WO1998024977A1 - Appareil de mesure du profil de la section verticale de la route - Google Patents

Appareil de mesure du profil de la section verticale de la route Download PDF

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Publication number
WO1998024977A1
WO1998024977A1 PCT/JP1997/004459 JP9704459W WO9824977A1 WO 1998024977 A1 WO1998024977 A1 WO 1998024977A1 JP 9704459 W JP9704459 W JP 9704459W WO 9824977 A1 WO9824977 A1 WO 9824977A1
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WO
WIPO (PCT)
Prior art keywords
profile
road
measuring
acceleration
distance
Prior art date
Application number
PCT/JP1997/004459
Other languages
English (en)
Japanese (ja)
Inventor
Shawtaro Kato
Junichi Ito
Original Assignee
Pasco Corporation
Japan Aviation Electronics Industry Limited
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Pasco Corporation, Japan Aviation Electronics Industry Limited filed Critical Pasco Corporation
Priority to AU51372/98A priority Critical patent/AU5137298A/en
Publication of WO1998024977A1 publication Critical patent/WO1998024977A1/fr

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Classifications

    • 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

Definitions

  • the present invention relates to a road profile profile measuring device that is used by being mounted on a vehicle and measures a vertical profile of a road on which the vehicle runs while the vehicle is running.
  • Conventional technology is used by being mounted on a vehicle and measures a vertical profile of a road on which the vehicle runs while the vehicle is running.
  • Japanese Patent Application Publication No. 3-78882 As a conventional example of this kind of road longitudinal profile measuring device, there is one disclosed in Japanese Patent Application Publication No. 3-78882, for example.
  • This measuring device is equipped with an accelerometer that measures the vertical acceleration of the vehicle body and a distance meter that measures the distance from the vehicle body to the road surface, and integrates the vertical acceleration detected by the accelerometer to calculate the displacement. Is calculated, and the difference ⁇ between the displacement amount and the change amount of the vehicle height detected by the range finder is calculated to obtain a vertical profile of the road. It is said that the difference S allows the user to know the undulation and depression of the road surface due to land subsidence, for example.
  • the input shaft of the accelerometer since the input shaft of the accelerometer is fixed in the vertical direction of the vehicle body, it is not possible to measure the acceleration component in the vehicle traveling direction perpendicular to the input shaft.
  • the vehicle 11 follows the slope 12 as shown in FIG. 8 and is running on a slope, the output of the accelerometer based on the running acceleration becomes zero, and the vehicle on the slope 12 runs. 11 The vertical movement (displacement) in 1 cannot be measured.
  • the measuring device described in the above publication No. 3-7882 can measure the unevenness of the road surface such that the vehicle body moves up and down with respect to the road surface, it is difficult to measure the vehicle traveling along the inclined road surface. If there are large undulations or slopes (longitudinal undulations) on the road surface, the undulations cannot be measured.
  • An object of the present invention is to solve the above-mentioned drawbacks, and to measure a road profile profile accurately, including a undulation or a slope of a road surface in which a vehicle travels along the slope. Is to provide.
  • a road profile measuring apparatus mounted on a vehicle and measuring a profile of a road on which the vehicle travels measures a distance to a road surface Distance measuring means, vertical acceleration measuring means for measuring vertical acceleration, integrating means for integrating vertical acceleration by measuring the acceleration measured by the vertical acceleration measuring means, displacement obtained by the integrating means And a means for obtaining a longitudinal opening file using a difference between the distance measured by the distance measuring means.
  • FIG. 1 is a block diagram showing one embodiment of the present invention.
  • FIG. 2A is a side view of a vehicle equipped with the road profile measurement device of FIG.
  • Figure 2B is a front view.
  • FIG. 3 is a block diagram showing details of the posture vertical movement sensor in FIG.
  • FIG. 4 is a block diagram showing another example of the posture vertical movement sensor.
  • FIG. 5 is a diagram for explaining a method of measuring a road profile.
  • FIG. 6 is a GG sectional view of FIG.
  • Fig. 7 is a diagram showing the trajectory of the vertical displacement of the vehicle in the measurement of the road longitudinal profile.
  • FIG. 8 is a diagram for explaining a problem with the conventional road profile measurement device. BEST MODE FOR CARRYING OUT THE INVENTION
  • FIG. 1 is a block diagram showing a preferred embodiment of the present invention.
  • the road profile measurement device is assumed to include a posture vertical movement sensor 21, a road-vehicle distance sensor 22, and a calculation device 23.
  • the posture vertical motion sensor 21 is provided with the inclination angle (pitch angle) ⁇ in the longitudinal direction (running direction) of the vehicle with respect to the horizontal plane, the inclination angle (roll angle) in the lateral direction (width direction) ⁇ , and the displacement of the vehicle in the vertical direction. (Vertical movement) Measures ⁇ . For example, it is mounted and fixed inside the vehicle as shown in Figs. 2 ⁇ and 2 ⁇ .
  • the road-to-vehicle distance sensor 22 measures the distance from the vehicle body to the road surface and is attached to, for example, a part of a bumper.
  • three distance sensors 22 are mounted on the bumper 24 at the center in the width direction of the vehicle 11 and in front of the left and right tires, as shown in FIG.
  • Distance sensors 22 are arranged opposite to the center of the lane of the road and to the left and right ruts, respectively.
  • a sensor that emits laser light or ultrasonic waves and detects the reflection to measure the distance is used as the distance sensor 22.
  • the distances C, L, and R to the road surface are input to the arithmetic unit 23, which calculates the lane center, left rutting, and right rutting road longitudinal profiles PC, PL, and PR.
  • the arithmetic unit 23 is installed in the vehicle, for example, like the posture vertical movement sensor 21.
  • FIG. 3 is a block diagram showing a detailed configuration of the posture vertical movement sensor 21.
  • a 3-axis gyro 25 mounted on the orthogonal 3-axis measures angular velocities around the X, Y, and Z axes.
  • the X-axis direction is the front of the device
  • the Y-axis direction is rightward
  • the Z-axis direction is downward.
  • a three-axis accelerometer 26 attached to three orthogonal axes measures acceleration in the X, Y, and ⁇ axis directions.
  • the coordinate conversion unit 27 converts the X, ⁇ , and ⁇ coordinates into N, E, and D coordinates (inertial coordinates).
  • the X, ⁇ , and Z accelerations output from the three-axis accelerometer 26 are converted by the coordinate conversion unit 27. Input to 27 and converted to N, E, D acceleration.
  • N is the north direction
  • E is the east direction
  • D is the earth center direction (vertical direction).
  • the coordinate transformation matrix of the coordinate transformation unit 27 changes every moment as the posture of the device changes.
  • the coordinate transformation matrix update value calculation unit 28 calculates the change that changes the value of this matrix. Since the matrix change corresponds one-to-one with the change in attitude, that is, the angular velocity, the three-axis gyro 2 The matrix change is calculated using the X, Y, and 5 angular velocity data of 5. The calculated change is input to the coordinate conversion unit 27, and the matrix value is updated every moment.
  • the N, E, and D accelerations output from the coordinate conversion unit 27 are input to the integration unit 29, and the integration unit 29 integrates the N, E, and D accelerations and outputs N, E, and D velocities.
  • the D speed is input to the integration unit 31.
  • the integration unit 31 calculates the displacement H in the vertical direction by integrating the D speed.
  • the N and E velocities are input to the integrator 32, which integrates the N and E velocities and outputs the N and E positions (moving distances). And this N, E position and GPS (G1
  • the N and E positions output from the obal positioning system 33 are input to the comparison unit 34.
  • the comparison unit 34 calculates the difference between the N and E positions obtained from these accelerations and the N and E positions of the GPS 33.
  • the integrators 29 and 32 also integrate the error, the errors of the N and E positions obtained from the acceleration gradually increase, while the error of the GPS 33 can be ignored. Since the error does not increase with time for the N and E positions by the GPS 33, this difference indicates the error of the N and E positions obtained from the acceleration.
  • the main cause of this error is the error of the coordinate transformation matrix due to the error of the 3-axis gyro port 25. Therefore, the calculated difference (error) is fed back to the coordinate transformation matrix update value calculation unit 28, and the N, E position error Modify the coordinate transformation matrix so that the minute is zero. As a result, the error of the coordinate transformation matrix is suppressed, so that the D acceleration is also corrected, and therefore, the error of the displacement H is also suppressed.
  • the pitch angle e and the wail angle 0 are output from the pitch / whale calculation unit 35. Since the coordinate conversion matrix in the coordinate conversion unit 27 indicates the relationship between the X, ⁇ , and Z coordinates and the N, E, and D coordinates, the pitch angle ⁇ and the roll angle ⁇ are obtained from this relationship.
  • FIG. 4 shows an example in which a velocity sensor 36 is used in place of the GPS 33 in the posture vertical movement sensor 21.
  • the coordinate conversion unit 27 converts the X, ⁇ , ⁇ coordinates into ⁇ , ⁇ , D coordinates.
  • the X, ⁇ , and ⁇ accelerations output from the three-axis accelerometer 26 are converted into ⁇ , YH, and D accelerations by the coordinate conversion unit 27.
  • ⁇ is the front of the vehicle on the horizontal plane
  • YH is the right side of the vehicle on the horizontal plane
  • D is the direction of the center of the earth.
  • the coordinate conversion matrix update value calculation unit 28 uses the X, Y, and ⁇ angular velocity data of the three-axis gyro 25 to calculate a change in the coordinate conversion matrix, and the calculated change is input to the coordinate conversion unit 27.
  • the matrix value is updated every moment.
  • the ⁇ ⁇ , ⁇ ⁇ , and D acceleration output from the coordinate conversion unit 27 are input to the integration unit 29.
  • the integration unit 29 integrates the X H , ⁇ ,, and D acceleration to output X H , YH, and D speeds. I do.
  • the D speed is input to the integration unit 31.
  • the integration unit 31 calculates the vertical displacement H by integrating the D speed.
  • the XH speed and the speed output from the speed sensor 36 are input to the comparison unit 34, Comparator 3 4 and X H speed obtained from acceleration, the difference between the speed sensor 3 6 speed of that calculation. Since the integration unit 29 also integrates the error, the error of the XH speed obtained from the acceleration gradually increases, while the error of the speed sensor 36 can be ignored. Since the error does not increase with time, this difference indicates the error in the XH speed obtained from the acceleration.
  • the main cause of this error is the error of the coordinate conversion matrix due to the error of the three-axis gyro 25. Therefore, the calculated difference (XH error) is fed back to the coordinate conversion matrix update value calculation unit 28. and, error of chi Eta rate so zero corrects the coordinate transformation matrix.
  • XH error the calculated difference
  • YH speed because it is the vehicle Ri as error Der
  • the Y H error component is also fed back to the coordinate transformation matrix updating value calculating unit 2 8 similarly. Thereby, the error of the coordinate transformation matrix is suppressed.
  • the pitch angle ⁇ and the roll angle 0 are output from the pitch / roll calculator 35. Since the coordinate conversion matrix in the coordinate conversion unit 27 shows the relationship between the X, ⁇ , ⁇ coordinates and ⁇ ⁇ , YH, D coordinates, the pitch angle 6 and the roll angle ⁇ are obtained from this relationship.
  • the speed sensor 36 determines the speed from the number of rotations of the wheels of the vehicle, for example.
  • An optical speedometer may be used as the speed sensor 36, or a GPS may be used to obtain the speed from the GPS.
  • an accurate coordinate transformation matrix can be obtained, that is, the vertical acceleration (E) acceleration can be accurately measured, so that an accurate vertical displacement H can be obtained, and Accurate pitch angle ⁇ and roll angle ⁇ can be obtained.
  • an HPF (high-pass filter) 30 is provided in front of the integration section 31 to cut the DC component. Is also good. In this case, a more accurate vertical displacement ⁇ can be obtained.
  • the running vehicle 11 is on a road surface 37 as shown in FIGS.
  • the road surface 37 has an ascending slope, and the left and right ruts 37a and 37b have uneven steps with respect to the center part 37c of the lane. Accordingly, the vehicle 11 has a pitch angle ⁇ and a roll angle of 0.
  • Fig. 6 shows the GG section in Fig. 5, and the vehicle Only the bumper 24 of 11 is schematically shown.
  • the distance between the distance sensors 22 (indicated by points in FIGS. 5 and 6) in the vehicle coordinate system is represented by t.
  • the posture vertical movement sensor 21 (similarly indicated by a dot) is assumed to be located at the center of the vehicle in the width direction similarly to the center distance sensor 22, and the distance m and the height in the front-rear direction of the vehicle and the distance sensor 22. It is assumed that the position is shifted by a distance n in the direction.
  • the vertical displacement H obtained by the posture vertical movement sensor 21 is expressed as the height of the posture vertical movement sensor 21 with respect to the reference plane 38 as shown in FIG.
  • the reference plane 38 is, for example, a level plane at the measurement starting point of the road.
  • Each of the longitudinal profiles PC, PL, and PR in the center, left rut, and right rut of the road expresses the height of each road surface from the reference plane 38, and FIG.
  • the longitudinal profile PC at the center of the lane measured under the condition is shown.
  • Each longitudinal profile PC, PL, PR is obtained by subtracting the vertical distance from the attitude vertical movement sensor 21 to the distance measuring road surface of each distance sensor 22 from H, respectively. If the vertical distances at the center of the lane, the left rut and the right rut are F C, FL and F R, respectively,
  • FC (C + n-mtan) cos ⁇ cos ⁇
  • each longitudinal profile PC, PL, PR can be obtained by the following equation.
  • FIG. 7 shows a state in which the vehicle 11 travels on the road for which the longitudinal profile is to be measured.
  • the broken line indicates the trajectory of the displacement H in the vertical direction measured by the posture vertical movement sensor 21. Is shown.
  • H. , Hi, z, to Hi schematically show data measured sequentially.
  • an accurate road profile can be obtained by mounting the road profile measuring device shown in FIG. 1 on a vehicle and sequentially measuring the vehicle while traveling.
  • the longitudinal profiles PC, PL, and PR obtained by the arithmetic unit 23 are recorded by, for example, a recording device.
  • the preferred embodiment of the present invention has been described above.
  • the basic principle of the present invention is that even when a vehicle travels along a road surface and leans in the front-rear direction (running direction) along a road surface, By measuring the acceleration in the direction, the displacement H in the vertical direction of the vehicle can be obtained, and the longitudinal profile of the road can be measured accurately.
  • the longitudinal profiles PC, PL, and PR are obtained from the difference between the vertical displacement ⁇ and the distances C, L, and R.
  • the vehicle body moves up and down with respect to the road surface.
  • distance measuring units By providing a plurality of road-to-vehicle distance sensors (distance measuring units), it is possible to simultaneously measure the longitudinal profiles of the same reference plane, for example, at the center of the lane of the road, and at the left and right rutting parts. It is also possible to accurately measure profiles in the cross-road direction such as rutting.

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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Road Repair (AREA)

Abstract

Un détecteur de variation verticale de l'assiette (21), un détecteur de distance route-véhicule (22) et un organe de calcul (23) sont installés dans un véhicule. Le profil de la section verticale de la route est fourni par la distance à la surface de la route, mesurée par le détecteur de distance (22), l'angle d'inclinaison longitudinale υ, l'angle d'inclinaison latérale ζ et le déplacement H dans le sens vertical du véhicule mesuré à l'aide du détecteur de variation verticale de l'assiette (21).
PCT/JP1997/004459 1996-12-05 1997-12-05 Appareil de mesure du profil de la section verticale de la route WO1998024977A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU51372/98A AU5137298A (en) 1996-12-05 1997-12-05 Road vertical section profile measuring apparatus

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP08325683A JP3074464B2 (ja) 1996-12-05 1996-12-05 道路縦断プロファイル測定装置
JP8/325683 1996-12-05

Publications (1)

Publication Number Publication Date
WO1998024977A1 true WO1998024977A1 (fr) 1998-06-11

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PCT/JP1997/004459 WO1998024977A1 (fr) 1996-12-05 1997-12-05 Appareil de mesure du profil de la section verticale de la route

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JP (1) JP3074464B2 (fr)
AU (1) AU5137298A (fr)
WO (1) WO1998024977A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105133472A (zh) * 2015-06-11 2015-12-09 广西大学 路面平整度测量方法及惯性式检测仪
CN107504949A (zh) * 2017-08-18 2017-12-22 河南科技大学 沟形外轮廓测绘方法及沟形外轮廓测绘装置
EP3617647A4 (fr) * 2017-04-27 2021-01-27 The University Of Tokyo Dispositif d'estimation de profil de surface de route, système d'estimation de profil de surface de route, procédé d'estimation de profil de surface de route et programme d'estimation de profil de surface de route

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JP2002081941A (ja) * 2000-09-11 2002-03-22 Zenrin Co Ltd 道路の３次元形状を測定するためのシステム及び方法
JP4075465B2 (ja) * 2002-05-24 2008-04-16 日産自動車株式会社 道路情報収集装置
DE102004055069B4 (de) * 2004-07-15 2007-02-15 Daimlerchrysler Ag Mehrdimensionale Fahrbahnvermessung
DE102004048636B4 (de) * 2004-10-04 2008-07-31 Daimler Ag Vorrichtung und Verfahren zur Synchronisation von Messgeräten
DE102004055070B4 (de) * 2004-10-04 2010-10-14 Daimler Ag Hubkorrektur bei der fahrzeug-basierten Vermessung von Oberflächenprofilen von Fahrbahnen
US8989982B2 (en) 2008-08-29 2015-03-24 Sony Corporation Velocity calculation device, velocity calculation method, and navigation device
JP5482047B2 (ja) * 2009-09-15 2014-04-23 ソニー株式会社 速度算出装置、速度算出方法及びナビゲーション装置
JP5088401B2 (ja) * 2010-06-23 2012-12-05 日本電気株式会社 道路構造測定方法および道路面測定装置
JP2012202749A (ja) * 2011-03-24 2012-10-22 Yokogawa Denshikiki Co Ltd 方位測定装置
JP5267618B2 (ja) * 2011-06-24 2013-08-21 ソニー株式会社 情報処理装置
CN102345269B (zh) * 2011-07-14 2013-04-03 广州大学 一种基于无核密度仪的橡胶沥青压实工艺方法
JP2014186612A (ja) * 2013-03-25 2014-10-02 Tamagawa Seiki Co Ltd 線形計測装置
JP2014228421A (ja) * 2013-05-23 2014-12-08 多摩川精機株式会社 路面計測装置の計測軌跡の補正方法
CN103643620B (zh) * 2013-12-18 2016-08-24 北京市路兴公路新技术有限公司 一种用于路面弯沉测量的激光束平行度调节系统及其方法
CN103835212B (zh) * 2014-02-21 2015-11-25 哈尔滨工业大学 一种公路路面三维检测系统
JP2016130704A (ja) * 2015-01-15 2016-07-21 株式会社Ihi 高度変化算出装置と方法
CN105019344A (zh) * 2015-07-21 2015-11-04 中山市拓维电子科技有限公司 路面平整度监测仪
CN105019339A (zh) * 2015-07-21 2015-11-04 中山市拓维电子科技有限公司 智能压路机
JP6154951B1 (ja) * 2016-10-18 2017-06-28 サイトセンシング株式会社 速度計測装置、位置計測装置、速度計測方法及びプログラム

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Publication number Priority date Publication date Assignee Title
CN105133472A (zh) * 2015-06-11 2015-12-09 广西大学 路面平整度测量方法及惯性式检测仪
CN105133472B (zh) * 2015-06-11 2017-04-12 广西大学 路面平整度测量方法及惯性式检测仪
EP3617647A4 (fr) * 2017-04-27 2021-01-27 The University Of Tokyo Dispositif d'estimation de profil de surface de route, système d'estimation de profil de surface de route, procédé d'estimation de profil de surface de route et programme d'estimation de profil de surface de route
CN107504949A (zh) * 2017-08-18 2017-12-22 河南科技大学 沟形外轮廓测绘方法及沟形外轮廓测绘装置

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JP3074464B2 (ja) 2000-08-07
AU5137298A (en) 1998-06-29
JPH10168810A (ja) 1998-06-23

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