CN113525387A - A pavement service quality detection method and system based on tire dynamic tire pressure - Google Patents
A pavement service quality detection method and system based on tire dynamic tire pressure Download PDFInfo
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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
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- 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
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
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- 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
- B60W2422/00—Indexing codes relating to the special location or mounting of sensors
- B60W2422/70—Indexing codes relating to the special location or mounting of sensors on the wheel or the tyre
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- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/18—Distance travelled
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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
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
- B60W2530/20—Tyre data
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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
- B60W2556/00—Input parameters relating to data
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Abstract
本发明创造属于道路路面检测领域，具体涉及了一种基于轮胎动态胎压的路面服务质量检测方法及系统。一种基于轮胎动态胎压的路面服务质量检测方法，包括以下主步骤：S1：采集车辆轮胎动态胎压信号、车辆纵向行驶里程、车辆行驶空间定位；S2：根据预设距离间隔进行数据分片；S3：对数据进行消除速度干扰；S4：对数据进行计权滤波；S5：计算出路面颠簸度；S6：通过路面颠簸度得出路面颠簸指数，并用于评价路面变形引起的路面服务质量。本申请的检测方法通过基于轮胎动态胎压的路面服务质量检测，采用对车路耦合的路面检测方法及系统从路面结构变化和路面变形状况进行综合评价的测量指标，该检测方法能够快速的对路网级道路路面进行检测。
The invention belongs to the field of road pavement detection, and specifically relates to a pavement service quality detection method and system based on tire dynamic tire pressure. A road service quality detection method based on tire dynamic tire pressure, comprising the following main steps: S1: collecting vehicle tire dynamic tire pressure signals, vehicle longitudinal mileage, and vehicle travel space positioning; S2: performing data segmentation according to preset distance intervals ; S3: eliminate speed interference on the data; S4: perform weighted filtering on the data; S5: calculate the road bump; S6: obtain the road bump index through the road bump, and use it to evaluate the road service quality caused by the road deformation. The detection method of the present application adopts the road surface service quality detection based on the dynamic tire pressure of the tire, adopts the road surface detection method of vehicle-road coupling and the measurement index that comprehensively evaluates the road surface structure change and road surface deformation status by the system. Road network level road surface detection.
Description
Technical Field
The invention belongs to the field of road pavement detection, and particularly relates to a road service quality detection method and a road service quality detection system based on dynamic tire pressure of a tire.
Background
The road service quality is a measurement index for comprehensive evaluation from the road structure change and the road deformation condition by a road detection method and a road coupling system.
At present, road pavement detection and evaluation mainly adopt a pavement technical condition evaluation method, pavement damage condition detection is to identify pavement damage conditions through a vision technology, pavement driving quality, pavement bumping and pavement abrasion are to measure longitudinal elevation changes and pavement structure conditions of a pavement by using a laser displacement technology, and pavement rutting is to measure the transverse elevation condition of the pavement by using a section laser elevation technology. However, the real-time monitoring requirement of road network grade pavement service quality of the road maintenance management unit is not easily met. The traditional road pavement detection mainly detects the pavement damage condition, the pavement running quality, the pavement abrasion, the pavement rutting, the pavement jumping and the like by image vision and laser displacement measurement methods, has higher detection cost, has more than one month on average in the detection period, and still has larger promotion space for the objectivity reaction of the pavement condition.
Disclosure of Invention
Aiming at the technical problems, the invention provides a service quality detection method and a service quality detection system based on the dynamic tire pressure of a tire.
In order to achieve the purpose, the invention adopts the technical scheme that the road service quality detection method based on the dynamic tire pressure of the tire comprises the following main steps: s1: collecting dynamic tire pressure signals of vehicle tires, longitudinal driving mileage of a vehicle and vehicle driving space positioning; s2: carrying out data fragmentation according to a preset distance interval; s3: eliminating speed interference on data; s4: weighting and filtering the data; s5: calculating the road surface jolt degree; s6: and obtaining a road surface jolt index according to the road surface jolt degree, and evaluating the road surface service quality caused by road surface deformation.
Preferably, the data slicing method in S2 is as follows: and storing the dynamic tire pressure data according to a time domain, and carrying out data fragmentation according to the mileage measurement information, wherein the data fragmentation interval is 1 meter.
Preferably, the method for eliminating the speed disturbance in S3 is to eliminate the speed influence by an equivalent tire pressure conversion method, which is as follows:
wherein p isnFor dynamic tyre pressure signals at standardized speed, pcDynamic tire pressure signal at actual speed, VnTo normalize velocity, VcAnd (5) actual driving speed.
Preferably, the weighting filtering method in S4 is to perform weighting filtering by using a frequency weighting network, and the frequency weighting method of the dynamic tire pressure signal is as follows:
wherein f is1To low-pass cut-off frequency, f2Is a high pass cut-off frequency, f is a dynamic tire pressure signal frequency, Wlim(f) The gain modification value at frequency f.
Preferably, in step S5, the road surface pitch is calculated by a road surface pitch calculation method as follows: FI ═ sqrt [ integral ] fw(pn)dt]Wherein FI is road surface jounce, pnFor dynamic tire pressure signals, fwIs a tire pressure weight filter function.
Preferably, the calculation model of the road pitch index in S6 is as follows:
wherein PFI is road surface jounce index, FI is road surface jounce degree, a1、a2、a3Are coefficients.
Preferably, the system for detecting the road service quality based on the dynamic tire pressure of the tire is suitable for the method for detecting the road service quality based on the dynamic tire pressure of the tire, and comprises a power module and further comprises: the visual terminal is electrically connected with the power supply module; the control module is electrically connected with the visual terminal; the mileage measuring module is arranged on the wheel, is electrically connected with the control module and is used for measuring the longitudinal running distance of the vehicle; the positioning module is electrically connected with the control module and is used for acquiring the space positioning of the vehicle in motion; and the vehicle dynamic acquisition module is arranged on the wheel, is electrically connected with the control module and is used for acquiring the information of the vehicle in motion.
Preferably, the vehicle dynamic acquisition module comprises: the dynamic tire pressure sensor is arranged on the tire, is used for collecting the variation of the air pressure in the tire and is electrically connected with the control module; the acceleration sensor is arranged on the suspension, is used for collecting the vibration of the vehicle body chassis suspension in the running process of the vehicle and is electrically connected with the control module; the modulation module is used for providing a direct current constant current source for the dynamic tire pressure sensor and the acceleration sensor and is electrically connected with the power supply module; and the analog-to-digital conversion module is used for converting the dynamic tire pressure analog signal and the acceleration analog signal into a dynamic tire pressure digital signal and an acceleration digital signal and is electrically connected with the control module.
The beneficial effects created by the invention are as follows: the detection method comprises the steps of detecting the road service quality based on the dynamic tire pressure of the tire, adopting a road detection method and a road detection system for coupling the vehicle and the road to comprehensively evaluate measurement indexes from the change of a road structure and the deformation condition of the road, processing collected tire pressure signals by using a data fragmentation, speed equivalent change and weighting filtering method, extracting characteristic signals of the deformation condition of the road, and calculating a road bump index value and an evaluation grade reflecting the service quality of the road by using a road bump calculation method and a bump index calculation model.
Drawings
In order to more clearly illustrate the invention in its embodiments, reference will now be made briefly to the accompanying drawings, which are to be used in the embodiments. In all the drawings, the elements or parts are not necessarily drawn to actual scale.
FIG. 1 is a flow chart of a method for detecting quality of service of a roadway;
FIG. 2 is a schematic diagram showing a relationship between a road bump index and an actual road surface;
FIG. 3 is a block diagram of a pavement quality of service detection system;
in the figure: the method comprises the steps of 1-a visual terminal, 2-a power supply module, 3-a control module, 4-a vehicle dynamic acquisition module, 41-an analog-to-digital conversion module, 42-a modulation module, 43-a dynamic tire pressure sensor, 44-an acceleration sensor, 5-a mileage measurement module and 6-a positioning module.
Detailed Description
Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and therefore are only used as examples, and the protection scope of the present invention is not limited thereby.
A road service quality detection method based on dynamic tire pressure of a tire comprises the following main steps: s1: collecting dynamic tire pressure signals of vehicle tires, longitudinal driving mileage of the vehicle and vehicle driving space positioning. S2: and carrying out data slicing according to the preset distance interval. The data slicing method in S2 is as follows: and storing the dynamic tire pressure data according to a time domain, and carrying out data fragmentation according to the mileage measurement information, wherein the data fragmentation interval is 1 meter.
S3: and eliminating speed interference on the data. The method for eliminating the speed interference in the S3 is to eliminate the speed influence through an equivalent tire pressure conversion method, wherein the equivalent tire pressure conversion method comprises the following steps:
wherein p isnFor dynamic tyre pressure signals at standardized speed, pcDynamic tire pressure signal at actual speed, VnTo normalize velocity, VcAnd (5) actual driving speed. VnThe normalized speed may be selected to be 80 km/h.
S4: and performing weighted filtering on the data. The weighting filtering method in S4 is to use a frequency weighting network for weighting filtering, and the frequency weighting method of the dynamic tire pressure signal is as follows:
wherein f is1To low-pass cut-off frequency, f2Is a high pass cut-off frequency, f is a dynamic tire pressure signal frequency, Wlim(f) The gain modification value at frequency f. The main frequency component of the dynamic tire pressure variation signal is below 100Hz while the lowest response frequency of the hardware of the dynamic tire pressure sensor 43 is considered to be 3.15 Hz. Therefore, the band limit is set to 0.4-100 Hz.
Therefore, the set goals and principles of the frequency weighting network are as follows:
(1) and filtering the main frequency band of the dynamic tire pressure to remove frequency components above 100 Hz.
(2) The frequency component of dynamic tire pressure change caused by road surface characteristics is effectively gained, and other frequency components are attenuated.
(3) And (3) revising the frequency transfer function in the W by comparing the difference of the vibration acceleration and the dynamic tire pressure frequency component at the same time under the same condition.
S5: and calculating the road surface jolt degree. In S5, the road surface jounce degree is calculated by a road surface jounce degree calculation method as follows: FI ═ sqrt [ integral ] fw(pn)dt]Wherein FI is road surface jounce, pnFor dynamic tire pressure signals, fwIs a tire pressure weight filter function.
S6: and obtaining a road surface jolt index according to the road surface jolt degree, and evaluating the road surface service quality caused by road surface deformation. Road surface bump finger in S6The calculation model of numbers is as follows:
wherein PFI is road surface jounce index, FI is road surface jounce degree, a1、a2、a3Are coefficients.
The road surface bump index data output data mainly comprises the following data: the number, the road name, the lane, the direction, the time, the start, the time, the stop, the longitude, the start, the latitude, the stop, the unit length, the bump degree, the bump index and the evaluation grade. The longitude and latitude positioning coordinate system adopts national geodetic coordinates CGCS2000, the bumping index value field is [0,100], and the evaluation grades are excellent, good, medium, inferior and poor.
A road service quality detection system based on dynamic tire pressure of the tire, is suitable for a road service quality detection method based on dynamic tire pressure of the tire, including power module 2, also include: the system comprises a visualization terminal, a control module 3, a mileage measuring module 5, a positioning module 6 and a vehicle dynamic acquisition module 4. The visual terminal is electrically connected with the power module 2. The control module 3 is electrically connected with the visual terminal. The mileage measuring module 5 is installed on the wheel, electrically connected with the control module 3, and used for measuring the longitudinal running distance of the vehicle. The positioning module 6 is electrically connected with the control module 3 and is used for obtaining the space positioning of the vehicle in motion.
The control module 3 adopts an embedded processor as a core control unit, has a PCIE high-speed data communication interface, a USB data communication interface, an RJ45 network card interface, a TF card interface, a 12V2A power supply interface and the like, and supports 5G/WIFI wireless communication control and data transmission. The core control unit has 4GB ROM storage and 1GB RAM storage, processor main frequency 1GHz, and 4 cores.
The visual terminal comprises a tablet personal computer, a mobile phone terminal, a vehicle central control screen and the like. Which can support control by the control module 3 and monitoring of the data acquisition status. And the WIFI wireless network is connected with the control module 3 to perform data acquisition control and data transmission management.
Wherein, the dynamic tire pressure signal of the vehicle tire, the longitudinal driving distance of the vehicle and the vehicle driving space positioning are collected in the step S1 and are respectively collected by the dynamic vehicle collecting module 4, the distance measuring module 5 and the positioning module 6.
Specifically, the vehicle dynamic acquisition module 4 is mounted on a wheel, electrically connected to the control module 3, and configured to acquire information of the vehicle in motion. The vehicle dynamics acquisition module 4 includes: a dynamic tire pressure sensor 43, an acceleration sensor 44, a modulation module 42 and an analog-to-digital conversion module 41. The acceleration sensor 44 is mounted on the suspension, and is used for collecting vibration of the vehicle body chassis suspension in the vehicle running process, outputting a vibration analog signal and electrically connected with the control module 3. The modulation module 42 is electrically connected to the power module 2, and is configured to provide a dc constant current source for the dynamic tire pressure sensor 43 and the acceleration sensor 44, filter, gain, and isolate the dynamic tire pressure analog signal and the vehicle vibration analog signal, and output a stable analog signal. The analog-to-digital conversion module 41 is electrically connected to the control module 3, and is configured to convert the dynamic tire pressure analog signal and the acceleration analog signal into a dynamic tire pressure digital signal and an acceleration digital signal, and transmit the dynamic tire pressure digital signal and the acceleration digital signal to the control module 3 through the PCIE high-speed data communication interface.
The dynamic tire pressure sensor 43 is mounted on the tire, is used for collecting the variation of the air pressure in the tire, and is electrically connected with the control module 3. The dynamic tire pressure sensor 43 is connected to the inflating valve of the vehicle tire by using a Y-shaped mounting structure, the dynamic tire pressure sensor 43 can acquire the dynamic change condition of the tire pressure of the vehicle tire in the longitudinal running process of the road surface, and then the dynamic tire pressure sensor is processed by using a dynamic tire pressure signal data processing method, and the road surface bumping index and the rating grade are output, so that the detection of the road surface structure change and the road surface deformation condition of the road surface layer is realized. The dynamic tire pressure sensor 43 is an ICP dynamic pressure sensor with a utilization rate of 50KHZ and a resolution of 0.001 kPa.
Specifically, the mileage measuring module 5 measures the longitudinal running distance of the vehicle by using an optical wheel speed encoder. The encoder is arranged on a central shaft of a hub of a rear wheel of the vehicle by using a weight disc mechanical device, the weight disc mechanical device transmits signals of the dynamic tire pressure sensor 43 by using a mercury slip ring, the mileage measurement precision of the encoder is less than 1mm, and the waterproof grade is IP 67.
Specifically, the big dipper positioning system is carried in the orientation module 6, and big dipper positioning system direct mount is installed inside the vehicle, through extension big dipper positioning signal receiving antenna install in the vehicle top, and the data output rate of its big dipper location is 10Hz, and horizontal space positioning error is less than 1 meter to use IMU to carry out the inertial measurement that the vehicle travel, solve not have the positioning signal problem in the tunnel.
The detection method comprises the steps of detecting the road service quality based on the dynamic tire pressure of the tire, adopting a road detection method and a road detection system for coupling the vehicle and the road to comprehensively evaluate measurement indexes from the change of a road structure and the deformation condition of the road, processing collected tire pressure signals by using a data fragmentation, speed equivalent change and weighting filtering method, extracting characteristic signals of the deformation condition of the road, and calculating a road bump index value and an evaluation grade reflecting the service quality of the road by using a road bump calculation method and a bump index calculation model.
The above embodiments are only used to illustrate the technical solution of the present invention, but not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; the modifications or the substitutions do not make the essence of the corresponding technical solution depart from the scope of the technical solution of the embodiments of the present invention, and the technical solution is covered by the claims and the specification of the present invention.
Claims (8)
1. A road service quality detection method based on dynamic tire pressure of a tire is characterized by comprising the following main steps:
s1: collecting dynamic tire pressure signals of vehicle tires, longitudinal driving mileage of a vehicle and vehicle driving space positioning;
s2: carrying out data fragmentation according to a preset distance interval;
s3: eliminating speed interference on data;
s4: weighting and filtering the data;
s5: calculating the road surface jolt degree;
s6: and obtaining a road surface jolt index according to the road surface jolt degree, and evaluating the road surface service quality caused by road surface deformation.
2. The method for detecting road service quality based on dynamic tire pressure of tire according to claim 1, wherein said data slicing method in S2 is: and storing the dynamic tire pressure data according to a time domain, and carrying out data fragmentation according to the mileage measurement information, wherein the data fragmentation interval is 1 meter.
3. The method for detecting road service quality based on dynamic tire pressure of tire according to claim 1, wherein said method for eliminating speed disturbance in S3 is to eliminate speed influence by an equivalent tire pressure transformation method, wherein the equivalent tire pressure transformation method comprises the following steps:
wherein p isnFor dynamic tyre pressure signals at standardized speed, pcDynamic tire pressure signal at actual speed, VnTo normalize velocity, VcAnd (5) actual driving speed.
4. The method of claim 1, wherein the weighting filtering in S4 is performed by using a frequency weighting network, and the frequency weighting method of the dynamic tire pressure signal is as follows:
wherein f is1To low-pass cut-off frequency, f2A high pass cut-off frequency, and f is a dynamic tire pressure signal frequencyRate, Wlim(f) The gain modification value at frequency f.
5. A road service quality detection method based on tire dynamic tire pressure as claimed in claim 1, wherein the road jolt is calculated in S5 by using a road jolt calculation method as follows:
FI＝sqrt[∫fw(pn)dt]
wherein FI is road surface jounce, pnFor dynamic tire pressure signals, fwIs a tire pressure weight filter function.
6. The method as claimed in claim 7, wherein the calculation model of the road jounce index in S6 is as follows:
wherein PFI is road surface jounce index, FI is road surface jounce degree, a1、a2、a3Are coefficients.
7. A road service quality detection system based on dynamic tire pressure of a tire, which is suitable for the road service quality detection method based on dynamic tire pressure of a tire as claimed in any one of claims 1 to 6, and comprises a power module, and is characterized by further comprising:
the visual terminal is electrically connected with the power supply module;
the control module is electrically connected with the visual terminal;
the mileage measuring module is arranged on the wheel, is electrically connected with the control module and is used for measuring the longitudinal running distance of the vehicle;
the positioning module is electrically connected with the control module and is used for acquiring the space positioning of the vehicle in motion;
and the vehicle dynamic acquisition module is arranged on the wheel, is electrically connected with the control module and is used for acquiring the information of the vehicle in motion.
8. The system of claim 7, wherein the vehicle dynamic collection module comprises:
the dynamic tire pressure sensor is arranged on the tire, is used for collecting the variation of the air pressure in the tire and is electrically connected with the control module;
the acceleration sensor is arranged on the suspension, is used for collecting the vibration of the vehicle body chassis suspension in the running process of the vehicle and is electrically connected with the control module;
the modulation module is used for providing a direct current constant current source for the dynamic tire pressure sensor and the acceleration sensor and is electrically connected with the power supply module;
and the analog-to-digital conversion module is used for converting the dynamic tire pressure analog signal and the acceleration analog signal into a dynamic tire pressure digital signal and an acceleration digital signal and is electrically connected with the control module.
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114211926A (en) * | 2021-12-31 | 2022-03-22 | 重庆工业职业技术学院 | Automobile suspension control system for bumpy road surface |
| CN114739350A (en) * | 2022-04-12 | 2022-07-12 | 招商局公路信息技术（重庆）有限公司 | Pavement dynamic tire pressure detector calibration method and system based on modal excitation |
| CN114971166A (en) * | 2022-04-13 | 2022-08-30 | 招商局公路信息技术（重庆）有限公司 | Lightweight road pavement service quality inspection system |
| CN116103987A (en) * | 2022-07-05 | 2023-05-12 | 港珠澳大桥管理局 | Road surface condition monitoring method, device and computer equipment |
| CN116176594A (en) * | 2023-04-26 | 2023-05-30 | 禾多科技（北京）有限公司 | Driving environment sensing method and system for automatic driving vehicle |
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| CN114739350B (en) * | 2022-04-12 | 2023-09-26 | 招商局公路信息技术（重庆）有限公司 | Method and system for calibrating road surface dynamic tire pressure detector based on modal excitation |
| CN114971166A (en) * | 2022-04-13 | 2022-08-30 | 招商局公路信息技术（重庆）有限公司 | Lightweight road pavement service quality inspection system |
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