KR102018347B1 - Apparatus and method for generating road profile data and program for displaying road profile data - Google Patents

Abstract

The present invention relates to an apparatus for generating road profile data, capable of generating correct road profile data, a method thereof, and a program using the same. According to one embodiment of the present invention, the apparatus for generating road profile data comprises: a GPS-INS sensor mounted on the central part of a vehicle; one or more laser scanners disposed on the front part of the vehicle in a direction perpendicular to the road surface to measure the vertical distance from the road surface at a predetermined time interval during driving of the vehicle; a conversion unit converting the vertical distance measured at the predetermined time interval into vertical distance data sampled at a preset distance interval with respect to the road surface; and a control unit removing abnormal signal data from the vertical distance data and calculating the vertical distance measurement error in accordance with the posture of the vehicle changed by the road surface curvature to compensate for the vertical distance measurement error from the vertical distance data from which the abnormal signal data is removed to generate profile data of the road surface.

Description

APPARATUS AND METHOD FOR GENERATING ROAD PROFILE DATA AND PROGRAM FOR DISPLAYING ROAD PROFILE DATA}

The present invention relates to an apparatus, a method for generating road surface profile data, and a program using road surface profile data.

In the conventional road surface bending measurement using the fixed laser scanner, the laser scanner is installed on the road surface to be measured, and the coordinates of the equipment installation are checked and the road surface scanning operation is performed. After the equipment is moved to the next point, the road surface curvature of the entire road surface to be measured can be measured by repeating the section-wise measurement in the same manner. This method has high accuracy because the scanner is measured in a fixed state, but it takes a long time to measure the entire road surface, and the entire road surface is processed through a post-processing process called matching by overlapping some sections of the measurement data for each section. The bending can be seen, and this registration process takes much longer than the measurement time. For example, if a road surface is measured for two days using a fixed laser scanner, the matching post-treatment process may take much longer than this, a week or more.

In addition, for terrain without road curvature, such as pavement, the measurement range can be extended to over 100 m, but in curved terrain there are many shadowing regions that the laser scanner beam cannot reach. Since the measurement range is greatly reduced to several tens of meters, the measurement time and matching time are much longer than in the case of no road curvature such as pavement, so there is an excessive problem in time and cost to measure the road curvature of several km. .

In addition, the conventional vehicle type road curvature measuring equipment has a large measurement error due to a sudden change in vehicle attitude when driving on a road with severe bends, so that it is limited to be applied only on pavement roads without road curvature and unpaved field where military equipment is operated. There is a problem that can not be applied in the road and field.

Korean Registered Patent Publication No. 10-0333781 (published April 25, 2002)

The present invention is to solve the above problems, the object of the present invention is not only pavement roads, but also for roads and yards with severe road curvatures similar to military maneuvering equipment operating areas, time efficient and precise road curvature The present invention provides an apparatus and method for generating road surface profile data capable of generating accurate road surface profile data.

It is also an object of the present invention to provide a program for displaying road surface curvature in the form of a three-dimensional mesh by using road surface profile data generated by an apparatus or method for generating road surface profile data.

However, the problem to be solved by the present invention is not limited to the above-mentioned, it is not mentioned but includes the purpose that can be clearly understood by those skilled in the art from the following description. can do.

In order to achieve the above object, an apparatus for generating road profile data according to an embodiment of the present invention includes a GPS-INS sensor mounted at a center of a vehicle, and is disposed in a direction perpendicular to a road surface at a front portion of the vehicle, A laser scanner for measuring the vertical distance to the road surface at predetermined time intervals while driving the vehicle, and converting the vertical distance measured at the predetermined time interval into vertical distance data sampled at a predetermined distance interval with respect to the road surface. By removing the abnormal signal data from the vertical distance data, the converter and the vertical distance measurement error according to the attitude of the vehicle, by compensating the vertical distance measurement error to the vertical distance data from which the abnormal signal data is removed, And a controller configured to generate profile data of the road surface.

In addition, at least the attitude and position of the vehicle may be obtained by the GPS-INS sensor.

In addition, the laser scanner may be arranged one by one in the left-right symmetry position from the center of the front portion of the vehicle.

The controller may generate profile data of the road surface by reflecting an altitude of the vertical distance data compensated for the vertical distance measurement error.

Further, when the difference between the size of the first vertical distance data and the size of the second vertical distance data immediately after the first vertical distance data is greater than or equal to a predetermined threshold value, the second vertical distance data is determined as the abnormal signal data. Can be.

The vertical distance measurement error may include a pitch direction angle of the vehicle, a roll direction angle, a distance from the GPS-INS sensor to the center of the front portion of the vehicle, and the traveling direction of the vehicle, and It can be calculated based on the distance between the laser scanner from the center of the front portion of the vehicle.

The apparatus may further include a storage unit in which a program using the generated profile data of the road surface is recorded, and the controller may execute the program to display the profile data of the road surface in the form of a three-dimensional mesh.

The controller may export the profile data of the road surface, the sampled vertical distance data, or the vertical distance data from which the abnormal signal data is removed by executing the program.

In addition, the program may be implemented based on LabVIEW.

In the road surface profile data generating method according to another embodiment of the present invention, the vertical distance to the road surface is measured at predetermined time intervals while the vehicle is driven by two laser scanners disposed in a direction perpendicular to the road surface at the front of the vehicle. And converting the vertical distance measured at the predetermined time interval into vertical distance data sampled at a predetermined distance interval with respect to the road surface, and generating profile data of the road surface from the vertical distance data. The generating of the profile data of the road surface may include removing abnormal signal data from the vertical distance data, and posture of the vehicle—the posture of the vehicle by a GPS-INS sensor mounted at the center of the vehicle. Obtained-calculating a vertical distance measurement error according to the Been removed in the vertical distance data may include the step of compensating for the vertical distance measurement error.

Further, when the difference between the size of the first vertical distance data and the size of the second vertical distance data immediately after the first vertical distance data is greater than or equal to a predetermined threshold, the second vertical distance data may be determined as the abnormal signal data. Can be.

The vertical distance measurement error may include a pitch direction angle of the vehicle, a roll direction angle, a distance from the GPS-INS sensor to the center of the front portion of the vehicle, and the traveling direction of the vehicle, and It can be calculated based on the distance between the laser scanner from the center of the front portion of the vehicle.

In a computer program stored in a computer readable medium according to another embodiment of the present invention, the program is executed by a processor, and the profile data of the road surface generated by the road surface profile data generating method is a three-dimensional mesh. Displaying the data in a form, exporting the profile data of the road surface to the outside of the road surface profile data generating device, exporting the sampled vertical distance data to the outside of the road surface profile data generating device, and removing the abnormal signal. At least one of the steps of exporting the extracted vertical distance data to the outside of the road surface profile data generating apparatus may be performed.

According to an embodiment of the present invention, the abnormal signal data is removed from the vertical distance data from the laser scanner to the road surface, the vertical distance measurement error is calculated according to the attitude of the vehicle that is changed by the curvature of the road surface, and the abnormal signal data is removed. Due to the technical configuration of compensating the vertical distance measurement error for the calculated vertical distance data and generating the profile data of the accurate road surface, the road curvature not only on the pavement but also on the unpaved road and the field similar to the military mobile equipment operation area It is possible to generate accurate road surface profile data by measuring road curvature precisely in time and efficiently. Also, it is possible to display road curve in the form of 3D mesh or transfer road profile data to outside through a program using road profile data. Can be.

Effects obtained in the present invention are not limited to the above-mentioned effects, and other effects not mentioned above may be clearly understood by those skilled in the art from the following description. will be.

1 is a front view of a vehicle equipped with a road surface profile data generating device according to an embodiment of the present invention.
2 is a block diagram of a road surface profile data generating device according to an embodiment of the present invention.
3 is a conceptual diagram for compensating for a vertical distance measurement error in a road surface profile data generating device according to an embodiment of the present invention.
4 to 6 illustrate an implementation of a program using road surface profile data according to an embodiment of the present invention.
7 is a flowchart of a method of generating and using road surface profile data according to an embodiment of the present invention.

Advantages and features of the present invention and methods for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but can be implemented in various forms, only the embodiments are to make the disclosure of the present invention complete, and those skilled in the art to which the present invention pertains. It is provided to fully inform the scope of the invention, and the scope of the invention is defined only by the claims.

In describing the embodiments of the present invention, detailed descriptions of well-known functions or configurations will be omitted unless they are actually necessary in describing the embodiments of the present invention. In addition, terms to be described below are terms defined in consideration of functions in the embodiments of the present invention, which may vary according to intentions or customs of users and operators. Therefore, the definition should be made based on the contents throughout the specification.

Used below '… Wealth, The term 'herein' refers to a unit for processing at least one function or operation, which may be implemented by hardware or software, or a combination of hardware and software.

1 is a front view of a vehicle equipped with a road surface profile data generating device according to an embodiment of the present invention, and FIG. 2 is a block diagram of a road surface profile data generating device according to an embodiment of the present invention.

1 and 2, the road surface profile data generating apparatus 10 according to an embodiment of the present invention includes a GPS-INS sensor 100 mounted at a center of the vehicle 1, and a road surface at a front surface of the vehicle. And a laser scanner 200 which is disposed in a vertical direction to measure the vertical distance to the road surface at predetermined time intervals while the vehicle is traveling, and the vertical distance data sampled at a predetermined distance interval from the vertical distance measured at the predetermined time interval. A conversion unit 300 for converting the data into a conversion unit; a control unit 400 for generating profile data of a road surface; a storage unit 500 in which a program using the generated profile data is recorded; and displaying profile data of the generated road surface. The display unit 600 may be included.

The GPS-INS sensor 100 is implemented as a GPS (Global Positioning System) sensor and an Inertial Navigation System (Inertial Navigation System) sensor, and is a device for measuring the speed, altitude, pitch (roll) of the vehicle, and the like. In the road profile data generating apparatus according to an embodiment of the present invention, the GPS-INS sensor 100 may be installed at the geometric center of the vehicle 1. The GPS sensor implemented in the GPS-INS sensor 100 receives signals from four or more satellites according to the signal period of the satellite to obtain information and speed of the position of the vehicle 1. The information about the position of the vehicle 1 includes information about latitude, longitude, altitude, etc., in which the vehicle is located. The INS sensor implemented in the GPS-INS sensor 100 includes a gyroscope and an accelerometer, obtains an angular acceleration of the moving vehicle 1 using a gyroscope, and uses the accelerometer to obtain a vehicle 1. After the acceleration is obtained, the speed of the vehicle is calculated by using the integrator, and the distance traveled by the vehicle by integrating the calculated speed.If the starting point of the vehicle is known, the current position of the vehicle itself without an external signal is obtained. Information about and posture can be obtained.

The laser scanner 200 may be installed in the front of the vehicle 1 in the vertical (vertical) direction with the ground to measure the vertical distance to the road surface while the vehicle is driving. The road surface profile data generating apparatus 10 according to an embodiment of the present invention includes two laser scanners 200, and one laser scanner 200 is disposed at positions symmetrically from the center of the front of the vehicle. Can be. In this case, two laser scanners may be arranged so as to face the road surface and in the vertical direction. Alternatively, two laser scanners located on the left and right sides of the vehicle in the vertical direction on the road surface in order to expand the effective measurement range in the transverse direction with respect to the vehicle traveling direction without compromising the vertical distance measurement accuracy. After facing, the left laser scanner may be inclined at a predetermined angle to the left and the right laser scanner to the right, respectively. Although the detailed description of the present specification describes the case where the road surface profile data generating apparatus 10 includes two laser scanners 200, the number of laser scanners is not limited to two.

The converter 300 may convert the vertical distance measured at predetermined time intervals into vertical distance data sampled at a predetermined distance interval with respect to the road surface. In other words, the data measured based on the time interval is converted into data based on the distance interval. For example, the vertical distance measured at 10 kHz may be converted into vertical distance data converted to distance sampling at 5 cm intervals with respect to the road surface. Through the configuration of converting distance-based data as described above, the road surface profile data generating apparatus according to an embodiment of the present invention may apply ISO 8608, which is an international standard using distance-based data, for road severity analysis.

The controller 400 may generate profile data of the road surface from the converted vertical distance data. The road surface profile data generating device according to an embodiment of the present invention removes the abnormal signal data from the converted vertical distance data, calculates a vertical distance measurement error according to the attitude of the vehicle that is changed by the curvature of the road, and generates the abnormal signal data. By compensating the vertical distance measurement error to the removed vertical distance data, it is possible to generate the profile data of the correct road surface.

In detail, the controller 400 determines a signal of a predetermined magnitude or more from a previous measured value as an abnormal signal to remove an abnormal signal that may occur during the vertical distance measuring process using the laser scanner 200, and then measures the laser scanner measured value. The outlier of can be removed. In other words, the difference between the size of the first vertical distance data (ie, the current vertical distance data) and the size of the second vertical distance data immediately after the first vertical distance data (ie, the next vertical distance data) is a predetermined threshold. When the value is equal to or greater than the value, the second vertical distance data may be determined to be abnormal signal data and removed, and may be replaced with the first vertical distance data.

3 is a conceptual diagram for compensating for a vertical distance measurement error in a road surface profile data generating device according to an embodiment of the present invention.

The control unit 400 removes an abnormal value of the laser scanner measured value by determining a signal having a predetermined size or more compared to the previous measured value as an abnormal signal and replacing the previous measured data with Equation 1.

는 차량진행방향(도 3 참조)에 대하여 레이저 스캐너와 노면간의 i 번째 수직거리 데이터이고,

는 측정오차 임계값이다.here,

Is the i-th vertical distance data between the laser scanner and the road surface with respect to the vehicle traveling direction (see FIG.

Is the measurement error threshold.

Then, the controller 400 may include a pitch direction angle, a roll direction angle, and a distance between the GPS-INS sensor and the laser scanner (more precisely, GPS) according to the vehicle attitude which changes according to the curvature of the road surface. Calculates and measures the vertical distance error according to the vehicle posture, based on the distance from the center of the front part of the vehicle to the center of the two laser scanners and the INS sensor and the distance from the center of the front part of the vehicle to the laser scanner By adding or subtracting at a given vertical distance, the vertical distance measurement error can be compensated, and thus, accurate profile data of the road surface can be generated.

An algorithm in which the controller 400 compensates for a vertical distance measurement error according to a vehicle position may be defined by Equations 2 to 6.

는 차량진행방향에 대하여 i 번째 pitch 방향(

) 움직임에 따른 수직거리 보상값이고, d 는 GPS-INS 센서와 2 개의 레이저 스캐너의 가운데 지점인 차량의 전면부의 중심이며,

는 차량진행방향에 대하여 i 번째 차량의 pitch 방향 각도이다.here,

Is the i th pitch direction (

D) is the vertical distance compensation according to the movement, d is the center of the front part of the vehicle, which is the center of the GPS-INS sensor and the two laser scanner

Is the pitch direction angle of the i th vehicle with respect to the vehicle traveling direction.

와

는 차량의 진행방향에 대하여 roll 방향(

) 움직임에 따른 i 번째 좌측 및 우측 레이저 스캐너의 수직거리 보상값들이고,

는 차량의 진행방향에 대하여 i 번째 노폭방향(도 2 참조)으로 차량 전방의 중심으로부터 좌측과 우측 레이저 스캐너까지의 간격들(5cm 간격들)이고,

는 차량의 진행방향에 대하여 i 번째 차량의 roll 방향 각도이고,

과

는 각각 좌측 및 우측 레이저 스캐너 측정값(

과

)으로부터 차량 자세(pitch 방향, roll 방향)에 따른 오차를 보상한 수직거리이다.here,

Wow

Is the roll direction (

) Are the vertical distance compensation values of the i th left and right laser scanner according to the movement,

Is the intervals (5 cm intervals) from the center of the front of the vehicle to the left and right laser scanners in the i th road width direction (see FIG. 2) with respect to the traveling direction of the vehicle,

Is the roll direction angle of the i th vehicle with respect to the traveling direction of the vehicle,

and

Are the left and right laser scanner measurements (

and

) Is a vertical distance that compensates for the error according to the vehicle posture (pitch direction, roll direction).

According to an embodiment of the present disclosure, the controller 400 may reflect the altitude with respect to the vertical distance data whose vertical distance measurement error is compensated, as necessary. Information about the altitude can be obtained by the GPS sensor implemented in the GPS-INS sensor. In addition, since the GPS sensor may have an error with respect to the altitude, a post-processing may be applied together to reduce the altitude error. For example, to reduce the altitude error of the GPS sensor, a Real Time Kinematic (RTK) GPS sensor is applied to the GPS-INS sensor, and the GPS data of the base station and the mobile station of the RTK GPS sensor is synchronized. By post-treatment, altitude errors can be reduced to a few cm or less.

4-6 show exemplary implementations of a program using road surface profile data according to one embodiment of the invention.

A program using road surface profile data according to an embodiment of the present invention may be implemented based on LabVIEW, which is an engineering program. The program using the road surface profile data may be stored in the storage unit 500, and in this case, the program using the road surface profile data may be stored in the storage unit 500.

As illustrated in FIG. 4, the controller 400 may load road surface profile data through a program using road surface profile data.

In addition, as illustrated in FIG. 5, the controller 400 may display road surface profile data in a 3D mesh form through a program using road surface profile data. If necessary, the controller 400 displays the vertical distance data sampled on the basis of the distance or the vertical distance data from which the abnormal signal data is removed in the form of a three-dimensional mesh, so that the road surface bending data before the vertical distance measurement error is compensated. You can also check

In addition, as shown in FIG. 6, the control unit 400 may convert among road profile data and vehicle position (pitch, roll), altitude, and vertical distance data converted into road profile data and a predetermined distance interval (5 cm) through a program using road profile data. One or more of the road surface profile data generating devices may be exported.

7 is a flowchart of a method of generating and using road surface profile data according to an embodiment of the present invention.

First, the road surface profile generating apparatus 10 may measure the vertical distance to the road surface at predetermined time intervals during driving of the vehicle by, for example, two laser scanners disposed in the front direction of the vehicle 1 in a direction perpendicular to the road surface. (S710).

Next, the conversion unit 300 may convert the vertical distance measured at predetermined time intervals into vertical distance data sampled at a predetermined distance interval with respect to the road surface (S720).

Next, the controller 400 removes the abnormal signal data from the vertical distance data (S730), and measures the vertical distance measurement error according to the attitude of the vehicle (obtained by the GPS-INS sensor) that is changed by the curvature of the road surface. By calculating and compensating the vertical distance measurement error to the vertical distance data from which the abnormal signal data is removed (S740), accurate road surface profile data may be generated.

In addition, the controller 400 may generate road surface profile data by additionally applying an altitude to the vertical distance data whose vertical distance measurement error is compensated (S750).

In addition, the controller 400 may recalculate the vertical distance with respect to the case of compensating the vertical distance error and the case of not compensating the error in order to confirm the vertical distance error due to the change in the vehicle attitude due to the road curvature.

In addition, the controller 400 may load road surface profile data through a program using road surface profile data.

In addition, the control unit 500 may display the road surface profile data in the form of a 3D mesh through a program using the road surface profile data in operation S760.

If necessary, the controller 400 displays the vertical distance data sampled on the basis of the distance or the vertical distance data from which the abnormal signal data is removed in the form of a three-dimensional mesh, so that the road surface bending data before the vertical distance measurement error is compensated. You can also check

In addition, the controller 400 generates road surface profile data using at least one of road profile data, pitch, roll, altitude, and vertical distance data converted into road profile data and a predetermined distance interval (5 cm) through a program using road profile data. It can also be exported outside of (S770).

The apparatus and method for generating the above-mentioned road surface profile data removes abnormal signal data from the vertical distance data from the laser scanner to the road surface, calculates a vertical distance measurement error according to the attitude of the vehicle that changes due to the curvature of the road surface, Through the technical configuration that compensates the vertical distance measurement error for the vertical distance data from which the anomaly signal data is removed, the road surface profile can be measured efficiently and precisely not only on the pavement but also on the unpaved road and the field similar to the military operation equipment operating area. It is possible to generate data. In addition, road curvature in the form of a three-dimensional mesh or road profile data may be transferred to the outside through a program using the road profile data generated by the apparatus and method for generating road profile data.

Combinations of each block of the block diagrams and each step of the flowcharts attached herein may be performed by computer program instructions. These computer program instructions may be mounted on a processor of a general purpose computer, special purpose computer, or other programmable data processing equipment such that instructions executed through the processor of the computer or other programmable data processing equipment may not be included in each block or flowchart of the block diagram. It will create means for performing the functions described in each step. These computer program instructions may be stored in a computer usable or computer readable memory that can be directed to a computer or other programmable data processing equipment to implement functionality in a particular manner, and thus the computer usable or computer readable memory. It is also possible for the instructions stored in to produce an article of manufacture containing instruction means for performing the functions described in each block or flowchart of each step of the block diagram. Computer program instructions can also be mounted on a computer or other programmable data processing equipment, such that a series of operating steps are performed on the computer or other programmable data processing equipment to create a computer-implemented process to create a computer or other programmable data. Instructions that perform processing equipment may also provide steps for performing the functions described in each block of the block diagram and in each step of the flowchart.

In addition, each block or step may represent a portion of a module, segment or code that includes one or more executable instructions for executing a specified logical function (s). It should also be noted that in some alternative embodiments, the functions noted in the blocks or steps may occur out of order. For example, the two blocks or steps shown in succession may in fact be executed substantially concurrently or the blocks or steps may sometimes be performed in the reverse order, depending on the functionality involved.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential quality of the present invention. Therefore, the embodiments disclosed herein are not intended to limit the technical spirit of the present invention but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas that fall within the scope of equivalents should be construed as being included in the scope of the present invention.

1: vehicle
10: road surface profile data generating device
100: GPS-INS sensor
200: laser scanner
300: converter
400: control unit
500: storage unit
600: display unit

Claims (13)

A device for generating road surface profile data of military equipment operating area,
GPS-INS sensor mounted in the center of the vehicle,
A laser scanner disposed at a front portion of the vehicle in a direction perpendicular to a road surface, and measuring a vertical distance to the road surface at predetermined time intervals during driving of the vehicle, wherein the laser scanner is symmetrical from the center of the front portion of the vehicle; One at each location-W,
A converter for converting the vertical distance measured at the predetermined time interval into vertical distance data sampled at a predetermined distance interval with respect to the road surface;
Removing the abnormal signal data from the vertical distance data, calculating a vertical distance measurement error according to the attitude of the vehicle, and compensating the vertical distance measurement error to the vertical distance data from which the abnormal signal data has been removed, thereby making the profile of the road surface A control unit for generating data,
If the difference between the size of the first vertical distance data and the size of the second vertical distance data immediately after the first vertical distance data is greater than or equal to a predetermined threshold value, the second vertical distance data is replaced with the first vertical distance data. To remove the abnormal signal data
Road profile data generating device. The method of claim 1,
At least the attitude and position of the vehicle are acquired by the GPS-INS sensor.
Road profile data generating device. delete The method of claim 1,
The control unit,
Producing profile data of the road surface by reflecting altitude with respect to the vertical distance data compensated for the vertical distance measurement error
Road profile data generating device. delete The method of claim 1,
The vertical distance measurement error,
The pitch direction angle of the vehicle relative to the traveling direction of the vehicle, the roll direction angle, the distance from the GPS-INS sensor to the center of the front part of the vehicle, and the laser from the center of the front part of the vehicle Calculated based on the distance between scanners
Road profile data generating device. The method of claim 1,
And a storage unit in which a program using the profile data of the road surface is recorded.
The controller executes the program to display the profile data of the road surface in the form of a three-dimensional mesh.
Road profile data generating device. The method of claim 7, wherein
The controller executes the program and exports the profile data of the road surface, the sampled vertical distance data, or the vertical distance data from which the abnormal signal data has been removed.
Road profile data generating device. The method of claim 7, wherein
The program is implemented based on LabVIEW
Road profile data generating device. As a method of generating road surface profile data of military equipment operating area,
Measuring a vertical distance to the road surface at a predetermined time interval during driving of the vehicle by a laser scanner disposed in a direction perpendicular to the road surface at the front of the vehicle, wherein the laser scanner is symmetrical from the center of the front part of the vehicle; One at each location-W,
Converting the vertical distance measured at the predetermined time interval into vertical distance data sampled at a predetermined distance interval with respect to the road surface;
Generating profile data of the road surface from the vertical distance data;
Generating the profile data of the road surface,
Removing abnormal signal data from the vertical distance data;
Calculating a vertical distance measurement error according to the vehicle attitude, wherein the vehicle attitude is obtained by a GPS-INS sensor mounted at the center of the vehicle;
Compensating for the vertical distance measurement error to the vertical distance data from which the abnormal signal data is removed;
Removing the abnormal signal data,
If the difference between the size of the first vertical distance data and the size of the second vertical distance data immediately after the first vertical distance data is greater than or equal to a predetermined threshold value, the second vertical distance data is replaced with the first vertical distance data. To remove the abnormal signal data
How to create road profile data. delete The method of claim 10,
The vertical distance measurement error,
The pitch direction angle of the vehicle relative to the traveling direction of the vehicle, the roll direction angle, the distance from the GPS-INS sensor to the center of the front part of the vehicle, and the laser from the center of the front part of the vehicle Calculated based on the distance between scanners
How to create road profile data. A program stored on a computer readable medium,
The program is executed by a processor,
Displaying the profile data of the road surface generated by the road surface profile data generation method of claim 10 in the form of a three-dimensional mesh;
Exporting the profile data of the road surface to the outside of the road surface profile data generating device;
Exporting the sampled vertical distance data to the outside of the road surface profile data generating device;
Exporting vertical distance data from which the abnormal signal is removed to the outside of the road surface profile data generating device;
To do at least one of
program.

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