SE539796C2 - 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
SE539796C2
SE539796C2 SE1451083A SE1451083A SE539796C2 SE 539796 C2 SE539796 C2 SE 539796C2 SE 1451083 A SE1451083 A SE 1451083A SE 1451083 A SE1451083 A SE 1451083A SE 539796 C2 SE539796 C2 SE 539796C2
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SE
Sweden
Prior art keywords
road
vehicle
road surface
quality
surface anomaly
Prior art date
Application number
SE1451083A
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Swedish (sv)
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SE1451083A1 (en
Inventor
Huselius Joel
Original Assignee
Scania Cv Ab
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Publication date
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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Classifications

    • 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
    • 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
    • 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

Abstract

27 Abstract The invention relates to a system (200) for road quality diagnosis, comprisingan evaluation unit (210) arranged in communication with a plurality of vehicle-mounted systems for identification of road surface anomalies (220a-220c) Theevaluation unit (210) is arranged to evaluate the road quality in a specific geo-graphic location based on road surface anomaly data from the vehicle-mounted systems (220a-220c), wherein the evaluation unit (210) is arrangedto 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). (Fig. 2)

Description

A system and method for road quality evaluation TECHNICAL FIELD The present invention relates to a system for road quality evaluation, a methodfor 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 thevehicle is traveling. Unevenness on the road surface, such as potholes,bumps, pavements, railway tracks and other defects or anomalies may affectthe vehicle life, the fuel consumption of the vehicle and the comfort of the vehi-cle passengers. lt is therefore desirable to gather information about suchanomalies so that the operator of the vehicle can avoid them. Different meth-ods and systems for detection of road anomalies exist, where sensors such asaccelerometers or optical sensors arranged on the vehicle detect anomalies onthe road surface.
Document US 2014/0122014 A1 discloses a method for detecting road une-venness by reading in a plurality of records that each have at least one geo-graphical position and one information item allocated to this geographic posi-tion about a detected local unevenness of the road surface. The records areprovided by different vehicles and this way, errors or uncertainties which occurduring the detection of individually detected unevennesses of the road surfaceat the geographical position are compensated for by a statistical evaluation.The information about the local unevenness can be acquired by a sensor on avehicle.
Document US 2009/0164063 A1 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 positioning system determines the instant location of the vehicle and a reposi-tory stores a location of the surface defect with reference to the instant loca-tion. The system further comprises a controller unit which identifies an immi-nent defect encounter and determines guidance instructions to minimize the effect of the defect encounter.
Methods and systems for detecting and avoiding road surface anomalies invarious ways are thus commonly known. However, these solutions do not dis-tinguish temporary anomalies, such as animals or objects lying on the road,from fixed anomalies such as potholes or similar defects. Thus, the problemwith incorrect detections and misinterpreted results still remains and despiteknown solutions in the field, there is still a need to develop a system and amethod for road quality diagnosis, which is reliable and accurate. Known solu-tions are also vehicle specific and do not consider the fact that road surfaceanomalies are perceived differently by different types of vehicles and differenttypes 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 diag-nosis, which minimises the risk for vehicle damages and accidents.
Another object of the invention is to achieve a system for road quality diagno-sis, 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.
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 qualitydiagnosis, which distinguishes between temporary anomalies and fixed anom- alies.
Another object of the present invention is to achieve a method for road qualitydiagnosis, 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 diagno-sis, 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 qualitydiagnosis, which is reliable and efficient.
The herein mentioned objects are achieved by a system according to claim 1and a method according to claim lgll-ä.
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 incommunication with a plurality of vehicle-mounted systems for identification ofroad surface anomalies. The evaluation unit is arranged to evaluate the road quality in a specific geographic location based on road surface anomaly datafrom the vehicle-mounted systems, wherein the evaluation unit is arranged toprovide a model of the road quality in said geographic location based on saidevaluation. Each vehicle-mounted system is arranged to transfer road surfaceanomaly data to the evaluation unit. The evaluation unit may this way compareand evaluate the information from the different vehicle-mounted systems andmay thereby accurately assess the road quality for said geographic location.Based on this, the evaluation unit provides a model of the road quality in saidgeographic location. By evaluating road surface anomaly data from a pluralityof vehicle-mounted systems, the system takes into account that different vehi-cles perceive anomalies differently. This way, a system for road quality diag-nosis is achieved, which evaluates road surface anomalies in an accurate way.By accurately evaluating road surface anomalies, accurate actions can be tak-en 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 riskfor vehicle damages and accidents and increases the comfort of the vehicle passengers.
The evaluation unit may be a vehicle external unit, which can communicatewith 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 theroad surface. The road surface anomaly may be a temporary anomaly, such asan 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 thedata.
According to an aspect of the invention the road surface anomaly data fromeach vehicle-mounted system comprises identified and classified road surfaceanomalies, wherein each road surface anomaly is classified by type, geo-graphic location and severity. The classification of the road surface anomaliesfrom the vehicle-mounted systems may be determined based on dynamic ve-hicle characteristics and/or static vehicle characteristics. The dynamic vehiclecharacteristics may comprise an estimated weight of the vehicle and/or thecurrent gear selection and/or the current brake force and/or the current vehiclespeed and/or acceleration data from accelerometers arranged on the vehicle.The static vehicle characteristics may comprise suspension properties and/orwheel configuration and/or frame properties and/or vehicle type. The type of ananomaly may for example be described as the shape and/or extension of theanomaly, such as a longitudinal anomaly extending across the width of thetraffic lane, an anomaly on one side of the traffic lane, an anomaly extendingdiagonally across the traffic lane or similar. The type could also be a pothole, abump, a railway track etc. The severity is a measure of how the vehicle is af-fected by the road surface anomaly. The severity is suitably indicated by a se-verity 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 fromeach vehicle-mounted system comprises a measure of the probability of exist-ence for each identified road surface anomaly. The probability of existence isdefined as the probability that the identified and classified road surface anoma-ly actually exists. The probability of existence is thus preferably an assessmentof how likely it is that the identified road surface anomaly exists and that it isnot a misinterpretation or a detection error made by the vehicle-mounted sys-tem for identification of road surface anomalies. The probability measure maybe determined based on dynamic vehicle characteristics, such as an estimatedweight of the vehicle, vehicle speed, brake force and/or gear selection.
According to an aspect of the invention the model of the road quality in saidgeographic location is provided in the form of a map. A map shows the roadquality for a specific geographic location in an easy and efficient way. Alterna-tively, 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 de-termine a classification by type, geographic location and severity for each roadsurface anomaly in said geographic location, based on the road surfaceanomaly data from the vehicle-mounted systems. The classification is prefera-bly determined based on the different classifications of each road surfaceanomaly from each vehicle-mounted system. By evaluating road surfaceanomaly data from a plurality of vehicle-mounted systems a new more accu-rate classification may be provided based on the aggregated data. How a ve-hicle perceive a road surface anomaly may depend on the type of vehicle, thevehicle speed, the weight of the vehicle etc. The classification of a specificroad surface anomaly from the different vehicle-mounted systems may there-fore differ. By evaluating road surface anomaly data from a plurality of vehicle-mounted systems and determining a new classification, extreme or incorrectclassifications from certain vehicle-mounted systems, which differ significantlyfrom the majority of the classifications, may be screened out. This way, a newmore 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 surfaceanomaly. The evaluation unit is thus arranged to provide the model of the roadquality in said geographic location such that it comprises the classification. Themodel thus comprises, for each identified road surface anomaly, the geograph- ic location of the anomaly, the type of anomaly and the severity of the anomaly.
By including the classification of each identified road surface anomaly in themodel, the model accurately reflects the road quality in said geographic loca- tion.
According to an aspect of the invention the model of the road quality in saidgeographic location comprises an aggregated probability of existence for eachidentified road surface anomaly. The evaluation unit is suitably arranged todetermine an aggregated probability of existence for each identified road sur-face anomaly and disclose this probability in the model. The aggregated prob-ability of existence is preferably determined based on the probability of exist-ence for each road surface anomaly from each vehicle-mounted system. Sincethe evaluation unit receives road surface anomaly data from a plurality of vehi-cle-mounted systems, the aggregated probability of existence may changeover time. For example, in the case where a first vehicle encounters a tempo-rary anomaly, such as an object lying on the road, the evaluation unit receivesinformation about the identified road surface anomaly from the vehicle-mounted system and determines an aggregated probability of existence. Whena second vehicle travels in the same geographic location the temporary anom-aly may have changed in size or disappeared and the second vehicle-mountedsystem does not perceive any road surface anomaly. This information is like-wise transferred to the evaluation unit, which evaluates the information andthus determines a new aggregated probability of existence, which in this casewill be lower than before the second vehicle travelled in said geographic loca-tion. Over time, when a plurality of vehicles have travelled in said geographiclocation without encountering the previously identified road surface anomaly,the aggregated probability of existence will decrease towards zero. The evalu-ation unit will thus remove the road surface anomaly from the provided modelof the road quality in said geographic location. By determining an aggregatedprobability 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 saidgeographic location comprises a probability of correctness for each identifiedroad surface anomaly. The evaluation unit is suitably arranged to determine aprobability of correctness and disclose it in the model of the road quality in said geographic location. The probability of correctness is defined as the probabilitythat the new Classification of respective road surface anomaly, determined bythe evaluation unit, is correct. The probability of correctness is preferably de-termined 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 tocommunicate the model of the road quality in said geographic location to thevehicle-mounted systems. Thus, all vehicles with vehicle-mounted systemsarranged in communication with the evaluation unit may receive reliable infor-mation regarding the road quality in said geographic location. An operator of avehicle may thus be warned of road surface anomalies and may take action toavoid the road surface anomalies or to minimize the effect of the road surfaceanomalies. An operator of a vehicle may for example chose another route ifthe model discloses a road surface anomaly with a high probability of exist-ence and a high severity. However, if the model discloses a road surfaceanomaly with low severity and/or low probability of existence, the operator mayreduce 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 con-tinuously evaluate the road quality in said geographic location. The evaluationunit is thus preferably arranged to continuously receive road surface anomalydata from the vehicle-mounted systems and continuously evaluate the data.The evaluation unit is suitably arranged to continuously provide a model of theroad quality in said geographic location. By continuously evaluating the roadsurface anomaly data and updating the model of the road quality in said geo-graphic location, suddenly arisen road surface anomalies may instantly be dis- closed 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 quality after a predetermined time, or after a predetermined number of re- ceived road surface anomaly data.
According to an aspect of the invention a method for road quality diagnosis bymeans of a system for road quality diagnosis is provided. The system compris-es an evaluation unit arranged in communication with a plurality of vehicle-mounted systems for identifying road surface anomalies and the method com-prises 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 evalu-ation 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 evalu- ation unit.
Suitably, the evaluation unit performs the evaluation of the road quality in aspecific geographic location based on road surface anomaly data from the ve-hicle-mounted systems. The evaluation unit suitably provides the model of theroad quality in said geographic location. The model is preferably provided bythe evaluation unit based on the evaluation of aggregated road surfaceanomaly data from the plurality of vehicle-mounted systems. The model of theroad 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 datacomprising identified and classified road surface anomalies to the evaluationunit, 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 characteristicsand/or static vehicle characteristics. The evaluation unit thus collects infor- mation about each identified and classified road surface anomaly and com-pares and evaluates the different classifications regarding the same road sur- face anomaly.
According to an aspect of the invention each vehicle-mounted system transfersroad surface anomaly data comprising a measure of the probability of exist-ence for each identified road surface anomaly. The probability of existence isdefined as the probability that the identified and classified road surface anoma-ly 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 saidgeographic location in the form of a map. The map suitably shows a geograph-ic location and identified road surface anomalies in said geographic location.
According to an aspect of the invention the step of evaluating the road qualityin said geographic location comprises determining a classification by type, ge-ographic location and severity for each road surface anomaly, based on theroad surface anomaly data from the vehicle-mounted systems. The evaluationunit collects and stores information about each identified and classified roadsurface anomaly from the vehicle-mounted systems. Based on the stored clas-sification 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 geo-graphic location comprising the classification of each identified road surfaceanomaly. The model thus preferably comprises information about the type ofeach 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 preferablycomprises determining an aggregated probability of existence for each identi-fied road surface anomaly. The evaluation unit suitably determines an aggre-gated probability of existence for each identified road surface anomaly andincludes this probability in the model. The evaluation unit thus preferably pro-vides the model of the road quality in said geographic location comprising anaggregated probability of existence for each identified road surface anomaly.The aggregated probability of existence is preferably determined based on theprobability of existence for each individual road surface anomaly from eachvehicle-mounted system.
According to an aspect of the invention the step of evaluating the road qualityin said geographic location comprises determining a probability of correctnessfor each identified road surface anomaly. The evaluation unit suitably deter-mines a probability of correctness and discloses it in the model of the roadquality in said geographic location. The evaluation unit thus provides the modelof the road quality in said geographic location such that it comprises a proba-bility of correctness for each identified road surface anomaly. The probability ofcorrectness is defined as the probability that the classification of respectiveroad surface anomaly provided by the evaluation unit is correct. The probabilityof 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 stepto:- 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 ispreferably 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 insaid geographic location. An operator of a vehicle may thus be warned of roadsurface anomalies and may take action to avoid the road surface anomaly orto minimize the effect of the road surface anomaly. This way, a method forroad 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 insaid geographic location is performed continuously by the evaluation unit. Theevaluation unit preferably receives road surface anomaly data from the vehi-cle-mounted systems continuously and continuously evaluates the data. Suita-bly, the evaluation unit continuously provides a model of the road quality insaid geographic location. The model of the road quality is thereby continuouslyupdated. By continuously evaluating the road surface anomaly data and updat-ing the model of the road quality in said geographic location, suddenly arisenroad surface anomalies may be disclosed instantly in the model and disap-peared road surface anomalies may be removed. This way, an accurate andactual system for road quality diagnosis is achieved.
The herein mentioned objects are also achieved by a motor vehicle comprisinga system for road quality diagnosis. The vehicle may be a truck, a bus, a min- ing vehicle, a wheel loader, a car or similar.
According to an aspect of the invention, a computer program is provided,wherein said computer program comprises programme code for causing anelectronic control unit or another computer connected to the electronic controlunit to perform the steps according to any of the claims According to an aspect of the invention, a computer program is provided,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 roadquality diagnosis.
According to an aspect of the invention a computer programme product is pro-vided, comprising a programme code stored on a computer-readabie mediumfor performing the method steps according to any of c|aims jjgn-jiífi-â-Et, whensaid computer programme is run on an electronic control unit or another com- puter 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-readabie mediumfor performing the herein described method steps, when said computer pro-gramme 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 willbecome apparent to one skilled in the art from the following details, and alsoby putting the invention into practice. Whereas the invention is described be-low, 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 withinthe scope of the invention.
BRIEF DESCRIPTION OF THE DRAWINGS For fuller understanding of the present invention and further objects and ad- vantages of it, the detailed description set out below should be read togetherwith the accompanying drawings, in which the same reference notations de- note similar items in the various diagrams, and in which: Figure 1 schematically illustrates a vehicle according to an embodiment of the invention; 14 Figure 2 schematically illustrates a system for road quality diagnosis ac-cording to an embodiment of the invention; Figure 3 illustrates a flow chart for a method for road quality diagnosis ac-cording to an embodiment of the invention; and Figure 4 schematically 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 physicalconnection 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 exempli-fied vehicle 100 comprises a tractor unit 110 and a trailer 1 12. The vehicle maybe a heavy vehicle, e.g. a truck or a bus. The vehicle may alternatively be apassenger car. The vehicle may be a hybrid vehicle, an electrical vehicle or avehicle driven by a combustion engine.
Figure 2 shows a system for road quality diagnosis 200 according to an em-bodiment of the invention. The system 200 comprises an evaluation unit 210arranged in communication with a plurality of vehicle-mounted systems foridentification of road surface anomalies 220a-220c. ln 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 specificgeographic 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 transferroad surface anomaly data to the evaluation unit via links L220a-L220c be-tween respective vehicle-mounted system 220a-220c and the evaluation unit210. The evaluation unit 210 may this way compare and evaluate the infor-mation from the different vehicle-mounted systems 220a-220c and may there-by accurately assess the road quality for said geographic location. By evaluat-ing road surface anomaly data from a plurality of vehicle-mounted systems220a-220c, the system takes into account that different vehicles 100 perceiveanomalies 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 systems220a-220c comprises identified and classified road surface anomalies, whereineach 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 vehiclecharacteristics and/or static vehicle characteristics. The type of an anomalymay 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 diagonallyacross the traffic lane or similar. The type could also be a pothole, a bump, arailway track etc. The severity is a measure of how the vehicle is affected bythe road surface anomaly. The severity is suitably indicated by a severitymeasure, for example a number between 1-10 where 1 is low severity and 10high severity. The road surface anomaly data further comprises a measure ofthe probability of existence for each identified road surface anomaly. Theprobability of existence is an assessment of how likely it is that the identifiedroad surface anomaly exists and that it is not a misinterpretation or a detectionerror made by the vehicle-mounted system for identification of road surfaceanomalies 220a-200c. The probability measure may be determined based ondynamic vehicle characteristics, such as vehicle speed, brake force and/orgear selection. 16 The evaluation unit 21 O is arranged to determine a new Classification by type,geographic location and severity for each road surface anomaly in said geo-graphic location, based on the road surface anomaly data from the vehicle-mounted systems 220a-220c. By evaluating road surface anomaly data from aplurality of vehicle-mounted systems 220a-220c a new more accurate classifi-cation may be provided based on the aggregated data. The model of the roadquality 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 21 O is further arranged to determine anaggregated probability of existence for each identified road surface anomalyand include this probability in the model. The aggregated probability of exist-ence is preferably determined based on the probability of existence for eachroad surface anomaly from each vehicle-mounted system 220a-220c. Sincethe evaluation unit 210 receives road surface anomaly data from a plurality ofvehicle-mounted systems 220a-220c, the aggregated probability of existencemay change over time. The evaluation unit 21 O is further arranged to deter-mine a probability of correctness and include it in the model of the road qualityin said geographic location. The probability of correctness is defined as theprobability that the new classification of respective road surface anomaly, de-termined by the evaluation unit 210, is correct. The probability of correctness ispreferably determined based on the different classifications of each road sur-face 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 theanomaly, the type of anomaly, the severity of the anomaly, a probability of ex-istence and a probability of correctness.
The evaluation unit 21 O is arranged to communicate the model of the roadquality in said geographic location to the vehicle-mounted systems 220a-220cvia the links L220a-L220c. Thus, all vehicles 100 with vehicle-mounted sys- 17 tems 220a-220c arranged in communication with the evaluation unit 210 mayreceive reliable information regarding the road quality in said geographic loca-tion. The information regarding the road quality in said geographic locationmay 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 ofa 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 thesteps to evaluate s302 the road quality in a specific geographic location basedon road surface anomaly data transferred from the vehicle-mounted systems220a-220c to the evaluation unit 210 and to provide s304 a model of the roadquality in said geographic location based on said evaluation. Suitably, theevaluation unit 210 performs the evaluation of the road quality in a specific ge-ographic location based on road surface anomaly data from the vehicle-mounted systems 220a-220c. The evaluation unit 210 also provides the modelof the road quality in said geographic location. The model is preferably provid-ed by the evaluation unit 210 based on the evaluation of aggregated road sur- face 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 surfaceanomaly data comprising identified and classified road surface anomalies tothe evaluation unit 210, wherein each road surface anomaly is classified bytype, geographic location and severity. The vehicle-mounted systems 220a-220c may determine the classification of the road surface anomaly based ondynamic vehicle characteristics and/or static vehicle characteristics. The eval- 18 uation unit 210 thus collects information about each identified and classifiedroad surface anomaly and compares and evaluates the different classificationsregarding the same road surface anomaly.
Each vehicle-mounted system 220a-220c preferably transfers road surfaceanomaly data comprising a measure of the probability of existence for eachidentified road surface anomaly. The probability of existence is defined as theprobability that the identified and classified road surface anomaly actually ex-ists. The probability measure may be determined based on dynamic vehiclecharacteristics, 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 determinationof 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 in-formation about each identified and classified road surface anomaly from thevehicle-mounted systems 220a-220c, compares and evaluates the differentclassifications and determines a new classification. The evaluation unit 210suitably 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 determinationof an aggregated probability of existence for each identified road surfaceanomaly. The aggregated probability of existence is preferably determinedbased on the probability of existence for each individual road surface anomalyfrom each vehicle-mounted system 220a-220c. The evaluation unit 210 suita-bly determines an aggregated probability of existence for each identified roadsurface 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 determinationof a probability of correctness for each identified road surface anomaly. Theprobability of correctness is defined as the probability that the new classifica-tion of respective road surface anomaly provided by the evaluation unit 210 iscorrect. The evaluation unit 210 preferably determines the probability of cor-rectness based on the different classifications of each road surface anomalyfrom the different vehicle-mounted systems 220a-220c.
The evaluation unit 210 preferably provides the model of the road quality insaid geographic location in the form of a map. The model provided by the val-uation unit 210 preferably comprises information about the type of each anom-aly, the geographic location of each anomaly, the severity of each anomaly, anaggregated probability of existence for each anomaly and a probability of cor- rectness for each anomaly.
The method further preferably comprises the step to communicate s306 themodel of the road quality in said geographic location to the vehicle-mountedsystems 220a-220c. The model of the road quality in said geographic locationis preferably communicated to the vehicle-mounted systems 220a-220c fromthe evaluation unit 210 via the links L220a-L220c. Thus, all vehicles 100 withvehicle-mounted systems 220a-220c arranged in communication with theevaluation unit 210 may receive reliable information regarding the road qualityin 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 fromthe vehicle-mounted systems 220a-220c continuously and continuously evalu-ates the data.
Suitably, the step to provide s304 a model of the road quality in said geograph-ic location is performed continuously. The model of the road quality is therebycontinuously updated. Alternatively, the evaluation unit 210 provides a model of the road quality after a predetermined time, or after a predetermined numberof received road surface anomaly data.
Figure 4 is a diagram of a version of a device 400. The system 200, the evalu-ation unit 210 and/or the vehicle mounted systems 220a-220c described withreference to Figure 2 may in a version comprise the device 400. The device400 comprises a non-volatile memory 420, a data processing unit 410 and aread/write memory 450. The non-volatile memory 420 has a first memory ele-ment 430 in which a computer programme, e.g. an operating system, is storedfor controlling the function of the device 400. The device 400 further comprisesa bus controller, a serial communication port, l/O means, an A/D converter, atime and date input and transfer unit, an event counter and an interruption con-troller (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 con-tinuously identifying road surface anomalies and classifying road surfaceanomalies. The computer programme P comprises routines for communicatingroad surface anomalies to an evaluation unit 210. The computer programme Pcomprises routines for evaluating the road quality in a geographic location,based on road surface anomaly data. The computer programme P comprisesroutines for providing a model of the road quality in said geographic location.The computer programme P comprises routines for determining a new classifi-cation for each identified road surface anomaly. The computer programme Pcomprises routines for determining an aggregated probability of existence foreach identified road surface anomaly. The computer programme P comprisesroutines for determining a probability of correctness for each identified roadsurface anomaly. The computer programme P comprises routines for com-municating 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 compressedform 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 theprogramme stored in the memory 460 or a certain part of the programmestored in the read/write memory 450.
The data processing device 410 can communicate with a data port 499 via adata bus 415. The non-volatile memory 420 is intended for communication withthe data processing unit 410 via a data bus 412. The separate memory 460 isintended 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 pro-cessing unit 410 via a data bus 414. The data port 499 may for example havethe links L220a-L220c connected to it (see Figure 2).
When data are received on the data port 499, they are stored temporarily inthe second memory element 440. When input data received have been tempo-rarily stored, the data processing unit 410 is prepared to effect code executionas described above.
Parts of the methods herein described may be effected by the device 400 bymeans of the data processing unit 410 which runs the programme stored in thememory 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 inven-tion is provided for illustrative and descriptive purposes. lt is not intended to beexhaustive or to restrict the invention to the variants described. l\/lany modifica-tions and variations will obviously be apparent to one skilled in the art. Theembodiments have been chosen and described in order best to explain theprinciples of the invention and its practical applications and hence make it pos- 22 sibie for specialists to understand the invention for various embodiments andwith the various modifications appropriate to the intended use.

Claims (19)

23 Claims
1. A system (200) for road quality diagnosis, comprising an evaluation unit(210) arranged in communication with a plurality of vehicle-mounted systemsfor identification of road surface anoma|ies (220a-220c), characterized in thatthe evaluation unit (210) is arranged to evaluate the road quality in a specificgeographic location based on road surface anomaly data from the vehicle-mounted systems (220a-220c), wherein the evaluation unit (210) is arrangedto provide a model of the road quality in said geographic location based onsaid evaluation, wherein the road surface anomaly data from each vehicle-mounted system (220a-220c) comprises identified and classified road surfaceanoma|ies, wherein each road surface anomaly is classified by type, geo-graphic location and severity and wherein the surface anomaly data from eachvehicle-mounted system (220a-220c) comprises a measure of the probabilityof existence for each identified road surface anomaly, and viiierein the evfaiiief tion takes iiito account different types of venicies.
2. A system according to claim 1, wherein the model of the road quality in said geographic location is provided in the form of a map.
3. A system according to any of the preceding claims, wherein the evaluationunit (210) is arranged to determine a classification by type, geographic locationand severity for each road surface anomaly in said geographic location, basedon the road surface anomaly data from the vehicle-mounted systems (220a-220c).
4. A system according to claim 3, wherein the model of the road quality in saidgeographic location comprises the classification of each identified road surface anomaly.
5. A system according to any of the preceding claims, wherein the model of theroad quality in said geographic location comprises an aggregated probability of existence for each identified road surface anomaly. 24
6. A system according to any of the preceding claims, wherein the model of theroad quality in said geographic location comprises a probability of correctnessfor each identified road surface anomaly.
7. A system according to any of the preceding claims, wherein the evaluationunit (210) is arranged to communicate the model of the road quality in said ge-ographic location to the vehicle-mounted systems (220a-220c).
8. A system according to any of the preceding claims, wherein the evaluationunit (210) is arranged to continuously evaluate the road quality in said geo-graphic location.
9. A vehicle (100) comprising a system (200) according to any of claims 1-8.
10. A method for road quality diagnosis by means of a system for road qualitydiagnosis (200), the system (200) comprising an evaluation unit (210) ar-ranged in communication with a plurality of vehicle-mounted systems for identi-fying road surface anomalies (220a-220c), characterized by the steps to: - evaluate (s302) the road quality in a specific geographic location based onroad surface anomaly data transferred from the vehicle-mounted systems(220a-220c) to the evaluation unit (210) and different types ef vehicles. ; and - provide (s306) a model of the road quality in said geographic location basedon said evaluation, wherein each vehicle-mounted system (220a-220c) trans-fers road surface anomaly data comprising identified and classified road sur-face anomalies, wherein each road surface anomaly is classified by type, geo-graphic location and severity and wherein each vehicle-mounted system(220a-220c) transfers road surface anomaly data comprising a measure of theprobability of existence for each identified road surface anomaly.
11. A method according to claim 10, wherein the evaluation unit (210) pro-vides the model of the road quality in said geographic location in the form of a map.
12. A method according to any of claims 10 or 11, wherein the step to evaluate(s302) the road quality comprises determination of a classification by type, ge-ographic location and severity for each road surface anomaly in said geo-graphic location, based on the road surface anomaly data from the vehicle-mounted systems (220a-220c).
13. A method according to claim 12, wherein the evaluation unit (210) providesthe model of the road quality in said geographic location comprising a newclassification of each identified road surface anomaly.
14. A method according to any of claim 10 to 13, wherein the step to evaluate(s302) the road quality comprises determination of an aggregated probability ofexistence for each identified road surface anomaly.
15. A method according to any of claim 10 to 14, wherein the step to evaluate(s302) the road quality comprises determination of a probability of correctnessfor each identified road surface anomaly.
16. A method according to any of claim 10 to 15, wherein the method furthercomprises the step to: - communicate the model of the road quality in said geographic location to thevehicle-mounted systems (220a-220c).
17. A method according to any of claim 10 to 16, wherein the step to evaluate(s302) the road quality in said geographic location is performed continuouslyby the evaluation unit (210). 26
18. A computer program (P), wherein said computer program comprises pro-gramme code for causing an electronic control unit (200; 210; 220a-220c) oranother computer (200; 210; 220a-220c) connected to the electronic controlunit (200; 210; 220a-220c) to perform the steps according to any of the claims10- 17.
19. A computer programme product comprising a programme code stored on acomputer-readable medium for performing the method steps according to anyof claims 10-17, when said computer programme is run on an electronic con-trol 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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BR102015020767A BR102015020767A2 (en) 2014-09-16 2015-08-27 system and method for road quality assessment

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