KR101206064B1 - Surface roughness measurement system and method that filtering of the vehicle is driving situations - Google Patents

Abstract

PURPOSE: Road smoothness measuring system and method filtering the driving condition of a vehicle are provided to rapidly grasp and check the damaged section on road. CONSTITUTION: A road smoothness measuring system filtering the driving condition of a vehicle includes a surface smoothness sensor, a vehicle sensor(40), a GPS sensor(20), and a controller(30). The surface smoothness sensor is mounted on the vehicle(1), and detects information regarding the smoothness of the road surface where the vehicle is passing. The vehicle sensor includes a speed sensor, an acceleration sensor, a speed-change sensor, and a brake sensor. The GPS sensor detects the location of the vehicle. The controller calculates the smoothness of the road surface based on information obtained from the surface smoothness sensor and the GPS sensor. [Reference numerals] (10) Inclination sensor; (20) GPS sensor; (30) Controller; (40) Vehicle sensor; (50) Control center; (AA) Vehicle speed sensor; (BB) Acceleration sensor; (CC) Brake sensor; (DD) Speed change sensor

Description

Surface roughness measurement system and method that filtering of the vehicle is driving situations}

The present invention relates to a road surface flatness measuring system and method, and more particularly, based on a change in the inclination or vibration of the vehicle generated during the driving of the vehicle to measure the flatness of the road surface, and is generated due to the unique driving situation of the vehicle. The present invention relates to a road surface flatness measurement system and method for filtering a driving situation of a vehicle capable of providing reliable road surface flatness information by filtering a change in tilt or vibration.

Road pavement is constructed to efficiently provide road users with a smooth, safe and comfortable driving environment. However, the road pavement is flattened due to traffic characteristics and environmental factors as the public period passes. Vibration or shaking when driving on the road due to reduced flatness may cause discomfort to drivers, prevent safe driving and increase fuel consumption. Therefore, pavement should be well managed through prompt maintenance according to road inspection and inspection results.

Road pavement flatness is evaluated by road profile. Flatness measurement is a straight line, a wheeled linear type measuring device such as a 3m or 7.6m profile meter, a reactive type measuring device that evaluates the flatness from the response of the vehicle body, and the road surface flatness at high speed using laser or ultrasonic wave. Automated measuring equipment has been developed and used to measure. In Korea, 7.6m profile meter is used for completion inspection of road pavement construction, and automated measuring equipment is used to manage the condition of road pavement that is shared every year. Trying hard.

The 7.6m profile meter is made of several wheels with hinged front and rear wheels for measuring equipment to absorb and treat the effects of relatively small irregularities on the road surface, eliminating errors caused by dirt on the road surface or irregularities with short wavelengths. It is a flatness measuring instrument designed to achieve the effect. 1 is a diagram briefly showing an example of a 7.6m profile meter. In the 7.6 m profile meter, the PrI (Profile Index) index expressed in cm / km is calculated by summing the standard deviation and the cumulative amplitude by the measuring instrument.

Responsive measurement equipment such as APL (Longitudinal Profile Analyzer) is a towing trailer type that measures road flatness by the relative displacement between the axle and the body that are generated in the wheel axle by road surface irregularities. Figure 2 is a picture showing an example of the APL was able to measure the flatness using a driving car, but the same measurement results because the sensitivity of the equipment to the wavelength of the road surface according to the type of equipment, driving method, measurement time, weather, etc. Couldn't get it.

Then, to obtain the same flatness measurement result, a method of measuring flatness of the same standard anytime and anywhere using standardized QC (Quarter Car) simulation was proposed. In addition, IRI is used in automated measuring equipment using laser or ultrasound. Figure 3a is a photograph showing an example of the ARAN, an automated measurement equipment, Figure 3b is a diagram showing an example of a conventional road flatness measurement system briefly. This method is called three-point flatness measurement method. Laser irradiation and light receiving devices (L-1, L-2, L-3) are installed at three points on the floor of the vehicle, and the laser is reflected on the road surface. Measure the pavement flatness as a basis.

QC models for IRI measurement are the same as in FIGS. 4A and 4B. Included in the QC model is a fundamental part of the dynamic behavior, which determines how road surface flatness causes vehicle vibrations. The parameter values of the QC model are as follows.

c = c _s / m _s = 6.0 k ₁ = k _t / m _s = 653

k ₂ = k _s / m _s = 63.3 μ = m _u / m _s = 0.15

로 설명된다. 이 때 x와 A, B 각 행렬은 다음과 같다. The QC model is described by four first-order ordinary differential equations that can be written in matrix form, and in matrix form.

Is explained. At this time, each matrix of x, A, and B is as follows.

는 상태 변수의 행렬이며, 행렬의 변수는 다음과 같이 정의된다.

Is a matrix of state variables, and the variables of the matrix are defined as

: 표준화된 프로파일 높이

: Standardized profile height

: 위 용수철 질량의 높이

: Height of the upper spring mass

: 아래 용수철 질량의 높이

: Height of the spring below

The time and extension distance can be related to the vehicle speed in the simulation. In other words,

(x : 연장 거리, V : 시뮬레이션에서 주행 속도)

( x : extension distance, V: driving speed in simulation)

The road condition criteria for the IRI index are as shown in FIG. 5, and the automatic survey equipment measured by the IRI index is difficult to distinguish the measured values due to the road breakage and the step, and thus it is difficult to apply them when determining the repair method, manholes or bridges. There is a problem in that it is difficult to respond in real time to a section where a road step occurs such as a connection part. In addition, there is a problem that it is difficult to measure as needed for a wide range of intervals because of the high price of the automated measuring equipment and the equipment operating cost.

Therefore, in order to improve these problems, it is time to introduce a new type of road flatness measurement method and evaluation method accordingly.

Patent Registration No. 10-0733873 Published Patent Publication No. 10-2011-0096706

The present invention is to solve the above problems, the first object of the present invention by using the electrical connection of the vehicle sensor and controller, including the vehicle speed sensor, brake sensor, and the like, which is basically mounted on the vehicle, using a flat sensor, etc. The present invention provides a road surface flatness measurement system and method for filtering driving conditions of a vehicle that can replace expensive equipment and reduce road surface flatness by easily measuring road flatness.

The second object of the present invention is a flatness capable of quickly identifying and confirming partial road step sections and road damage sections through measured data by continuously measuring a wide range of areas for vehicles traveling on a certain path and commercial vehicles. To provide a measurement system and method.

The third object of the present invention is to detect the position of the vehicle in real time with a GPS sensor and transmit the measured flatness data to the road control center in real time through wireless communication, so that the administrator can check the road flatness in a wide area and measure the flatness measurement value. The present invention provides a flatness measurement system and method capable of improving road surface flatness evaluation methods by managing the safety level, the risk level, and the maintenance level.

As described above, the present invention includes a vehicle sensor including a vehicle speed sensor, an acceleration sensor, a shift sensor, and a brake sensor for detecting driving information of a vehicle for a vehicle traveling on a predetermined path and a commercial vehicle; An inexpensive flat sensor mounted on the vehicle and detecting information by the flatness of the road surface through which the vehicle passes while the vehicle is traveling; A GPS sensor for detecting a position of the vehicle; On the basis of the flatness sensor and the GPS sensor detects the flatness of the road surface at a certain position, based on the value detected by the vehicle sensor based on the value detected by the vehicle sensor, the flat value of the road surface generated when the gear shift during braking operation It can be achieved by providing a road surface flatness measurement system and method for filtering the driving conditions of the vehicle, characterized in that it comprises a controller for generating and storing the flatness data of the road surface by deleting the.

According to the road flatness measurement system and method for filtering the driving situation of the vehicle according to the present invention, a vehicle sensor and a low cost flatness sensor, which are basically mounted on the vehicle, are used for a vehicle traveling on a certain path and a commercial vehicle. Therefore, road flatness is measured in a wide range of areas in real time, so it is possible to quickly evaluate road flatness at low cost by replacing existing expensive equipment.

In addition, due to the rapid evaluation of road flatness, it is possible to immediately identify and identify partial stepped sections and road breakage sections. Therefore, it is possible to apply rational repair methods to improve flatness of damaged sections and stepped sections in a timely manner. There is an effect of extending the life of the vehicle driving.

In addition, since the flatness is managed in real time, the riding comfort and safety of the driving vehicle is improved, and the rolling resistance of the vehicle is reduced, thereby reducing the fuel consumption of the vehicle. It is possible to develop a more improved flatness evaluation method considering the riding comfort.

1 is a simplified illustration of an example of a 7.6 m profile meter.
Figure 2 is a photograph showing an example of a Longitudinal Profile Analyzer (APL).
3A is a photograph showing an example of an ARAN that is automated measurement equipment.
3B is a simplified view of an example of a conventional road surface flatness measurement system.
4A and 4B are diagrams of QC models for IRI measurements.
5 is an exemplary view showing the criteria of the road surface state for the IRI index.
6 is a block diagram of a road surface flatness measurement system filtering the driving situation of the vehicle according to the present invention.
7A and 7B are exemplary diagrams of road surface flatness data based on an inclination value applied to a road surface flatness measuring system filtering a driving situation of a vehicle of the present invention.

As shown in FIG. 6, the road surface flatness measurement system filtering the driving situation of the vehicle according to the present invention is mounted on the vehicle 1 traveling on a road to measure the inclination (including vibration) of the vehicle 1 in real time. The tilt sensor 10, the GPS sensor 20 for detecting the position of the vehicle 1 in real time, the position information of the vehicle 1 by the GPS sensor 20 and the position of the vehicle 1 by the tilt sensor 1. The controller 30 is configured to generate (store, display, etc.) flatness data of the road surface based on the slope.

In the present invention, a vehicle and a commercial vehicle (taxi, etc.) traveling on a certain path are targeted for uniformly measuring a wider area.

The inclination sensor 10 detects the inclination of the vehicle 1 generated when the vehicle 1 passes through the groove part and the protrusion part of the road surface, where the change of the inclination is most accurately known (for example, the wheel shaft). Is mounted on.

The GPS sensor 20 acquires the geographic position information of the vehicle 1 for identifying the position of the bad road surface and communicates with the satellite to acquire the current position of the vehicle 1 in real time, and the installation position is close to the wheel. It would be desirable.

The controller 30 generates the flatness data of the road surface based on the information obtained by the GPS sensor 20 and the tilt sensor 10, respectively. Shows an example for comparing the flatness data of the road surface, FIG. 7A is data of a good state of flatness of a road surface (no bumps), and FIG. 7B is data of a state of bad road surface.

That is, the inclination sensor 10 detects the inclination of the vehicle 1 in real time as the vehicle 1 travels, and the controller 30 detects the inclination value detected by the inclination sensor 10 and the GPS sensor 20. The data can be easily identified by combining the detected position information into one, and when the slope value of the flat road surface is "0", the slope value will be changed according to the degree of flatness of the road surface, that is, high protrusion or deep wave digging. This will increase the slope value.

The inclination sensor 10 detects the inclination of the vehicle 1 rather than the inclination of the road surface, that is, the inclination of the vehicle 1 changes according to the driving state of the vehicle 1 even under a good road flatness condition, and the inclination sensor 10 also detects the change in the slope due to the running state of the pure vehicle 1, and thus the reliability of the slope value is inferior.

The present invention detects and deletes a change in inclination due to the driving state of the vehicle 1 so that only the flatness of the pure road surface can be provided as data generation data.

Conditions for changing the slope due to the driving state of the vehicle, that is, the conditions filtered during road flatness measurement are as follows.

1. The moment you press the accelerator pedal to accelerate

If the throttle position (TP) is 0% while driving, it is a condition that no fuel is injected to the engine.In this case, when the accelerator pedal is accelerated, the throttle position is increased to inject fuel and the engine and vehicle body instantaneously impact (JERK). As a result, 'g' value (acceleration) change is generated irrespective of road flatness.

2. The moment you release the accelerator pedal for deceleration

When you release the accelerator pedal while driving (while accelerating and fuel is being injected), the throttle position becomes 0% and the fuel injected into the engine is cut off to generate a shock (JERK).

3. The moment you press the brake pedal

When the brake pedal is pressed while driving, a shock is generated and a g 'value (acceleration) change is generated regardless of the flatness of the road surface.

4. When shifting gear

When shifting gears, regardless of manual and automatic transmissions, a shocking bump occurs in the bodywork.

5. During sudden acceleration and deceleration.

When the vehicle accelerates or decelerates suddenly, an impact is generated in the vehicle body. The criteria for rapid acceleration and deceleration may vary depending on the vehicle, road condition, road surface flatness measurement, and the like and may be filtered based on the acceleration value.

In the present invention, the vehicle sensor 40 is applied to confirm the above conditions.

The vehicle sensor 40 includes a vehicle speed sensor, an acceleration sensor (throttle valve sensor), a brake sensor, a shift sensor, and the like.

The vehicle speed sensor detects the speed of the vehicle to detect the inclination value in a certain speed section.

The acceleration sensor provides the moment of stepping on the accelerator pedal and the moment of releasing the accelerator pedal.

The brake sensor provides a stepped state when the brake pedal is pressed.

The shift sensor provides whether the gear is shifted or not.

The above-described vehicle sensor is not newly provided for the present invention but is basically applied to the vehicle 1, that is, the present invention is low cost by using existing sensors through the electrical connection of the vehicle sensor and the controller 30. Real vehicle can be applied.

The inclination sensor 10 and the vehicle sensor 40 detect respective information in real time, and the inclination value detected at the same time as when the information is detected by the vehicle sensor 40 is not stored by the controller 30. It is deleted. That is, the controller 30 generates data using only the inclination value due to the flatness of the pure road surface without applying the change of the inclination value due to the driving state of the vehicle 1.

The controller 30 is, for example, manufactured in the form of a terminal and mounted inside the vehicle 1 and operated by receiving power from a power supply system of the vehicle 1.

The controller 30 transmits the flatness data to the road control center 50 through wireless communication, and the road control center 50 stores the data transmitted from the controller 30 through a microcomputer and outputs the screen in various ways.

The road control center 50 provides a variety of data to the manager through the operation and control of the manager, the manager checks the data to check the flatness of the road surface in all areas.

At this time, the slope value is divided into two or more levels for more systematic road management. For example, 0 to 0.01 may be classified as a safety stage, 0.011 to 0.02 as a dangerous stage, and 0.021 or more as a maintenance stage.

In other words, through this step, the manager provides information so that the road surface in the repair phase can be quickly repaired by checking the flatness of the road surface in real time.

In addition, due to the carelessness of the administrator may not be able to check the road surface of the maintenance phase, the alarm may be applied to prevent the delay of the maintenance. The microcomputer of the road control center 50 compares the reference value (not limited to the specific value because it depends on the operation of the administrator, the condition of the road surface, etc.) for the alarm and the value transmitted in real time to determine the reference slope. If it is greater than the value, an alarm (sound, screen, etc.) is output.

A road surface flatness measuring method of filtering a driving situation of a vehicle according to the present invention is as follows.

(S10) Vehicle position detection.

The GPS sensor 20 mounted on the vehicle 1 detects the current position of the vehicle 1 in real time by satellite communication with the satellite, and the controller 30 stores the current position of the vehicle 1 in real time. .

(S20) Tilt detection of the vehicle.

The tilt sensor 10 detects the tilt of the vehicle 1 while the vehicle 1 is traveling.

(S30) Vehicle driving situation detection.

The vehicle sensors 40 detect information suitable for each function while the vehicle 1 is driving.

(S40) Generate flatness data of the road surface.

The controller 30 generates flatness data of the road surface based on the information obtained through the tilt sensor 10, the GPS sensor 20, and the vehicle sensor 40, and the GPS sensor 20 and the tilt sensor 10. Combines the detected information to generate the slope of each geographic location, and at this time, the information detected by the vehicle sensor 40 and the GPS sensor 20 is combined to determine the slope of the moment when the signal is detected by the vehicle sensor 40. Delete the slope value or set the slope value to "0".

For example, as described above, when the accelerator pedal is pressed for acceleration during driving of the vehicle 1, the vehicle is inclined due to a sudden increase in power, and the inclination sensor 10 causes the vehicle to be inclined. Regardless of the situation, the tilt of the vehicle 1 will be detected, and the controller 30 deletes or sets the tilt value detected by the tilt sensor 10 at the moment when the acceleration sensor generates a signal. Therefore, the flatness data of the road surface does not reflect the inclination of the vehicle 1 due to the running of the vehicle. In addition, when the rapid acceleration and deceleration of the vehicle is determined, the inclination value in this area is also deleted or set to "0".

This means that the change of the slope due to the driving situation of the vehicle 1 is not provided as the flatness information of the road surface, and thus other methods other than the above-described method are included.

The controller 30 transmits the flatness data generated in this way to the road control center 50 in real time, and the manager of the road control center 50 checks the flatness of the road surface by checking the data transmitted from the controller 30. . In other words, the road flatness of all regions at a distance is checked without directly checking the flatness of the road while driving on the road.

When the alarm is applied, the alarm is automatically output when the data transmitted from the controller 30 includes the road surface of the repair stage, and the administrator checks the area where the alarm is output and provides it to the repair company for quick repair work. .

10: tilt sensor, 20: GPS sensor
30: controller, 40: vehicle sensor
50: road control center,

Claims (6)

A flat sensor mounted on the vehicle and detecting information by the flatness of the road surface through which the vehicle passes while the vehicle is traveling;
A vehicle sensor including a vehicle speed sensor, an acceleration sensor, a shift sensor, and a brake sensor to detect driving information of the vehicle;
A GPS sensor for detecting a position of the vehicle;
Detects the flatness of the road surface at a certain position based on the flatness sensor and the GPS sensor, and based on the value detected by the vehicle sensor, the flatness of the road surface generated during operation of the vehicle's accelerator pedal, braking, and gear shifting. And a controller for generating and storing flatness data of the road surface by deleting a value. The road surface flatness measurement system of claim 1, wherein the flatness sensor is a tilt sensor for detecting a tilt of the vehicle. The road surface flatness measurement system according to claim 1 or 2, wherein the controller transmits the road surface flatness data to the road control center through wireless communication. The filtering method of claim 3, wherein the road control center compares a value detected by the flat sensor with a preset reference value and outputs an alarm when the detected value is greater than the reference value. Road flatness measurement system. A first step of detecting a driving position of a vehicle traveling on a road in real time;
A second step of detecting the flatness of the road surface through which the vehicle passes by detecting a tilt or vibration of the vehicle while detecting the driving position of the vehicle in real time through the first step;
Sensing the driving state of the vehicle, including whether the accelerator pedal is operated, whether the brake pedal is operated, and whether the gear is shifted, and filtering the flatness of the road surface generated when the vehicle is driven by the flatness of the road surface detected in the second step. And a third step of generating and storing flatness data of the road surface. The road surface flatness of claim 5, wherein the road surface flatness data generated through the third step is transmitted to a road control center so that the road control center can check the road surface of a remote vehicle. How to measure.

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