan unit 221 Antenna P Measurement point T Laser measurement line LP Laser pulse

Claims (8)

A three-dimensional laser measurement system that creates a longitudinal profile showing unevenness of a road surface based on three-dimensional point cloud data indicating a plane position and height of a road surface represented by three-dimensional coordinates,
A laser scanner, a GPS receiver, and an inertial measurement device are mounted on the vehicle body, and the first three-dimensional point cloud data is obtained by measuring the plane position and height of the road surface using the laser scanner while moving on the road. A measuring vehicle that acquires information on the position and orientation of the vehicle body using the GPS receiver and the inertial measurement device;
A longitudinal profile creating device that creates a longitudinal profile of the road surface based on data acquired by the laser scanner, GPS receiver, and inertial measurement device;
The longitudinal profile creation device is:
Wherein the first three-dimensional point cloud data acquired in Rezasukya Na, and modified based on the information obtained by the GPS receiver and inertial measurement unit, the second three-dimensional point group data displayed in the geographic coordinate system A data correction section for creating
The third three-dimensional point group data corresponding to the tire trajectory of the measurement vehicle is cut out from the second three-dimensional point group data, and the longitudinal profile is determined based on the third three-dimensional point group data. A longitudinal profile creation section to create,
The profile profile creation unit
From the third three-dimensional point cloud data, extract the fourth three-dimensional point cloud data including the measurement point at one end of the tire locus based on the plane position information,
Based on the plane position information of the fourth three-dimensional point cloud data, create a first vector of a predetermined size starting from an arbitrary measurement point toward the traveling direction of the measurement vehicle,
In the same procedure as the creation of the first vector, a second vector of the same size starting from the end point of the first vector is repeatedly created,
In the direction orthogonal to the first and second vectors, a plane position of an intermediate point for each predetermined interval in the tire trajectory is calculated,
A three-dimensional laser measurement system , wherein the height of the intermediate point is calculated based on the plane position of the intermediate point and the third three-dimensional point group data .   The longitudinal profile creating unit uses the measurement point at either the end point or the start point for each laser measurement line of the third three-dimensional point cloud data as a measurement point at one end of the tire trajectory. The three-dimensional laser measurement system according to claim 1, wherein original point cloud data is extracted. The longitudinal profile creation unit selects the nearest measurement point from among the measurement points at positions exceeding the predetermined size from the arbitrary measurement point toward the traveling direction from the fourth three-dimensional point cloud data. and to create a vector for the measurement point and the end point, to create the first vector by changing the magnitude of the vector to the predetermined size, three-dimensional laser measuring system according to claim 1. The longitudinal profile creation unit creates a fourth vector orthogonal to the vector from the midpoint of the first vector or the second vector and toward the center of the trajectory of the tire, and sets the end point of the tire The three-dimensional laser measurement system according to claim 1 or 3 , wherein a position of the end point when a midpoint of a locus is used is the intermediate point. The longitudinal profile generator, said from third three-dimensional point group data in the area around the midpoint extracting height information of the measurement point, and calculates the average value of the height, according to claim 1 The three-dimensional laser measurement system described in 1. The three-dimensional laser measurement according to claim 5 , wherein the longitudinal profile creation unit draws a circle with a predetermined radius centered on the intermediate point, and calculates an average value of heights of measurement points included in the circle. system. A first step of obtaining first three-dimensional point cloud data by measuring a plane position and a height of a road surface while traveling using a laser scanner mounted on a measurement vehicle;
The first three-dimensional point cloud data is corrected based on the position and orientation information acquired using a GPS receiver and an inertial measurement device mounted on the measurement vehicle, and is displayed in a geographic coordinate system. A second step of creating two 3D point cloud data;
The third 3D point cloud data corresponding to the tire trajectory of the measuring vehicle is cut out from the second 3D point cloud data, and based on the third 3D point cloud data, the road surface And a third step of creating a longitudinal profile showing the irregularities,
The third step further includes
Extracting from the third 3D point cloud data fourth 3D point cloud data including a measurement point at one end of the trajectory of the tire based on plane position information;
Creating a first vector of a predetermined size starting from an arbitrary measurement point and moving in the traveling direction of the measurement vehicle based on the plane position information of the fourth three-dimensional point cloud data;
Repeatedly creating a second vector of the same size starting from the end point of the first vector in the same procedure as the creation of the first vector;
Calculating a plane position of an intermediate point for each predetermined interval in the trajectory of the tire in a direction orthogonal to the first and second vectors;
And a step of calculating the height of the intermediate point based on the plane position of the intermediate point and the third three-dimensional point group data . The fourth three-dimensional point group data is extracted using either the end point or the starting point of each third measurement point data of the third three-dimensional point group data as a measurement point at one end of the tire trajectory. The road surface profile creation method according to claim 7 .

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