SE1451083A1 - A system and method for road quality evaluation - Google Patents

A system and method for road quality evaluation Download PDF

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Publication number
SE1451083A1
SE1451083A1 SE1451083A SE1451083A SE1451083A1 SE 1451083 A1 SE1451083 A1 SE 1451083A1 SE 1451083 A SE1451083 A SE 1451083A SE 1451083 A SE1451083 A SE 1451083A SE 1451083 A1 SE1451083 A1 SE 1451083A1
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Sweden
Prior art keywords
road surface
vehicle
road
geographic location
evaluation unit
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SE1451083A
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Swedish (sv)
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SE539796C2 (en
Inventor
Joel Huselius
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Scania Cv Ab
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Application filed by Scania Cv Ab filed Critical Scania Cv Ab
Priority to SE1451083A priority Critical patent/SE539796C2/en
Priority to DE102015010529.9A priority patent/DE102015010529A1/en
Priority to BR102015020767A priority patent/BR102015020767A2/en
Publication of SE1451083A1 publication Critical patent/SE1451083A1/en
Publication of SE539796C2 publication Critical patent/SE539796C2/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B21/00—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant
    • G01B21/30—Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring roughness or irregularity of surfaces
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C7/00—Tracing profiles
    • G01C7/02—Tracing profiles of land surfaces
    • G01C7/04—Tracing profiles of land surfaces involving a vehicle which moves along the profile to be traced
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
    • G08G1/0112—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from the vehicle, e.g. floating car data [FCD]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0125—Traffic data processing
    • G08G1/0129—Traffic data processing for creating historical data or processing based on historical data
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096716—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information does not generate an automatic action on the vehicle control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2510/00—Input parameters relating to a particular sub-units
    • B60W2510/18—Braking system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Atmospheric Sciences (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Mathematical Physics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)

Abstract

Abstract The invention relates to a system (200) for road quality diagnosis, comprising an evaluation unit (210) arranged in communication with a plurality of vehicle- mounted systems for identification of road surface anomalies (220a-220c) The evaluation unit (210) is arranged to evaluate the road quality in a specific geographic location based on road surface anomaly data from the vehicle-mounted systems (220a-220c), wherein the evaluation unit (210) is arranged to provide a model of the road quality in said geographic location based on said evaluation. The invention also relates to a method for road quality diagnosis and a vehicle (100) comprising a system for road quality diagnosis (200).

Description

A system and method for road quality evaluation TECHNICAL FIELD The present invention relates to a system for road quality evaluation, a method for road quality evaluation and a vehicle comprising such a system.
BACKGROUND A vehicle is in several ways affected by the quality of the road on which the vehicle is traveling. Unevenness on the road surface, such as potholes, bumps, pavements, railway tracks and other defects or anomalies may affect the vehicle life, the fuel consumption of the vehicle and the comfort of the vehicle passengers. It is therefore desirable to gather information about such anomalies so that the operator of the vehicle can avoid them. Different meth- ods and systems for detection of road anomalies exist, where sensors such as accelerometers or optical sensors arranged on the vehicle detect anomalies on the road surface.
Document US 2014/0122014 Al discloses a method for detecting road un- evenness by reading in a plurality of records that each have at least one geographical position and one information item allocated to this geographic position about a detected local unevenness of the road surface. The records are provided by different vehicles and this way, errors or uncertainties which occur during the detection of individually detected unevennesses of the road surface at the geographical position are compensated for by a statistical evaluation. The information about the local unevenness can be acquired by a sensor on a vehicle.
Document US 2009/0164063 Al discloses a vehicle-mounted system for moni- toring road surface defects comprising detectors, such as shock detectors, which may provide information about the size and depth of detected bumps. A 2 positioning system determines the instant location of the vehicle and a repository stores a location of the surface defect with reference to the instant location. The system further comprises a controller unit which identifies an imminent defect encounter and determines guidance instructions to minimize the effect of the defect encounter.
Methods and systems for detecting and avoiding road surface anomalies in various ways are thus commonly known. However, these solutions do not distinguish temporary anomalies, such as animals or objects lying on the road, from fixed anomalies such as potholes or similar defects. Thus, the problem with incorrect detections and misinterpreted results still remains and despite known solutions in the field, there is still a need to develop a system and a method for road quality diagnosis, which is reliable and accurate. Known solutions are also vehicle specific and do not consider the fact that road surface anomalies are perceived differently by different types of vehicles and different types of vehicles are thereby also affected in different ways by the same road surface anomaly. There is thus still a need to develop a system and a method for road quality diagnosis, which is flexible and suitable for any type of vehicle.
SUMMARY OF THE INVENTION An object of the present invention is to achieve a system for road quality diagnosis, which minimises the risk for vehicle damages and accidents.
Another object of the invention is to achieve a system for road quality diagnosis, which minimises the fuel consumption of the vehicle.
A further object of the invention is to achieve a system for road quality diagno- sis, which increases the comfort of the vehicle passengers. 3 Another object of the present invention is to achieve a system for road quality diagnosis, which evaluates road surface anomalies in an accurate way.
A further object of the present invention is to achieve a system for road quality diagnosis, which is reliable and efficient.
Another object of the present invention is to achieve a system for road quality diagnosis, which distinguishes between temporary anomalies and fixed anomalies.
Another object of the present invention is to achieve a method for road quality diagnosis, which minimises the risk for vehicle damages and accidents.
Another object of the invention is to achieve a method for road quality diagno- sis, which minimises the fuel consumption of the vehicle.
A further object of the invention is to achieve a method for road quality diagnosis, which increases the comfort of the vehicle passengers.
Another object of the present invention is to achieve a method for road quality diagnosis, which evaluates road surface anomalies in an accurate way.
A further object of the present invention is to achieve a method for road quality diagnosis, which is reliable and efficient.
The herein mentioned objects are achieved by a system according to claim 1 and a method according to claim 12.
According to an aspect of the present invention a system for road quality diag- nosis is provided, wherein the system comprises an evaluation unit arranged in communication with a plurality of vehicle-mounted systems for identification of road surface anomalies. The evaluation unit is arranged to evaluate the road 4 quality in a specific geographic location based on road surface anomaly data from the vehicle-mounted systems, wherein the evaluation unit is arranged to provide a model of the road quality in said geographic location based on said evaluation. Each vehicle-mounted system is arranged to transfer road surface anomaly data to the evaluation unit. The evaluation unit may this way compare and evaluate the information from the different vehicle-mounted systems and may thereby accurately assess the road quality for said geographic location. Based on this, the evaluation unit provides a model of the road quality in said geographic location. By evaluating road surface anomaly data from a plurality of vehicle-mounted systems, the system takes into account that different vehi- cles perceive anomalies differently. This way, a system for road quality diagnosis is achieved, which evaluates road surface anomalies in an accurate way. By accurately evaluating road surface anomalies, accurate actions can be taken in order to avoid the anomalies or to minimise the effect of the anomalies.
Thus, a system for road quality diagnosis is achieved, which minimises the risk for vehicle damages and accidents and increases the comfort of the vehicle passengers.
The evaluation unit may be a vehicle external unit, which can communicate with vehicle-mounted systems in specific vehicles. The vehicle-mounted sys- tems may be arranged to communicate with the evaluation unit by wireless communication.
A road surface anomaly may for example be a fixed anomaly such as a bump, a pothole, a railway track, a pavement, defects or other unevennesses on the road surface. The road surface anomaly may be a temporary anomaly, such as an animal or an object lying on the road.
The road surface anomaly data from each vehicle-mounted system is prefera- bly transferred to the evaluation unit, which is arranged to collect and store the data.
According to an aspect of the invention the road surface anomaly data from each vehicle-mounted system comprises identified and classified road surface anomalies, wherein each road surface anomaly is classified by type, geographic location and severity. The classification of the road surface anomalies from the vehicle-mounted systems may be determined based on dynamic vehicle characteristics and/or static vehicle characteristics. The dynamic vehicle characteristics may comprise an estimated weight of the vehicle and/or the current gear selection and/or the current brake force and/or the current vehicle speed and/or acceleration data from accelerometers arranged on the vehicle.
The static vehicle characteristics may comprise suspension properties and/or wheel configuration and/or frame properties and/or vehicle type. The type of an anomaly may for example be described as the shape and/or extension of the anomaly, such as a longitudinal anomaly extending across the width of the traffic lane, an anomaly on one side of the traffic lane, an anomaly extending diagonally across the traffic lane or similar. The type could also be a pothole, a bump, a railway track etc. The severity is a measure of how the vehicle is affected by the road surface anomaly. The severity is suitably indicated by a severity measure, for example a number between 1-10 where 1 is low severity and 10 high severity.
According to an aspect of the invention the road surface anomaly data from each vehicle-mounted system comprises a measure of the probability of existence for each identified road surface anomaly. The probability of existence is defined as the probability that the identified and classified road surface anom- aly actually exists. The probability of existence is thus preferably an assess- ment of how likely it is that the identified road surface anomaly exists and that it is not a misinterpretation or a detection error made by the vehicle-mounted system for identification of road surface anomalies. The probability measure may be determined based on dynamic vehicle characteristics, such as an es- timated weight of the vehicle, vehicle speed, brake force and/or gear selection. 6 According to an aspect of the invention the model of the road quality in said geographic location is provided in the form of a map. A map shows the road quality for a specific geographic location in an easy and efficient way. Alternatively, the model of the road quality in said geographic location is provided in the form of written information.
According to an aspect of the invention the evaluation unit is arranged to determine a classification by type, geographic location and severity for each road surface anomaly in said geographic location, based on the road surface anomaly data from the vehicle-mounted systems. The classification is prefera- bly determined based on the different classifications of each road surface anomaly from each vehicle-mounted system. By evaluating road surface anomaly data from a plurality of vehicle-mounted systems a new more accurate classification may be provided based on the aggregated data. How a ve- hide perceive a road surface anomaly may depend on the type of vehicle, the vehicle speed, the weight of the vehicle etc. The classification of a specific road surface anomaly from the different vehicle-mounted systems may therefore differ. By evaluating road surface anomaly data from a plurality of vehicle-mounted systems and determining a new classification, extreme or incorrect classifications from certain vehicle-mounted systems, which differ significantly from the majority of the classifications, may be screened out. This way, a new more accurate classification may be provided.
According to an aspect of the invention the model of the road quality in said geographic location comprises the classification of each identified road surface anomaly. The evaluation unit is thus arranged to provide the model of the road quality in said geographic location such that it comprises the classification. The model thus comprises, for each identified road surface anomaly, the geographic location of the anomaly, the type of anomaly and the severity of the anomaly. By including the classification of each identified road surface anom- aly in the model, the model accurately reflects the road quality in said geographic location. 7 According to an aspect of the invention the model of the road quality in said geographic location comprises an aggregated probability of existence for each identified road surface anomaly. The evaluation unit is suitably arranged to determine an aggregated probability of existence for each identified road sur- face anomaly and disclose this probability in the model. The aggregated probability of existence is preferably determined based on the probability of existence for each road surface anomaly from each vehicle-mounted system. Since the evaluation unit receives road surface anomaly data from a plurality of vehicle-mounted systems, the aggregated probability of existence may change over time. For example, in the case where a first vehicle encounters a temporary anomaly, such as an object lying on the road, the evaluation unit receives information about the identified road surface anomaly from the vehicle-mounted system and determines an aggregated probability of existence.
When a second vehicle travels in the same geographic location the temporary anomaly may have changed in size or disappeared and the second vehicle-mounted system does not perceive any road surface anomaly. This information is likewise transferred to the evaluation unit, which evaluates the information and thus determines a new aggregated probability of existence, which in this case will be lower than before the second vehicle travelled in said geo- graphic location. Over time, when a plurality of vehicles have travelled in said geographic location without encountering the previously identified road surface anomaly, the aggregated probability of existence will decrease towards zero. The evaluation unit will thus remove the road surface anomaly from the pro- vided model of the road quality in said geographic location. By determining an aggregated probability of existence a temporary anomaly may be distinguished from a fixed anomaly.
According to an aspect of the invention the model of the road quality in said geographic location comprises a probability of correctness for each identified road surface anomaly. The evaluation unit is suitably arranged to determine a probability of correctness and disclose it in the model of the road quality in said 8 geographic location. The probability of correctness is defined as the probability that the new classification of respective road surface anomaly, determined by the evaluation unit, is correct. The probability of correctness is preferably determined based on the different classifications of each road surface anomaly from the different vehicle-mounted systems.
According to an aspect of the invention the evaluation unit is arranged to communicate the model of the road quality in said geographic location to the vehicle-mounted systems. Thus, all vehicles with vehicle-mounted systems arranged in communication with the evaluation unit may receive reliable infor- mation regarding the road quality in said geographic location. An operator of a vehicle may thus be warned of road surface anomalies and may take action to avoid the road surface anomalies or to minimize the effect of the road surface anomalies. An operator of a vehicle may for example chose another route if the model discloses a road surface anomaly with a high probability of exis- tence and a high severity. However, if the model discloses a road surface anomaly with low severity and/or low probability of existence, the operator may reduce the vehicle speed in order to minimize the effect of the road surface anomaly.
According to an aspect of the invention the evaluation unit is arranged to continuously evaluate the road quality in said geographic location. The evaluation unit is thus preferably arranged to continuously receive road surface anomaly data from the vehicle-mounted systems and continuously evaluate the data.
The evaluation unit is suitably arranged to continuously provide a model of the road quality in said geographic location. By continuously evaluating the road surface anomaly data and updating the model of the road quality in said geographic location, suddenly arisen road surface anomalies may instantly be disclosed in the model and disappeared road surface anomalies may be removed.
This way, an accurate and actual system for road quality diagnosis is achieved.
Alternatively, the evaluation unit is arranged to provide a model of the road 9 quality after a predetermined time, or after a predetermined number of received road surface anomaly data.
According to an aspect of the invention a method for road quality diagnosis by means of a system for road quality diagnosis is provided. The system com- prises an evaluation unit arranged in communication with a plurality of vehicle-mounted systems for identifying road surface anomalies and the method comprises the steps to: evaluate the road quality in a specific geographic location based on road sur- face anomaly data transferred from the vehicle-mounted systems to the evaluation unit; and provide a model of the road quality in said geographic location based on said evaluation.
Preferably, the road surface anomaly data is collected and stored in the evaluation unit.
Suitably, the evaluation unit performs the evaluation of the road quality in a specific geographic location based on road surface anomaly data from the ve- hicle-mounted systems. The evaluation unit suitably provides the model of the road quality in said geographic location. The model is preferably provided by the evaluation unit based on the evaluation of aggregated road surface anomaly data from the plurality of vehicle-mounted systems. The model of the road quality in said geographic location suitably discloses information about road surface anomalies in said geographic location.
Preferably, each vehicle-mounted system transfers road surface anomaly data comprising identified and classified road surface anomalies to the evaluation unit, wherein each road surface anomaly is classified by type, geographic loca- tion and severity. The vehicle-mounted systems may determine the classifica- tion of the road surface anomaly based on dynamic vehicle characteristics and/or static vehicle characteristics. The evaluation unit thus collects informa- tion about each identified and classified road surface anomaly and compares and evaluates the different classifications regarding the same road surface anomaly.
According to an aspect of the invention each vehicle-mounted system transfers road surface anomaly data comprising a measure of the probability of existence for each identified road surface anomaly. The probability of existence is defined as the probability that the identified and classified road surface anomaly actually exists. The probability measure may be determined based on dy- namic vehicle characteristics, such as an estimated weight of the vehicle, vehi- cle speed, brake force and/or gear selection.
The evaluation unit preferably provides the model of the road quality in said geographic location in the form of a map. The map suitably shows a geo- graphic location and identified road surface anomalies in said geographic loca- tion.
According to an aspect of the invention the step of evaluating the road quality in said geographic location comprises determining a classification by type, geographic location and severity for each road surface anomaly, based on the road surface anomaly data from the vehicle-mounted systems. The evaluation unit collects and stores information about each identified and classified road surface anomaly from the vehicle-mounted systems. Based on the stored classification information the evaluation unit may compare and evaluate the differ- ent classifications and may determine a new classification.
The evaluation unit suitably provides the model of the road quality in said geographic location comprising the classification of each identified road surface anomaly. The model thus preferably comprises information about the type of each anomaly, the geographic location of each anomaly and the severity of each anomaly. 11 The step of evaluating the road quality in said geographic location preferably comprises determining an aggregated probability of existence for each identified road surface anomaly. The evaluation unit suitably determines an aggregated probability of existence for each identified road surface anomaly and includes this probability in the model. The evaluation unit thus preferably pro- vides the model of the road quality in said geographic location comprising an aggregated probability of existence for each identified road surface anomaly. The aggregated probability of existence is preferably determined based on the probability of existence for each individual road surface anomaly from each vehicle-mounted system.
According to an aspect of the invention the step of evaluating the road quality in said geographic location comprises determining a probability of correctness for each identified road surface anomaly. The evaluation unit suitably deter- mines a probability of correctness and discloses it in the model of the road quality in said geographic location. The evaluation unit thus provides the model of the road quality in said geographic location such that it comprises a probability of correctness for each identified road surface anomaly. The probability of correctness is defined as the probability that the classification of respective road surface anomaly provided by the evaluation unit is correct. The probability of correctness is preferably determined based on the different classifications of each road surface anomaly from the different vehicle-mounted systems.
According to an aspect of the invention the method further comprises the step 25 to: - communicate the model of the road quality in said geographic location to the vehicle-mounted systems.
The model of the road quality in said geographic location is preferably commu- nicated to the vehicle-mounted systems from the evaluation unit. The model is preferably presented to the operators of the vehicles on a display. Thus, all vehicles with vehicle-mounted systems arranged in communication with the 12 evaluation unit may receive reliable information regarding the road quality in said geographic location. An operator of a vehicle may thus be warned of road surface anomalies and may take action to avoid the road surface anomaly or to minimize the effect of the road surface anomaly. This way, a method for road quality diagnosis is achieved, which minimises the risk for vehicle dam- ages and accidents and increases the comfort of vehicle passengers.
According to an aspect of the invention the step to evaluate the road quality in said geographic location is performed continuously by the evaluation unit. The evaluation unit preferably receives road surface anomaly data from the vehi- cle-mounted systems continuously and continuously evaluates the data. Suitably, the evaluation unit continuously provides a model of the road quality in said geographic location. The model of the road quality is thereby continuously updated. By continuously evaluating the road surface anomaly data and updat- ing the model of the road quality in said geographic location, suddenly arisen road surface anomalies may be disclosed instantly in the model and disappeared road surface anomalies may be removed. This way, an accurate and actual system for road quality diagnosis is achieved.
The herein mentioned objects are also achieved by a motor vehicle comprising a system for road quality diagnosis. The vehicle may be a truck, a bus, a mining vehicle, a wheel loader, a car or similar.
According to an aspect of the invention, a computer program is provided, 25 wherein said computer program comprises programme code for causing an electronic control unit or another computer connected to the electronic control unit to perform the steps according to any of the claims 12-21.
According to an aspect of the invention, a computer program is provided, 30 wherein said computer program comprises programme code for causing an electronic control unit or another computer connected to the electronic control 13 unit to perform the steps according to the herein mentioned method for road quality diagnosis.
According to an aspect of the invention a computer programme product is pro- vided, comprising a programme code stored on a computer-readable medium for performing the method steps according to any of claims 12-21, when said computer programme is run on an electronic control unit or another computer connected to the electronic control unit.
According to an aspect of the invention a computer programme product is pro- vided, comprising a programme code stored on a computer-readable medium for performing the herein described method steps, when said computer programme is run on an electronic control unit or another computer connected to the electronic control unit.
Further objects, advantages and novel features of the present invention will become apparent to one skilled in the art from the following details, and also by putting the invention into practice. Whereas the invention is described below, it should be noted that it is not restricted to the specific details described.
Specialists having access to the teachings herein will recognise further appli- cations, modifications and incorporations within other fields, which are within the scope of the invention.
BRIEF DESCRIPTION OF THE DRAWINGS For fuller understanding of the present invention and further objects and advantages of it, the detailed description set out below should be read together with the accompanying drawings, in which the same reference notations denote similar items in the various diagrams, and in which: Figure 1schematically illustrates a vehicle according to an embodiment of the invention; 14 Figure 2schematically illustrates a system for road quality diagnosis ac- cording to an embodiment of the invention; Figure 3illustrates a flow chart for a method for road quality diagnosis ac- cording to an embodiment of the invention; and Figure 4schematically illustrates a computer according to an embodiment of the invention.
DETAILED DESCRIPTION OF THE DRAWINGS The term "link" refers herein to a communication link which may be a physical connection such as an opto-electronic communication line, or a non-physical connection such as a wireless connection, e.g. a radio link or microwave link.
Figure 1 shows a side view of a vehicle 100 comprising a system for road qual- ity diagnosis 200 according to an embodiment of the invention. The exemplified vehicle 100 comprises a tractor unit 110 and a trailer 112. The vehicle may be a heavy vehicle, e.g. a truck or a bus. The vehicle may alternatively be a passenger car. The vehicle may be a hybrid vehicle, an electrical vehicle or a vehicle driven by a combustion engine.
Figure 2 shows a system for road quality diagnosis 200 according to an embodiment of the invention. The system 200 comprises an evaluation unit 210 arranged in communication with a plurality of vehicle-mounted systems for identification of road surface anomalies 220a-220c. In this figure three vehicle- mounted systems 220a-220c are disclosed, but the system 200 may comprise any number of vehicle-mounted systems 220a-220c.
The evaluation unit 210 is arranged to evaluate the road quality in a specific geographic location based on road surface anomaly data from the vehicle- mounted systems 220a-220c. The evaluation unit 210 is also arranged to pro- vide a model of the road quality in said geographic location based on said evaluation. Each vehicle-mounted system 220a-220c is arranged to transfer road surface anomaly data to the evaluation unit via links L220a-L220c between respective vehicle-mounted system 220a-220c and the evaluation unit 210. The evaluation unit 210 may this way compare and evaluate the informa- tion from the different vehicle-mounted systems 220a-220c and may thereby accurately assess the road quality for said geographic location. By evaluating road surface anomaly data from a plurality of vehicle-mounted systems 220a-220c, the system takes into account that different vehicles 100 perceive anomalies differently. This way, a system for road quality diagnosis 200 is achieved, which evaluates road surface anomalies in an accurate way.
The road surface anomaly data transferred from the vehicle-mounted systems 220a-220c comprises identified and classified road surface anomalies, wherein each road surface anomaly is classified by type, geographic location and se- verity. The classification of the road surface anomalies from the vehicle- mounted systems 220a-220c may be determined based on dynamic vehicle characteristics and/or static vehicle characteristics. The type of an anomaly may for example be described as the shape and/or extension of the anomaly, such as a longitudinal anomaly extending across the width of the traffic lane, an anomaly on one side of the traffic lane, an anomaly extending diagonally across the traffic lane or similar. The type could also be a pothole, a bump, a railway track etc. The severity is a measure of how the vehicle is affected by the road surface anomaly. The severity is suitably indicated by a severity measure, for example a number between 1-10 where 1 is low severity and high severity. The road surface anomaly data further comprises a measure of the probability of existence for each identified road surface anomaly. The probability of existence is an assessment of how likely it is that the identified road surface anomaly exists and that it is not a misinterpretation or a detection error made by the vehicle-mounted system for identification of road surface anomalies 220a-200c. The probability measure may be determined based on dynamic vehicle characteristics, such as vehicle speed, brake force and/or gear selection. 16 The evaluation unit 210 is arranged to determine a new classification by type, geographic location and severity for each road surface anomaly in said geographic location, based on the road surface anomaly data from the vehicle- mounted systems 220a-220c. By evaluating road surface anomaly data from a plurality of vehicle-mounted systems 220a-220c a new more accurate classification may be provided based on the aggregated data. The model of the road quality provided by the evaluation unit 210 is preferably in the form of a map, wherein the map comprises the new classifications of the identified road sur- face anomalies. The evaluation unit 210 is further arranged to determine an aggregated probability of existence for each identified road surface anomaly and include this probability in the model. The aggregated probability of existence is preferably determined based on the probability of existence for each road surface anomaly from each vehicle-mounted system 220a-220c. Since the evaluation unit 210 receives road surface anomaly data from a plurality of vehicle-mounted systems 220a-220c, the aggregated probability of existence may change over time. The evaluation unit 210 is further arranged to determine a probability of correctness and include it in the model of the road quality in said geographic location. The probability of correctness is defined as the probability that the new classification of respective road surface anomaly, de- termined by the evaluation unit 210, is correct. The probability of correctness is preferably determined based on the different classifications of each road surface anomaly from the different vehicle-mounted systems 220a-220c.
The model of the road quality provided by the evaluation unit 210 thus com- prises, for each identified road surface anomaly, the geographic location of the anomaly, the type of anomaly, the severity of the anomaly, a probability of existence and a probability of correctness.
The evaluation unit 210 is arranged to communicate the model of the road quality in said geographic location to the vehicle-mounted systems 220a-220c via the links L220a-L220c. Thus, all vehicles 100 with vehicle-mounted sys- 17 tems 220a-220c arranged in communication with the evaluation unit 210 may receive reliable information regarding the road quality in said geographic location. The information regarding the road quality in said geographic location may be presented to the driver of the vehicle 100 via for example a display device.
Figure 3 shows a flowchart for a method for road quality diagnosis by means of a system for road quality diagnosis 200. The system 200 is configured as de- scribed in Figure 2. The system 200 comprises an evaluation unit 210 ar- ranged in communication with a plurality of vehicle-mounted systems 220a- 220c for identifying road surface anomalies and the method comprises the steps to evaluate s302 the road quality in a specific geographic location based on road surface anomaly data transferred from the vehicle-mounted systems 220a-220c to the evaluation unit 210 and to provide s304 a model of the road quality in said geographic location based on said evaluation. Suitably, the evaluation unit 210 performs the evaluation of the road quality in a specific geographic location based on road surface anomaly data from the vehicle-mounted systems 220a-220c. The evaluation unit 210 also provides the model of the road quality in said geographic location. The model is preferably pro- vided by the evaluation unit 210 based on the evaluation of aggregated road surface anomaly data from the plurality of vehicle-mounted systems 220a-220c.
Preferably, the road surface anomaly data is transferred from the vehicle-mounted systems 220a-220c to the evaluation unit 210 via the links L220a- L220c, and is collected and stored in the evaluation unit 210.
Preferably, each vehicle-mounted system 220a-220c transfers road surface anomaly data comprising identified and classified road surface anomalies to the evaluation unit 210, wherein each road surface anomaly is classified by type, geographic location and severity. The vehicle-mounted systems 220a- 220c may determine the classification of the road surface anomaly based on dynamic vehicle characteristics and/or static vehicle characteristics. The 18 evaluation unit 210 thus collects information about each identified and classified road surface anomaly and compares and evaluates the different classifications regarding the same road surface anomaly.
Each vehicle-mounted system 220a-220c preferably transfers road surface anomaly data comprising a measure of the probability of existence for each identified road surface anomaly. The probability of existence is defined as the probability that the identified and classified road surface anomaly actually exists. The probability measure may be determined based on dynamic vehicle characteristics, such as an estimated weight of the vehicle, vehicle speed, brake force and/or gear selection.
The step to evaluate s302 the road quality preferably comprises determination of a classification by type, geographic location and severity for each road sur- face anomaly, based on the road surface anomaly data from the vehicle- mounted systems 220a-220c. The evaluation unit 210 collects and stores information about each identified and classified road surface anomaly from the vehicle-mounted systems 220a-220c, compares and evaluates the different classifications and determines a new classification. The evaluation unit 2 suitably provides the model of the road quality in said geographic location comprising this classification of each identified road surface anomaly.
The step to evaluate s302 the road quality preferably comprises determination of an aggregated probability of existence for each identified road surface anomaly. The aggregated probability of existence is preferably determined based on the probability of existence for each individual road surface anomaly from each vehicle-mounted system 220a-220c. The evaluation unit 210 suitably determines an aggregated probability of existence for each identified road surface anomaly and discloses this probability in the model of road quality in said geographic location. 19 The step to evaluate s302 the road quality preferably comprises determination of a probability of correctness for each identified road surface anomaly. The probability of correctness is defined as the probability that the new classification of respective road surface anomaly provided by the evaluation unit 210 is correct. The evaluation unit 210 preferably determines the probability of cor- rectness based on the different classifications of each road surface anomaly from the different vehicle-mounted systems 220a-220c.
The evaluation unit 210 preferably provides the model of the road quality in said geographic location in the form of a map. The model provided by the valuation unit 210 preferably comprises information about the type of each anomaly, the geographic location of each anomaly, the severity of each anomaly, an aggregated probability of existence for each anomaly and a probability of correctness for each anomaly.
The method further preferably comprises the step to communicate s306 the model of the road quality in said geographic location to the vehicle-mounted systems 220a-220c. The model of the road quality in said geographic location is preferably communicated to the vehicle-mounted systems 220a-220c from the evaluation unit 210 via the links L220a-L220c. Thus, all vehicles 100 with vehicle-mounted systems 220a-220c arranged in communication with the evaluation unit 210 may receive reliable information regarding the road quality in said geographic location.
Suitably, the step to evaluate s302 the road quality is performed continuously.
The evaluation unit 210 preferably receives road surface anomaly data from the vehicle-mounted systems 220a-220c continuously and continuously evaluates the data.
Suitably, the step to provide s304 a model of the road quality in said geo- graphic location is performed continuously. The model of the road quality is thereby continuously updated. Alternatively, the evaluation unit 210 provides a model of the road quality after a predetermined time, or after a predetermined number of received road surface anomaly data.
Figure 4 is a diagram of a version of a device 400. The system 200, the evaluation unit 210 and/or the vehicle mounted systems 220a-220c described with reference to Figure 2 may in a version comprise the device 400. The device 400 comprises a non-volatile memory 420, a data processing unit 410 and a read/write memory 450. The non-volatile memory 420 has a first memory element 430 in which a computer programme, e.g. an operating system, is stored for controlling the function of the device 400. The device 400 further comprises a bus controller, a serial communication port, I/O means, an A/D converter, a time and date input and transfer unit, an event counter and an interruption controller (not depicted). The non-volatile memory 420 has also a second memory element 440.
There is provided a computer programme P which comprises routines for continuously identifying road surface anomalies and classifying road surface anomalies. The computer programme P comprises routines for communicating road surface anomalies to an evaluation unit 210. The computer programme P comprises routines for evaluating the road quality in a geographic location, based on road surface anomaly data. The computer programme P comprises routines for providing a model of the road quality in said geographic location. The computer programme P comprises routines for determining a new classification for each identified road surface anomaly. The computer programme P comprises routines for determining an aggregated probability of existence for each identified road surface anomaly. The computer programme P comprises routines for determining a probability of correctness for each identified road surface anomaly. The computer programme P comprises routines for communicating a model of the road quality in a geographic location to vehicle- mounted systems for identification of road surface anomalies 220a-220c. 21 The programme P may be stored in an executable form or in a compressed form in a memory 460 and/or in a read/write memory 450.
Where the data processing unit 410 is described as performing a certain func- tion, it means that the data processing unit 410 effects a certain part of the programme stored in the memory 460 or a certain part of the programme stored in the read/write memory 450.
The data processing device 410 can communicate with a data port 499 via a data bus 415. The non-volatile memory 420 is intended for communication with the data processing unit 410 via a data bus 412. The separate memory 460 is intended to communicate with the data processing unit 410 via a data bus 411. The read/write memory 450 is adapted to communicating with the data processing unit 410 via a data bus 414. The data port 499 may for example have the links L220a-L220c connected to it (see Figure 2).
When data are received on the data port 499, they are stored temporarily in the second memory element 440. When input data received have been temporarily stored, the data processing unit 410 is prepared to effect code execution as described above.
Parts of the methods herein described may be effected by the device 400 by means of the data processing unit 410 which runs the programme stored in the memory 460 or the read/write memory 450. When the device 400 runs the programme, methods herein described are executed.
The foregoing description of the preferred embodiments of the present invention is provided for illustrative and descriptive purposes. It is not intended to be exhaustive or to restrict the invention to the variants described. Many modifica- tions and variations will obviously be apparent to one skilled in the art. The embodiments have been chosen and described in order best to explain the principles of the invention and its practical applications and hence make it pos- )nts and

Claims (23)

23 Claims
1. A system (200) for road quality diagnosis, comprising an evaluation unit (210) arranged in communication with a plurality of vehicle-mounted systems for identification of road surface anomalies (220a-220c), characterized in that the evaluation unit (210) is arranged to evaluate the road quality in a specific geographic location based on road surface anomaly data from the vehicle-mounted systems (220a-220c), wherein the evaluation unit (210) is arranged to provide a model of the road quality in said geographic location based on said evaluation.
2. A system according to claim 1, wherein the road surface anomaly data from each vehicle-mounted system (220a-220c) comprises identified and classified road surface anomalies, wherein each road surface anomaly is classified by type, geographic location and severity.
3. A system according to claim 1 or 2, wherein the surface anomaly data from each vehicle-mounted system (2202-220c) comprises a measure of the probability of existence for each identified road surface anomaly.
4. A system according to any of the preceding claims, wherein the model of the road quality in said geographic location is provided in the form of a map.
5. A system according to any of the preceding claims, wherein the evaluation unit (210) is arranged to determine a classification by type, geographic location and severity for each road surface anomaly in said geographic location, based on the road surface anomaly data from the vehicle-mounted systems (220a-220c).
6. A system according to claim 5, wherein the model of the road quality in said geographic location comprises the classification of each identified road surface anomaly. 24
7. A system according to any of the preceding claims, wherein the model of the road quality in said geographic location comprises an aggregated probability of existence for each identified road surface anomaly.
8. A system according to any of the preceding claims, wherein the model of the road quality in said geographic location comprises a probability of correctness for each identified road surface anomaly.
9. A system according to any of the preceding claims, wherein the evaluation unit (210) is arranged to communicate the model of the road quality in said geographic location to the vehicle-mounted systems (220a-220c).
10. A system according to any of the preceding claims, wherein the evaluation unit (210) is arranged to continuously evaluate the road quality in said geo- graphic location.
11. A vehicle (100) comprising a system (200) according to any of claims 1-10.
12. A method for road quality diagnosis by means of a system for road quality diagnosis (200), the system (200) comprising an evaluation unit (210) ar- ranged in communication with a plurality of vehicle-mounted systems for identifying road surface anomalies (220a-220c), characterized by the steps to: 1. evaluate (s302) the road quality in a specific geographic location based on road surface anomaly data transferred from the vehicle-mounted systems (220a-220c) to the evaluation unit (210); and 2. provide (s306) a model of the road quality in said geographic location based on said evaluation.
13. A method according to claim 12, wherein each vehicle-mounted system (220a-220c) transfers road surface anomaly data comprising identified and classified road surface anomalies, wherein each road surface anomaly is classified by type, geographic location and severity.
14. A method according to claim 12 or 13, wherein each vehicle-mounted system (220a-220c) transfers road surface anomaly data comprising a measure of the probability of existence for each identified road surface anomaly.
15. A method according to any of claim 12 to 14, wherein the evaluation unit (210) provides the model of the road quality in said geographic location in the form of a map.
16. A method according to any of claim 12 to 15, wherein the step to evaluate (s302) the road quality comprises determination of a classification by type, geographic location and severity for each road surface anomaly in said geographic location, based on the road surface anomaly data from the vehicle-mounted systems (220a-220c).
17. A method according to claim 16, wherein the evaluation unit (210) provides the model of the road quality in said geographic location comprising the new classification of each identified road surface anomaly.
18. A method according to any of claim 12 to 17, wherein the step to evaluate (s302) the road quality comprises determination of an aggregated probability of existence for each identified road surface anomaly.
19. A method according to any of claim 12 to 18, wherein the step to evaluate (s302) the road quality comprises determination of a probability of correctness for each identified road surface anomaly.
20. A method according to any of claim 12 to 19, wherein the method further comprises the step to: - communicate the model of the road quality in said geographic location to the vehicle-mounted systems (220a-220c). 26
21. A method according to any of claim 12 to 20, wherein the step to evaluate (s302) the road quality in said geographic location is performed continuously by the evaluation unit (210).
22. A computer program (P), wherein said computer program comprises pro- gramme code for causing an electronic control unit (200; 210; 220a-220c) or another computer (200; 210; 220a-220c) connected to the electronic control unit (200; 210; 220a-220c) to perform the steps according to any of the claims 12-21.
23. A computer programme product comprising a programme code stored on a computer-readable medium for performing the method steps according to any of claims 12-21, when said computer programme is run on an electronic control unit (200; 210; 220a-220c) or another computer (200; 210; 220a-220c) connected to the electronic control unit (200; 210; 220a-220c).
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