JP6657753B2 - Acceleration correction program, road surface condition evaluation program, acceleration correction method, and acceleration correction device - Google Patents

Description

  The present invention relates to an acceleration correction program, a road condition evaluation program, an acceleration correction method, and an acceleration correction device.

  A technology in which a mobile terminal such as a smartphone is mounted on a vehicle, and while the vehicle is running, the acceleration in the vertical direction is measured using an acceleration sensor of the mobile terminal to detect a damage state of a road surface on a road on which the vehicle runs. It has been known.

JP-A-63-173912

  However, in the above technology, the acceleration sensor of the mobile terminal detects a small amount on an uphill and a large amount on a downhill due to the influence of gravity. For this reason, the damage state of the road surface cannot be accurately detected.

  Further, even if the altitude information of points generated by the Geographical Survey Institute is used, not all roads are linked with the altitude information. In addition, it is not easy to acquire in advance the difference in altitude of the slope of each road for detecting the damage state of the road surface and to have the difference as data.

  In one aspect, an object of the present invention is to provide an acceleration correction program, a road surface condition evaluation program, an acceleration correction method, and an acceleration correction device capable of improving the detection accuracy of a road surface damage state.

  In the first case, the acceleration correction program causes the computer to calculate a distance between the first point and the second point based on the altitude data of the first point and the altitude data of the second point. Is performed to estimate whether the vehicle is climbing or descending. The acceleration correction program causes the computer to calculate a value of the vertical acceleration measured by an acceleration sensor mounted on the vehicle when the vehicle moves from the first point to the second point, and A process for correcting based on the result is executed.

  According to the embodiment, it is possible to improve the detection accuracy of the damage state of the road surface.

FIG. 1 is a diagram illustrating an example of the overall configuration of a system according to the first embodiment. FIG. 2 is a functional block diagram illustrating the functional configuration of the system according to the first embodiment. FIG. 3 is a diagram illustrating the acceleration in the vertical direction. FIG. 4 is a diagram illustrating the correction of the acceleration in the vertical direction. FIG. 5 is a flowchart showing the flow of the processing. FIG. 6 is a diagram illustrating a hardware configuration example of the communication terminal. FIG. 7 is a diagram illustrating an example of a hardware configuration of the road evaluation server.

  Hereinafter, embodiments of an acceleration correction program, a road surface state evaluation program, an acceleration correction method, and an acceleration correction device disclosed in the present application will be described in detail with reference to the drawings. The present invention is not limited by the embodiment.

[overall structure]
FIG. 1 is a diagram illustrating an example of the overall configuration of a system according to the first embodiment. As shown in FIG. 1, in this system, a vehicle 1 on which a communication terminal 10 is mounted and a road surface evaluation server 20 are connected via a network.

  The vehicle 1 is, for example, a passenger car traveling on a road having damaged portions 51 and 52, and travels at a constant speed in a predetermined section, for example. The communication terminal 10 is a device such as a smartphone, a mobile phone, and a personal computer. The communication terminal 10 includes an acceleration sensor that measures acceleration in three axes, a GPS sensor that measures position information such as altitude data and latitude and longitude using a GPS (Global Positioning System) or the like. In addition, the communication terminal 10 measures and accumulates acceleration (hereinafter, sometimes referred to as acceleration data), position information, speed information, and the like at predetermined intervals such as 0.1 seconds, and stores these measurement data. This is transmitted to the road surface evaluation server 20.

  The road surface evaluation server 20 is a server that detects damaged points 51 and 52 on a road 50 on which the vehicle 1 runs. Specifically, the road surface evaluation server 20 determines whether the distance between the first point and the second point is a climb based on the altitude data of the first point and the altitude data of the second point, Estimate whether it is going down. Then, the road surface evaluation server 20 estimates the value of the vertical acceleration measured by the acceleration sensor mounted on the vehicle 1 when the vehicle 1 moves from the first point to the second point as a result of the estimation. Is corrected based on

  For example, the road surface evaluation server 20 specifies that the road 50 has a tendency to climb from a change in altitude data received from the communication terminal 10 within a predetermined section of the road 50. Subsequently, the road surface evaluation server 20 specifies the damaged points 51 and 52 from the acceleration data received from the communication terminal 10 in a predetermined section of the road 50. After that, the road surface evaluation server 20 corrects the acceleration data corresponding to the damaged portion 51 and the acceleration data corresponding to the damaged portion 52 to low values because the road 50 tends to climb.

  In other words, the road surface evaluation server 20 detects that the acceleration data in the vertical direction is smaller in the case of the ascending direction, so that the acceleration data in the vertical direction is larger in the case of the descending direction. Since it is detected, it is corrected to be small. As a result, the road surface evaluation server 20 can improve the detection accuracy of the damage state of the road surface.

[Function configuration]
FIG. 2 is a functional block diagram illustrating the functional configuration of the system according to the first embodiment. Here, the communication terminal 10 and the road surface evaluation server 20 will be described.

(Configuration of Communication Terminal 10)
As shown in FIG. 2, the communication terminal 10 has a communication unit 11, a storage unit 12, and a control unit 13. The communication unit 11 is a processing unit that controls communication with the road evaluation server 20 regardless of whether it is wired or wireless. The storage unit 12 is a storage device such as a hard disk or a memory, and stores, for example, programs executed by the control unit 13, various data, communication destination information such as the address of the road surface evaluation server 20, and the like.

  The control unit 13 is a processing unit that performs overall processing of the communication terminal 10, and is, for example, a processor. The control unit 13 has a GPS measurement unit 14 and an acceleration measurement unit 15. The GPS measuring unit 14 and the acceleration measuring unit 15 are an example of an electronic circuit included in the processor and an example of a process executed by the processor.

  The GPS measurement unit 14 is a processing unit that measures position information such as altitude data and latitude and longitude using GPS. Specifically, the GPS measurement unit 14 measures and accumulates position information at predetermined intervals such as 0.1 second intervals, and transmits the measured position information to the road surface evaluation server 20.

  The acceleration measuring unit 15 is a processing unit that measures acceleration data of three axes including a vertical direction using an acceleration sensor. Specifically, the acceleration measuring unit 15 measures and accumulates acceleration data at predetermined intervals such as 0.1 second intervals, and transmits the measured acceleration data to the road surface evaluation server 20.

(Configuration of Road Surface Evaluation Server 20)
As shown in FIG. 2, the road evaluation server 20 includes a communication unit 21, a storage unit 22, and a control unit 23. The communication unit 21 is a processing unit that controls communication with the communication terminal 10 regardless of whether it is wired or wireless.

  The storage unit 22 is a storage device such as a hard disk or a memory, and stores, for example, programs executed by the control unit 23, various data, communication destination information such as the address of the communication terminal 10, and the like. The storage unit 22 stores the acceleration data and the position information received from the communication terminal 10 for each communication terminal 10. The storage unit 22 stores the road surface condition of each road determined by the control unit 23.

  The control unit 23 is a processing unit that manages overall processing of the road evaluation server 20, and is, for example, a processor. The control unit 23 includes a reception unit 24, a position identification unit 25, an estimation unit 26, a correction unit 27, and a determination unit 28. The receiving unit 24, the position specifying unit 25, the estimating unit 26, the correcting unit 27, and the determining unit 28 are an example of an electronic circuit included in the processor and an example of a process executed by the processor.

  The receiving unit 24 is a processing unit that receives acceleration data and position information from the communication terminal 10. Specifically, when receiving the acceleration data, the position information, and the speed information from the communication terminal 10, the receiving unit 24 stores the reception time, the received information, and the identifier of the transmission source communication terminal 10 in association with each other. It is stored in the unit 22.

  The position specifying unit 25 is a processing unit that specifies the start point to the end point of the road for which the road surface is evaluated. For example, the position specifying unit 25 acquires the position information at the time t specified by the administrator or the like from the storage unit 22 and sets the position information as the start point. Further, the position specifying unit 25 acquires the position information 10 minutes after the time t from the storage unit 22 and sets the position information as the end point. Then, the position specifying unit 25 outputs the specified start point and the position information of the start point to the estimation unit 26, the correction unit 27, and the determination unit 28.

  The position specifying unit 25 can also specify a start point and an end point according to a latitude and longitude designated in advance. Further, the position specifying unit 25 can also specify, from the altitude data stored in time series, a period in which the altitude data increases with time, and specify a start point and an end point of the period.

  The estimating unit 26 is a processing unit that estimates whether the road to be evaluated for road surface has an upward tendency or a downward tendency. Specifically, the estimating unit 26 estimates whether the user has an upward tendency or a downward tendency based on the position information of the start point and the end point received from the position specifying unit 25. For example, the estimating unit 26 subtracts the altitude data at the start point from the altitude data at the end point, and if the value is greater than or equal to the threshold value, estimates the tendency to ascend. Then, the estimation unit 26 outputs the estimation result to the correction unit 27. The threshold can be arbitrarily set and changed.

  Here, the GPS used by the communication terminal 10 or the like may have an error of about 30 m. In addition, the error of the altitude due to the GPS generally uses the same combination of satellites at the start point and the end point of the slope due to the characteristics of the GPS. Therefore, the estimating unit 26 determines the slope based on the relative altitude difference between the start point and the end point by calculating the difference between the altitude data as the end point and the altitude data as the start point. In other words, assuming that the errors at the start point and the end point are the same in plus and minus directions and in the same direction, the slope determination is realized without performing complicated processing.

  The correction unit 27 is a processing unit that corrects the measured vertical acceleration when the road to be evaluated on the road surface has an upward tendency or a downward tendency. Specifically, the correction unit 27 calculates the vertical acceleration data measured in the section determined as the uphill or downhill by the estimation unit 26 based on a correction value calculated based on whether the tendency is uphill or downhill. to correct. Then, the correction unit 27 updates the corresponding acceleration data stored in the storage unit 22 with the corrected acceleration data. That is, the correction unit 27 corrects each acceleration data measured on the slope based on the type of the slope.

  Here, the correction will be specifically described. FIG. 3 is a diagram illustrating the acceleration in the vertical direction. The acceleration sensor of the communication terminal 10 depends on the direction of the communication terminal 10 and is different from the actual vertical direction. That is, as shown in FIG. 3, when the vehicle 1 on which the communication terminal 10 is mounted is traveling on a flat road 50, the direction of the vertical acceleration data measured by the communication terminal 10 and the vertical direction actually generated The direction of the acceleration data is the same, so that the influence of gravity does not occur.

  On the other hand, when the vehicle 1 is traveling on an uphill, the direction of the vertical acceleration data measured by the communication terminal 10 is different from the direction of the actually generated vertical acceleration data. For this reason, in the case of the ascending direction, the acceleration data in the vertical direction is detected relatively small, and in the case of the descending direction, the acceleration data in the vertical direction is detected relatively large. Therefore, the evaluation accuracy of the road surface is deteriorated.

  Therefore, the correction unit 27 dynamically changes the correction value according to how much a slope, and corrects the measured vertical acceleration data. FIG. 4 is a diagram illustrating the correction of the acceleration in the vertical direction.

  For example, a description is given of an uphill slope. As shown in FIG. 4, if acceleration data measured at a convex point on an uphill is assumed to be α and gravitational acceleration is assumed to be 9.81, the influence degree “β” of the gravitational acceleration due to the slope is “9.81”. × COS θ ”. On an uphill, the measured acceleration is subtracted downward by β, so the correction unit 27 calculates the corrected value of the measured acceleration on the slope as “measured acceleration α + β”. When the measured acceleration is in the downward direction, the acceleration has a negative value (such as -10.5). That is, in the case of the downward acceleration, the measured acceleration includes an extra β component, but the positive value β is added to the negative value, so that the absolute value of the calculation result becomes small.

  On the other hand, in the case of a downhill, β acts upward, so that the degree of influence “β” of the gravitational acceleration due to the slope is “9.81 × COSθ”. Therefore, the correction unit 27 calculates the corrected value of the measured acceleration due to the slope as “measured acceleration α−β”.

The angle θ can be calculated by various methods. For example, the correction unit 27 can be obtained from an angle sensor or the like of the vehicle 1 or the communication terminal 10. Further, the correction unit 27 calculates “X” shown in FIG. 4 based on the altitude difference between the end point and the start point. Further, the correction unit 27 can calculate the distance Y using the time and the speed taken from the start point to the end point. Then, since SIN θ = (X / Y), the correction unit 27 can calculate as “θ = SIN ⁻¹ (X / Y)”. That is, the correction unit 27 can calculate “θ = arcSIN (X / Y)” or the like.

  The determination unit 28 is a processing unit that determines the state of the road surface. Specifically, the determination unit 28 determines the state of the road surface by comparing the absolute value of the acceleration data stored in the storage unit 22 with a threshold, and stores the determination result in the storage unit 22. For example, the determination unit 28 determines that a point where acceleration data equal to or larger than “AA” is detected is a damaged part. In addition, when the vehicle is not on a slope, the determination unit 28 determines the state of the road surface using the measured values without correcting the measured acceleration data.

[Processing flow]
FIG. 5 is a flowchart showing the flow of the processing. Here, it is assumed that the road surface evaluation server 20 periodically receives acceleration data, position information, speed information, and the like from the communication terminal 10 and stores them in a time series.

  As shown in FIG. 5, when the processing is started (S101: Yes), the position specifying unit 25 of the road evaluation server 20 specifies a start point and an end point (S102). Subsequently, the estimating unit 26 specifies the inclination of the road using the altitude data of the start point and the altitude data of the end point (S103).

  Then, when the estimation unit 26 estimates that the vehicle is on a slope (S104: Yes), the correction unit 27 calculates a correction value using the above method (S105), and corrects the acceleration data using the correction value (S106).

  Thereafter, the determination unit 28 specifies a point where the corrected acceleration data is equal to or larger than the threshold (S107), determines the state of the road surface using the corrected acceleration data or the like (S108), and determines the determined state of the road surface. It is stored in the storage unit 22 (S109). For example, the determination unit 28 specifies whether the corrected acceleration data is equal to or greater than the threshold, and if the acceleration data is equal to or greater than the threshold, determines the road surface state at the point where the acceleration data is measured as a damaged portion. When the estimating unit 26 estimates that the vehicle is not on a slope (S104: No), S107 and subsequent steps are executed using the collected acceleration data.

[effect]
As described above, the road surface evaluation server 20 can correct the value of the acceleration indicating the degree of damage to the road surface using the relative altitude difference between the start point and the end point instead of the absolute altitude difference of the slope on the GPS. . As a result, the road surface evaluation server 20 can accurately measure the degree of damage excluding the influence of the slope. In addition, the road surface evaluation server 20 can estimate the slope of the road from the start point to the end point in consideration of the GPS error.

  [C] Third Embodiment Although the embodiments of the present invention have been described above, the present invention may be implemented in various different forms other than the above-described embodiments.

[Subject of judgment]
In the above-described embodiment, an example has been described in which the road surface evaluation server 20 acquires various types of information from the communication terminal 10 and determines the degree of damage to the road surface. However, the present invention is not limited to this. For example, by configuring each processing unit of the road surface evaluation server 20 to be included in the communication terminal 10, the communication terminal 10 can also determine the degree of road surface damage. Similarly, by mounting the vehicle-mounted device having the road surface evaluation server 20 and the processing unit of the communication terminal 10 on the vehicle 1, the degree of damage to the road surface in the vehicle 1 can be determined.

  Further, as the position information such as GPS, a measurement result by GPS mounted on the vehicle 1 can be used. In this case, the road surface evaluation server 20 can directly acquire the measurement result by the GPS mounted on the vehicle 1 from an in-vehicle device or the like of the vehicle 1, or can acquire the measurement result via the communication terminal 10.

[system]
Further, of the processes described in the present embodiment, all or a part of the processes described as being performed automatically may be manually performed. Alternatively, all or part of the processing described as being performed manually can be automatically performed by a known method. In addition, the processing procedures, control procedures, specific names, and information including various data and parameters shown in the above documents and drawings can be arbitrarily changed unless otherwise specified.

  Each component of each device illustrated is a functional concept, and does not necessarily need to be physically configured as illustrated. That is, the specific form of distribution and integration of each device is not limited to the illustrated one. That is, all or a part thereof can be configured to be functionally or physically distributed / integrated in arbitrary units according to various loads and usage conditions. Further, all or any part of each processing function performed by each device can be realized by a CPU and a program analyzed and executed by the CPU, or can be realized as hardware by wired logic.

[Hardware configuration of communication terminal]
FIG. 6 is a diagram illustrating a hardware configuration example of the communication terminal. As shown in FIG. 6, the communication terminal 10 includes a wireless unit 101, an audio input / output unit 102, a storage unit 103, an acceleration sensor 104, a GPS measurement unit 105, a display unit 106, and a processor 107.

  The wireless unit 101 is a circuit or the like that executes wireless communication with another terminal via the antenna 101a. The audio input / output unit 102 is a circuit or the like that outputs sound from the speaker 102a and executes various processes on the sound collected by the microphone 102b.

  The storage unit 103 is a storage device that stores programs executed by the processor 107 and various data, and is, for example, a memory or a hard disk.

The acceleration sensor 104 is a sensor that measures the acceleration (unit: m / s ² , Gal, G, etc.) of the communication terminal 10, and inputs the measured acceleration to the processor 107. The acceleration sensor 104 is a three-axis sensor, and measures acceleration in each of x, y, and z axes.

  The GPS measurement unit 105 is a processing unit that measures position information including latitude and longitude, altitude data, and the like using GPS, and inputs the measured position information to the processor 107. The display unit 106 is a display or a touch panel that displays various information.

  The processor 107 is an electronic circuit or the like that controls the entire communication terminal 10, reads out and expands a program stored in the storage unit 103, and executes various processes such as autonomous navigation. For example, the processor 107 performs the same processing as that of the GPS measurement unit 14 and the acceleration measurement unit 15 illustrated in FIG.

[Hardware of road surface evaluation server]
FIG. 7 is a diagram illustrating an example of a hardware configuration of the road evaluation server. As shown in FIG. 7, the server 100 includes a communication interface 201, a hard disk drive (HDD) 202, a memory 203, and a processor 204.

  The communication interface 201 corresponds to the communication unit described when describing each functional unit, and is, for example, a network interface card. The HDD 202 stores a program, a DB, and the like for operating the processing unit described at the time of describing each functional unit.

  The processor 204 reads a program for executing the same processing as that of each processing unit described in the description of each functional unit from the HDD 202 or the like and expands the program in the memory 203, thereby executing the process of executing each function described in FIG. Make it work. That is, this process performs the same functions as the receiving unit 24, the position specifying unit 25, the estimating unit 26, the correcting unit 27, and the determining unit 28 included in the road surface evaluation server 20.

  As described above, the road surface evaluation server 20 operates as an information processing device that executes the road surface evaluation method by reading and executing the program. The road surface evaluation server 20 can also realize the same functions as those in the above-described embodiments by reading out the program from the recording medium using a medium reading device and executing the read out program. The program referred to in the other embodiments is not limited to being executed by the road surface evaluation server 20. For example, the present invention can be similarly applied to a case where another computer or server executes a program, or a case where these execute a program in cooperation with each other.

Reference Signs List 10 communication terminal 11 communication unit 12 storage unit 13 control unit 14 GPS measurement unit 15 acceleration measurement unit 20 road surface evaluation server 21 communication unit 22 storage unit 23 control unit 24 reception unit 25 position identification unit 26 estimation unit 27 correction unit 28 determination unit

Claims (6)

On the computer,
Based on the altitude data of the first point and the altitude data of the second point, estimate whether the distance between the first point and the second point is an upward tendency or a downward tendency,
When the vehicle moves from the first point to the second point, the value of the acceleration in the vertical direction measured by an acceleration sensor mounted on the vehicle is calculated as follows: The value of the acceleration is corrected so as to be increased by a predetermined amount, and when the road has a downward tendency, the value of the acceleration is corrected so as to be reduced by a predetermined amount,
Evaluating the state of the road surface between the first point and the second point based on the corrected acceleration;
A road surface condition evaluation program for executing a process. In the computer mounted on the vehicle,
Measuring altitude data at a first point where the vehicle is located, and altitude data at a second point where the vehicle is located,
Using the measured altitude data, it is estimated whether the distance between the first point and the second point is an upward tendency or a downward tendency,
Measuring the vertical acceleration of the vehicle when the vehicle moves from the first point to the second point;
When the road has a tendency to climb, the value of the acceleration is corrected so as to be increased by a predetermined amount and stored in the storage unit. When the road has a tendency to descend, the value of the acceleration is reduced by a predetermined amount. Corrected to be stored in the storage unit,
Evaluating the state of the road surface between the first point and the second point based on the corrected acceleration;
An acceleration correction program for executing a process. The road surface condition evaluation program according to claim 1, wherein the altitude data at the first point and the altitude data at the second point are altitude data measured by a vehicle equipped with the computer. 2. The road surface condition evaluation program according to claim 1, further comprising causing the computer to further execute a process of specifying a start point of a slope as the first point and an end point of the slope as the second point. Computer
Based on the altitude data of the first point and the altitude data of the second point, estimate whether the distance between the first point and the second point is an upward tendency or a downward tendency,
When the vehicle moves from the first point to the second point, the value of the acceleration in the vertical direction measured by an acceleration sensor mounted on the vehicle is calculated as follows: correcting the value of the acceleration to be larger predetermined amount, the way is when a downstream tendency, and corrects the value of the acceleration as a predetermined amount becomes smaller,
An acceleration correction method, comprising performing a process of evaluating a state of a road surface between the first point and the second point based on the corrected acceleration. An estimating unit that estimates whether the road between the first point and the second point has an upward tendency or a downward tendency based on the altitude data of the first point and the altitude data of the second point. When,
When the vehicle moves from the first point to the second point, the value of the acceleration in the vertical direction measured by an acceleration sensor mounted on the vehicle is calculated as follows: The acceleration value is corrected so as to be increased by a predetermined amount, and when the road has a downward tendency, the acceleration value is corrected so as to be reduced by a predetermined amount. Based on the corrected acceleration, the first acceleration is corrected. And a correction unit that evaluates a state of a road surface between the second point and the second point .

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