WO2023070309A1 - Procédé de détection et appareil de détection pour détecter l'irrégularité d'un revêtement de route, et produit programme - Google Patents

Procédé de détection et appareil de détection pour détecter l'irrégularité d'un revêtement de route, et produit programme Download PDF

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Publication number
WO2023070309A1
WO2023070309A1 PCT/CN2021/126385 CN2021126385W WO2023070309A1 WO 2023070309 A1 WO2023070309 A1 WO 2023070309A1 CN 2021126385 W CN2021126385 W CN 2021126385W WO 2023070309 A1 WO2023070309 A1 WO 2023070309A1
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WIPO (PCT)
Prior art keywords
vibration
vehicle
frequency
road surface
torque
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PCT/CN2021/126385
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English (en)
Chinese (zh)
Inventor
杨佳宁
董婷婷
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罗伯特•博世有限公司
杨佳宁
董婷婷
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Application filed by 罗伯特•博世有限公司, 杨佳宁, 董婷婷 filed Critical 罗伯特•博世有限公司
Priority to PCT/CN2021/126385 priority Critical patent/WO2023070309A1/fr
Publication of WO2023070309A1 publication Critical patent/WO2023070309A1/fr

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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
    • 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

Definitions

  • the present invention relates to the technical field of vehicles, and more specifically relates to a detection method for detecting road surface unevenness, a detection device for detecting road surface unevenness and a corresponding computer program product.
  • Roughness is an important characteristic of pavement, and it is usually used to describe the undulation degree of pavement. When the vehicle is running on the road surface, the unevenness of the road surface will affect various aspects such as the operation stability and ride comfort of the vehicle.
  • the detected roughness can be used in electronic control systems of the vehicle, including, for example, anti-lock braking systems, dynamic stability systems, and traction control systems, among others.
  • the electronic control system optimizes its control operation according to the unevenness of the road surface on which the vehicle is traveling. For example, in a vehicle with an active damping system, information about the unevenness of the road surface can be used to adjust the stiffness of the suspension, allowing the vehicle to drive more smoothly over uneven surfaces, thereby improving the ride for the driver or passengers Comfort and reduce damage to vehicle components.
  • the unevenness of the road surface can be detected by scanning the road surface with a laser sensor.
  • the image of the road surface is captured by a camera device and the unevenness of the road surface is detected by means of image recognition technology.
  • the acceleration sensor can also be used to detect the vibration of the wheels of the vehicle to detect the unevenness of the road surface.
  • sensors such as laser sensors or acceleration sensors for the vertical direction need to be additionally installed on the vehicle.
  • sensors such as laser sensors or acceleration sensors for the vertical direction need to be additionally installed on the vehicle.
  • it is easy to be interfered, which makes the detection result inaccurate.
  • the object of the present invention is to provide an improved detection method and detection device for detecting road surface roughness, so as to improve at least one deficiency of the prior art.
  • a detection method for detecting the unevenness of the road surface which is used for detecting the unevenness of the road surface on which the vehicle is driving, wherein the detection method includes: a torque vibration detection step, wherein , acquiring torque vibration information representing the torque vibration of the power transmission system of the vehicle; a judging step, wherein, according to the torque vibration information, it is judged whether the torque vibration includes vibration with a frequency within the range of at least one vehicle vibration frequency, the vehicle The vibration frequency represents the frequency of vehicle vibration that will occur when the vehicle is running on an uneven road surface; and the analysis step, wherein, if the torque vibration includes vibration with a frequency within the range of the at least one vehicle vibration frequency, then according to the torque The vibration information analyzes the unevenness of the road surface.
  • a detection device for detecting road surface irregularities wherein the detection device is configured to be able to perform the detection method according to the present invention.
  • a computer program product comprising computer program instructions, wherein said computer program instructions, when executed by one or more processors, cause said processors to perform a method according to the present invention Detection method.
  • the positive effect of the present invention is to verify whether the detected torque vibration is caused by the unevenness of the road surface by judging whether the torque vibration includes the vibration whose frequency is in the range of at least one vehicle vibration frequency.
  • the unevenness of the road surface is analyzed based on the torque vibration information only after it has been determined that the torque vibration comprises vibrations with a frequency within the range of the at least one vehicle vibration frequency.
  • Fig. 1 schematically shows a detection device according to an exemplary embodiment of the present invention
  • 2A-2C schematically illustrate a vehicle traveling on a road
  • FIG. 3 schematically shows a detection method according to an exemplary embodiment of the present invention
  • Fig. 4A and Fig. 4B schematically illustrate analyzing the unevenness of the road surface according to the torque vibration information in an exemplary embodiment of the present invention
  • Figure 5 schematically shows a vehicle traveling on an uneven road surface
  • Fig. 6 schematically shows a vehicle comprising a detection device according to an exemplary embodiment of the present invention.
  • Fig. 7 schematically shows two temporally adjacent frames of images taken by a vehicle-mounted camera device according to an exemplary embodiment of the present invention.
  • road surface should be broadly understood as the surface on which vehicles drive, including, for example, the surface of a road, the ground of a parking lot, or the surface of a bridge.
  • Road surface roughness means the vertical deviation of the road surface from an ideal plane. Irregularities in the road surface can be caused, for example, by bumps and/or depressions in the road surface.
  • Fig. 1 schematically shows a detection device 11 according to an exemplary embodiment of the present invention, which is used for detecting the unevenness of a road surface 2 (see Fig. 2 ) on which a vehicle 1 is traveling.
  • the detection device 11 is installed on the vehicle 1 .
  • the vehicle 1 may also include: a power transmission system 12, which is used to provide driving torque for driving the vehicle 1; and at least one wheel 13, the driving wheel of the at least one wheel 13 is connected to the power transmission system 12 and Driven by the drive train 12 , the vehicle 1 can travel in the direction of travel on the road surface 2 .
  • the power transmission system 12 includes an engine 121 , a speed reducer 122 and a differential 123 .
  • the power transmission system 12 can also be configured in other ways, as long as it can provide driving torque for the running of the vehicle 1 .
  • the engine 121 refers to a machine capable of converting other forms of energy into mechanical energy, including, for example, an internal combustion engine, an electric motor, an external combustion engine, and a jet engine.
  • FIGS. 2A-2C schematically show a vehicle 1 traveling on a road surface 2 , wherein the arrows show the direction of travel of the vehicle 1 .
  • FIG. 2A shows a vehicle 1 driving on a smooth road surface 2 .
  • the power transmission system 12 will provide stable torque, that is, there will be no obvious torque vibration in the power transmission system 12 .
  • the right view in FIG. 2A schematically shows the corresponding torque variation curve with time, wherein the horizontal axis represents time t, and the vertical axis represents torque T.
  • FIG. 2B shows the vehicle 1 driving on an uneven road surface 2 .
  • the torque of the power transmission system 12 will fluctuate.
  • the originally stable torque increases and falls sharply accordingly.
  • a sharp reduction and return of the torque of the drive train 12 can also occur when the vehicle 1 passes over an uneven road surface 2 .
  • this torque fluctuation does not disappear immediately, but lasts for a certain period of time.
  • Corresponding torque oscillations can be detected in drivetrain 12 . In other words, by detecting such torque vibrations in the powertrain 12, the unevenness of the road surface 2 can be recognized.
  • the torsional vibrations in the power transmission system 12 are not necessarily caused by the unevenness of the road surface 2, but may also be caused by other reasons, such as torque vibrations due to failure of bearings in the power transmission system 12.
  • the detection device 11 is configured to be able to implement a detection method for detecting road surface irregularities.
  • the detection method includes: a torque vibration detection step S1, wherein the torque vibration information representing the torque vibration of the power transmission system 12 of the vehicle 1 is acquired; a judgment step S2, wherein, according to the torque vibration The information judges whether the torque vibration comprises vibration with a frequency within the range of at least one vehicle vibration frequency representing the frequency of vehicle vibration that will occur when the vehicle 1 is running on an uneven road surface 2; and analysis step S3, Wherein, if the torque vibration includes vibration with a frequency within the range of the at least one vehicle vibration frequency, the unevenness of the road surface 2 is analyzed according to the torque vibration information.
  • analyzing the unevenness of the road surface includes identifying the existence of the unevenness in the road surface, that is, judging whether the road surface is smooth or not.
  • analyzing the unevenness of the road surface also includes evaluating the degree of unevenness of the road surface.
  • torque vibrations in the driveline 12 are not necessarily caused by irregularities in the road surface 2 . Therefore, in the present invention, the unevenness of the road surface 2 is not analyzed directly based on the torque vibration information after the torque vibration information is acquired. Instead, the vehicle vibration frequency is first used to verify whether the detected torque vibration is caused by the unevenness of the road surface 2 . The unevenness of the road surface 2 is analyzed based on the torque vibration information only after it has been determined that the torque vibrations comprise vibrations with a frequency within the range of the at least one vehicle vibration frequency. The principle is that when the vehicle 1 passes through the uneven road surface 22, the effect of the uneven road surface 22 on the wheels 13 will not only cause torque vibration of the power transmission system 12, but also cause overall vibration of the vehicle 1.
  • the overall vibration frequency of 1 is represented by the vehicle vibration frequency. Torque vibrations also caused by unevenness of the road surface 2 will have a vibration frequency equal to the vibration frequency of the vehicle. Therefore, by using the vibration frequency of the vehicle to verify whether the detected torque vibration is caused by the unevenness of the road surface 2, it is possible to eliminate the torque vibration caused by other reasons, and improve the accuracy of analyzing the unevenness of the road surface 2 based on the torque vibration information.
  • torque vibrations can be detected by means of a torque sensor 14 .
  • the torque sensor 14 is here arranged to be able to detect the torque of the output shaft of the engine 121 .
  • the detection device 11 may be communicatively connected with the torque sensor 14 to obtain the detection result of the torque sensor 14 .
  • the detection device 11 can be configured to be able to determine the characteristics of the torque vibration of the power transmission system 12 , such as its vibration frequency or vibration amplitude, etc. based on the detection result of the torque sensor 14 .
  • the torque sensor 14 can also be set to be able to detect the torque at other positions of the power transmission system 12, for example, it can be set to be able to detect the rotation of the drive shaft between the speed reducer 122 and the differential 123. torque, as long as the torque detected by the torque sensor 14 can reflect the torque vibration of the power transmission system 12 .
  • torque vibrations may also be detected by other means.
  • the engine 121 of the vehicle 1 is configured as an electric motor
  • it is particularly advantageous to detect torque vibrations through operating parameters of the electric motor eg, three-phase current of the electric motor, DC bus voltage, DC bus current, etc.
  • the torque sensor 14 can be omitted.
  • FIG. 4A and Fig. 4B schematically show the analysis of the unevenness of the road surface 2 according to the torque vibration information in an exemplary embodiment of the present invention.
  • FIG. 4A shows time-domain analysis of torque vibration information, where the abscissa represents time t, and the ordinate represents torque T.
  • FIG. 4B shows the frequency domain analysis of the torque vibration information, where the abscissa represents the vibration frequency f, and the ordinate represents the vibration amplitude M.
  • the frequency domain analysis of the torque vibration information can be performed by means of Fourier transform, such as short-time Fourier transform, fast Fourier transform and the like.
  • the unevenness of the road surface 2 can be analyzed based at least on the vibration amplitude of the torque vibration obtained from the torque vibration information.
  • the maximum peak value of the torque vibration is greater than the predetermined torque upper limit The value T1; the minimum valley value of the torque vibration is smaller than the predetermined torque lower limit value T2.
  • the torque vibration information is analyzed in the frequency domain, if the torque vibration amplitude M is greater than a predetermined vibration amplitude threshold M1 , it is determined that the road surface 2 is uneven.
  • the unevenness of the road surface 2 can also be evaluated according to at least one of the maximum peak value, the minimum valley value and the vibration amplitude.
  • the determining step it can be determined, in particular by frequency-domain analysis of the torque vibration information, whether the torque vibration has a vibration frequency within the range of the at least one vehicle vibration frequency.
  • the vibration frequency of torque vibration can be determined conveniently and clearly by frequency domain analysis.
  • Fig. 4B schematically shows that the torque vibration has a vibration frequency f T , by comparing the vibration frequency f T with the vehicle vibration frequency, it can be determined whether the torque vibration has a vibration frequency within the range of the at least one vehicle vibration frequency within the vibration frequency.
  • the vehicle vibration frequency may represent a specific frequency value or a specific frequency range.
  • a frequency within the range of the at least one vehicle vibration frequency may include one of the following conditions: the frequency is equal to the frequency value of any one of the at least one vehicle vibration frequency, the frequency falls within the at least one within the frequency range of any one of the vehicle vibration frequencies.
  • FIG. 4B schematically shows the case where the torque vibration has one vibration frequency, but the actual torque vibration may be more complex and include multiple vibration components with different vibration frequencies.
  • FIG. 5 schematically shows a vehicle 1 traveling on an uneven road surface 22 .
  • the action of the uneven road surface 22 on the wheels 13 causes the overall vibration of the vehicle 1, and the overall vibration of the vehicle 1 may be manifested as at least one of the following vibrations: the vibration of the vehicle 1 along the direction perpendicular to the road surface 2, that is, the vertical direction Bounce vibration V1; rolling vibration V2 of the vehicle 1 around the traveling direction; pitching vibration V3 of the vehicle 1 around the direction parallel to the road surface 2 and perpendicular to the traveling direction.
  • any one or more of the bouncing vibration V1 , the rolling vibration V2 and the pitching vibration V3 may occur.
  • the bouncing vibration V1, the rolling vibration V2 and the pitching vibration V3 respectively have a bouncing vibration frequency f1, a rolling vibration frequency f3 and a pitching vibration frequency f3, wherein the bouncing vibration frequency f1, the rolling vibration frequency f3 and the pitching vibration frequency f3 may not be equal to each other.
  • the at least one vehicle vibration frequency may include at least one of a bouncing vibration frequency f1, a rolling vibration frequency f3, and a pitching vibration frequency f3.
  • the vehicle vibration frequency can basically be determined by the vehicle 1 itself, regardless of the unevenness of the road surface 2 . Therefore, the vehicle vibration frequency can be determined by testing the vehicle 1 in advance, that is, the vehicle vibration frequency can be calibrated in advance. For example, the vehicle 1 may be tested for vehicle vibration frequencies specific to a certain model. Alternatively, the vehicle 1 can also be tested to obtain vehicle vibration frequencies specific to an individual vehicle 1 .
  • the vehicle vibration frequency is a predetermined and stored constant value. Accordingly, it is not necessary to equip the vehicle 1 with a sensor to detect the vehicle vibration frequency, thereby enabling cost reduction.
  • the load of the vehicle 1 may have an influence on the vehicle vibration frequency.
  • the truck shown in Figure 5 will have a different vehicle vibration frequency when unladen than when fully laden. Therefore, in the embodiment shown in FIG. 5 , the vehicle vibration frequency is determined according to the load amount of the vehicle 1 . Thereby, accuracy can be improved. This is particularly advantageous for vehicles 1 which may have widely varying loads.
  • the vehicle 1 can be driven on the uneven road surface 2 with different loads, and the corresponding vehicle vibration frequencies can be recorded.
  • the corresponding relationship between the vibration frequency of the vehicle and the load can be obtained, and the corresponding relationship can be expressed in the form of a map chart or in the form of a function.
  • the corresponding relationship between the vehicle vibration frequency and the load can be stored in the detection device 11 or a memory connected to the detection device 11 in communication.
  • the detection device 11 can read the corresponding vehicle vibration frequency according to the current load of the vehicle 1 by means of a look-up table. Thus, the vibration frequency of the vehicle can be quickly acquired.
  • the detection device 11 can also calculate the vibration frequency of the vehicle as a function of the load from the current load of the vehicle 1 . Thereby, the accuracy of the vibration frequency of the vehicle can be improved.
  • the load amount of the vehicle 1 can be detected by the load detection device 15 of the vehicle 1 .
  • the load detection device 15 is mounted on the frame of the vehicle 1, for example.
  • the vehicle vibration frequency is obtained by detecting the vibration of the vehicle 1 while the vehicle 1 is running. Therefore, the vibration frequency of the vehicle can be accurately determined through direct online detection.
  • vibrations of the vehicle 1 can be detected by an accelerometer.
  • the detection device 11 may be communicatively connected with the accelerometer to obtain the detection result thereof, and determine the detection device 11 based on the detection result of the accelerometer.
  • the detecting device 11 can be connected in communication with the controller for controlling the accelerometer, so as to directly or indirectly obtain the vibration frequency of the vehicle.
  • Fig. 6 schematically shows a vehicle 1 comprising a detection device 11 according to an exemplary embodiment of the present invention.
  • the vehicle 1 further includes a vehicle-mounted camera device 16 for photographing the external environment of the vehicle 1 , and the vehicle-mounted camera device 16 is exemplarily installed at the front of the vehicle 1 .
  • the detection device 11 is configured to be able to perform a vehicle vibration detection step, wherein the detection device 11 acquires vehicle vibration information representing the vibration of the vehicle 1 through multiple frames of images of the external environment captured by the vehicle-mounted camera device 16, so The vehicle vibration information includes at least vehicle vibration frequency.
  • the detection device 11 may be configured to communicate with the on-board camera device 16 of the vehicle 1 to receive the multiple frames of images captured by the on-board camera device 16 .
  • Fig. 6 schematically shows the bouncing vibration of the vehicle 1, wherein the vehicle 1 in two different vertical positions during the spring vibration process is shown by a solid line and a dotted line, respectively.
  • the on-board camera device 16 will correspondingly be displaced in a direction perpendicular to the road surface 2 . Therefore, the image of the external environment captured by the on-board camera device 16 will also be correspondingly shifted in the direction perpendicular to the road surface 2 .
  • other vibrations of the vehicle 1 including rolling vibration and pitching vibration will also cause corresponding displacement of the on-board camera device 16 , and thus corresponding displacement of the images captured by the on-board camera device 16 .
  • vehicle vibration information representing the vibration of the vehicle 1 can be acquired by comparing multiple frames of images.
  • the vehicle vibration information acquired in the vehicle vibration detecting step may be compared with the torque vibration information in the judging step to judge whether the torque vibration includes vibration having a frequency within the range of the at least one vehicle vibration frequency.
  • the vehicle vibration detection step can also be implemented independently of the detection method for detecting road surface irregularities described above.
  • the detection device 11 can be configured to detect the vibration of the vehicle 1 , and can be configured to acquire vehicle vibration information representing the vibration of the vehicle 1 through multiple frames of images of the external environment captured by the vehicle-mounted camera device 16 .
  • the vehicle vibration information alone may be used to determine the unevenness of the road surface 2 without considering the torque vibration information.
  • the vehicle vibration information can also be used for the vibration damping operation of the vehicle 1 .
  • the vehicle-mounted camera device 16 can be additionally configured to be used for functions such as driving assistance, automatic driving, or driving recording of the vehicle 1 . In this case, it is not necessary to equip the vehicle 1 with a sensor dedicated to detecting the vibration of the vehicle 1, thereby enabling cost reduction.
  • the vehicle vibration detection step includes at least the following sub-steps: receiving the multi-frame images captured by the vehicle-mounted camera device 16; analyzing the multi-frame images to obtain a series of frame motion information, the frame The motion information represents the frame motion caused by the vibration of the vehicle-mounted camera device 16 between temporally adjacent frames in the multiple frame images; and the frame motion information is analyzed to obtain at least one image vibration frequency, and the at least one image is The vibration frequency is used as the vehicle vibration frequency.
  • Fig. 7 schematically shows two temporally adjacent frames of images taken by the vehicle-mounted camera device 16 in this embodiment, which include the i-th frame image 31 and the i+1-th frame image in the multi-frame images 32. Due to the bouncing vibration shown in FIG.
  • the vehicle-mounted camera device 16 is displaced vertically, for example, downward, between the shooting time of the i-th frame image 31 and the i+1-th frame image 32, so that The one-frame image 32 is shifted upward as a whole with respect to the i-th frame image 31 .
  • a frame motion caused by vibration of the vehicle-mounted camera device 16 will occur between the temporally adjacent i-th frame and the i+1-th frame.
  • FIG. 7A and FIG. 7B it can be seen that both the captured sun image and the cloud image are shifted in the vertical upward direction. More specifically, taking a feature point (circled in a circle) of the cloud image as an example, the position of the feature point in the i+1th frame is shifted upward relative to its position in the i-th frame image 31, This can be done with the vector express.
  • the same partial image can be selected from two temporally adjacent frames as the feature partial image first.
  • characteristic partial images partial images that move rapidly between adjacent frames can be excluded.
  • frame motion information can be acquired more accurately.
  • the i-th frame image 31 and the i+1-th frame image 32 shown in FIG. 7 both capture the same sun image and cloud image.
  • at least a part of the sun image or the cloud image can be selected from the i-th frame image 31 and the i+1-th frame image 32 as a characteristic partial image.
  • the i-th frame image 31 and the i+1-th frame image 32 have also photographed a character image, because the character image moves quickly between the i-th frame and the i+1-th frame, this reflects that the person being photographed is due to Displacement of the vehicle 1 due to causes other than vibration. Therefore, the person image is excluded from the characteristic partial image.
  • a random sampling consensus algorithm is used to exclude partial images that move rapidly between adjacent frames.
  • the displacement information of the characteristic partial images between adjacent frames can be obtained to determine the frame motion information.
  • the displacement information of the same partial image between adjacent frames can be acquired through a feature matching algorithm.
  • suitable methods such as grayscale projection algorithm, block matching algorithm, optical flow algorithm, and the like.
  • the frame motion information may individually represent at least one of bouncing vibration in a direction perpendicular to the road surface 2 , rolling vibration around the running direction, and pitching vibration around a direction parallel to the road surface 2 and perpendicular to the running direction.
  • the frame motion information may correspond to the bouncing vibration, rolling vibration and pitching vibration of the vehicle 1 .
  • the vehicle vibration detection step includes analyzing the frame motion information to determine the image vibration amplitude, which can be used to analyze the unevenness of the road surface 2 .
  • the image vibration amplitude is additionally determined by means of the distance between the recorded object and the camera in the individual image frames.
  • the invention also relates to a computer program product comprising computer program instructions which, when executed by one or more processors, enable said processors to carry out the detection method according to the invention.
  • the computer program product can be stored in a computer-readable storage medium.
  • the computer-readable storage medium may include, for example, high-speed random access memory, and may also include non-volatile memory, such as hard disk, internal memory, plug-in hard disk, smart memory card (SMC), secure digital (SD) card, flash memory card, At least one disk storage device, flash memory device, or other volatile solid state storage device.
  • the processor may be a central processing unit, or other general-purpose processors, digital signal processors, application-specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and the like.
  • a general-purpose processor may be a microprocessor or any conventional processor or the like.

Abstract

La présente invention concerne un procédé de détection pour détecter l'irrégularité d'un revêtement de route. Le procédé de détection est utilisé pour détecter l'irrégularité d'un revêtement de route sur lequel un véhicule roule, et comprend : une étape de détection de vibration de couple consistant à : acquérir des informations de vibration de couple qui indiquent une vibration de couple d'un système de transmission de puissance du véhicule ; une étape de détermination consistant à : déterminer, selon les informations de vibration de couple, si la vibration de couple comprend une vibration présentant une fréquence comprise dans la plage d'au moins une fréquence de vibration de véhicule, la fréquence de vibration de véhicule indiquant une fréquence de vibration de véhicule sur le point de survenir lorsque le véhicule roule sur un revêtement de route irrégulier ; et une étape d'analyse consistant à : analyser l'irrégularité du revêtement de route selon les informations de vibration de couple si la vibration de couple comprend la vibration présentant une fréquence comprise dans la plage de ladite fréquence de vibration de véhicule. L'invention concerne en outre un appareil de détection pour détecter l'irrégularité d'un revêtement de route, et un produit programme d'ordinateur correspondant. Selon la présente invention, la précision d'analyse de l'irrégularité d'un revêtement de route selon les informations de vibration de couple peut être améliorée.
PCT/CN2021/126385 2021-10-26 2021-10-26 Procédé de détection et appareil de détection pour détecter l'irrégularité d'un revêtement de route, et produit programme WO2023070309A1 (fr)

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