CN108229803A - A kind of extracting method in feature section, the judgment method of Dangerous Area and system - Google Patents
A kind of extracting method in feature section, the judgment method of Dangerous Area and system Download PDFInfo
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Abstract
The embodiment of the present invention discloses a kind of extracting method in feature section, the judgment method of Dangerous Area and system, the extracting method and includes：Road to be measured is measured using inertia measurement instrument, obtain the corresponding attitude parameter of each continuous sampling point of the road to be measured of the inertia measurement instrument acquisition, wherein, the mounting surface of the inertia measurement instrument is parallel with the road surface of the road to be measured, and the attitude parameter includes：Pitch angle and course angle；According to the attitude parameter, the form parameter that the road to be measured includes is determined, wherein, the form parameter includes：Radius of vertical curve and radius of horizontal curve；According to the form parameter in section section that the road to be measured includes, the feature section that the road to be measured includes is extracted, wherein, the feature section includes：Evagination part of path, concave curved part of path, longitudinal gradient section, left curve section, right curve section and linear section.The embodiment of the present invention, not only efficiency is higher, also with preferable stability.
Description
Technical field
The present invention relates to lane detection technology field more particularly to a kind of extracting method in feature section, Dangerous Areas
Judgment method and system.
Background technology
《Highway safety life protection works》Middle requirement carries out safety detection to each standard highway in the whole nation.Wherein to road
Some feature sections propose requirement.Including " straight line ", " circular curve ", " clothoid ", " horizontal curve ", " longitudinal slope ", " length of grade ",
" vertical curve " etc..The evaluation index in these feature sections is related to desin speed.At present communications and transportation, road inspection,
In road safety detection field to road straight curved, flat Qu Tezheng assay method, usually have following several method：According to applying
Total station survey is inquired and utilized to work drawing.Wherein, according to construction drawing inquire method, on the one hand can there are drawing lack or
The phenomenon that incomplete；Even if on the other hand drawing is complete, carry out also still needing to be detected practical section during road risk investigation, with
Just determine whether consistent with drawing description.Therefore it is only inquired by construction drawing, entire life protection works can not be met
Sharp turn, abrupt slope, long and steep downgrade section detection demand.Method for being measured using Traditional projects measuring apparatus such as total powerstations,
In extensive line security investigates work, there is slow such as detection speed, the traffic of road closure work influence, operating personnel's safety nothing
Method such as is protected at a series of inevitable the defects of, it is difficult to suitable for facing the work requirements of extensive section investigation.Therefore,
The method of the prior art can not conveniently and efficiently extract feature section.
Invention content
The embodiment of the present invention provides a kind of extracting method in feature section, the judgment method of Dangerous Area and system, with solution
Certainly the problem of can not conveniently and efficiently extracting feature section of the prior art.
In a first aspect, a kind of extracting method in feature section is provided, including：Road to be measured is measured using inertia measurement instrument,
The corresponding attitude parameter of each continuous sampling point of the road to be measured of the inertia measurement instrument acquisition is obtained, wherein, it is described
The mounting surface of inertia measurement instrument is parallel with the road surface of the road to be measured, and the attitude parameter includes：Pitch angle and course angle；Root
According to the attitude parameter, the form parameter that the road to be measured includes is determined, wherein, the form parameter includes：Vertical curve half
Diameter and radius of horizontal curve；According to the form parameter in section section that the road to be measured includes, extract the road to be measured and include
Feature section, wherein, the feature section includes：Evagination part of path, concave curved part of path, longitudinal gradient section, left curve section, the right side
Curve section and linear section.
Second aspect provides a kind of extraction system in feature section, including：Measurement module, for using inertia measurement instrument
Road to be measured is measured, obtains the corresponding posture ginseng of each continuous sampling point of the road to be measured of the inertia measurement instrument acquisition
Number, wherein, the mounting surface of the inertia measurement instrument is parallel with the road surface of the road to be measured, and the attitude parameter includes：Pitching
Angle and course angle；First determining module, for according to the attitude parameter, determining the form parameter that the road to be measured includes,
Wherein, the form parameter includes：Radius of vertical curve and radius of horizontal curve；First extraction module, for according to the road to be measured
The form parameter in section section that road includes extracts the feature section that the road to be measured includes, wherein, the feature section packet
It includes：Evagination part of path, concave curved part of path, longitudinal gradient section, left curve section, right curve section and linear section.
The third aspect provides a kind of judgment method of Dangerous Area, including：Using the extraction side in above-mentioned feature section
Method extracts the feature section that the road to be measured includes；Obtain the characteristic parameter in feature section that the road to be measured includes；Root
According to the desin speed of the road to be measured, the characteristic threshold value of the corresponding road to be measured of the desin speed is obtained；According to institute
Characteristic parameter and the comparison result of the characteristic threshold value are stated, determines whether the feature section that the road to be measured includes is dangerous road
Section.
Fourth aspect provides a kind of judgement system of Dangerous Area, including：Second extraction module, for using above-mentioned
The extracting method in feature section extracts the feature section that the road to be measured includes；First acquisition module, for obtaining described treat
Survey the characteristic parameter in feature section that road includes；Second acquisition module for the desin speed according to the road to be measured, obtains
Take the characteristic threshold value of the corresponding road to be measured of the desin speed；Second determining module, for according to the characteristic parameter
With the comparison result of the characteristic threshold value, determine whether the feature section that the road to be measured includes is Dangerous Area.
In this way, the embodiment of the present invention, the attitude parameter that can be directly acquired according to inertia measurement instrument, by mathematical computations, carry
The feature section that road to be measured includes is taken, not only efficiency is higher for this method, also with preferable stability；It can also be according to extraction
Feature section quickly and easily judges whether this feature section is Dangerous Area.
Description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by institute in the description to the embodiment of the present invention
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the flow chart of the extracting method in the feature section of the embodiment of the present invention；
Fig. 2 is the structure diagram of the extraction system in the feature section of the embodiment of the present invention；
Fig. 3 is the flow chart of the judgment method of the Dangerous Area of the embodiment of the present invention；
Fig. 4 is the structure diagram of the judgement system of the Dangerous Area of the embodiment of the present invention.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is part of the embodiment of the present invention, instead of all the embodiments.Based on this hair
Embodiment in bright, those of ordinary skill in the art's acquired every other implementation without creative efforts
Example, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses a kind of extracting methods in feature section.Specifically, as shown in Figure 1, extracting method
Including the steps：
Step S101：Road to be measured is measured using inertia measurement instrument, obtains the every of the road to be measured that inertia measurement instrument acquires
The corresponding attitude parameter of a continuous sampling point.
Wherein, inertia measurement instrument is mounted on detection vehicle.Detection vehicle is detected along road driving to be measured.Inertia measurement
The mounting surface of instrument is parallel with the road surface of road to be measured.Attitude parameter includes：Pitch angle and course angle.
Step S102：According to attitude parameter, the form parameter that road to be measured includes is determined.
Wherein, form parameter includes：Radius of vertical curve and radius of horizontal curve.
Step S103：The form parameter in section section included according to road to be measured extracts the feature that road to be measured includes
Section.
Wherein, feature section includes：Evagination part of path, concave curved part of path, longitudinal gradient section, left curve section, right curve road
Section and linear section.
Through the above steps, the method for the embodiment of the present invention is joined by obtaining the discrete posture of each continuous sampling point
Number, can finally obtain the feature section that road to be measured includes, simple, quick.
Specifically, for step S102, when attitude parameter is pitch angle, which specifically includes following process：
Step 1：According to starting point of the continuous sampling point away from road to be measured from closely to remote sequence, to each continuous sampling point
Pitch angle carries out mean filter with the sliding window of first threshold successively, obtains pitch angle filter value.
Preferably, in order to reduce operand, can approximate processing first be carried out to pitch angle, for example, retaining pitch angle small
The effective digital of three after several points.Specifically, first threshold can demarcate in advance.The standard of calibration can consider grade road and build
It is marked with accurate, pitch angle quantity, the corresponding first threshold of best effects being determined by experiment etc..In the embodiment of the present invention
One threshold value can specifically be chosen for 401, then carry out a mean filter to every 401 pitch angles successively, obtain pitch angle filter value.
Step 2：Since the starting point of road to be measured, road to be measured is in turn divided at least two first interval sections.
Wherein, the distance in each first interval section is the first distance.First distance can have according to the length of road to be measured
Body selects.For example, the first distance in the embodiment of the present invention is 5m, then since the starting point of road to be measured, one is divided every 5m
A first interval section.
Step 3：The first arithmetic mean of instantaneous value of the pitch angle filtering data in each first interval section is calculated.
Then it is to sum it up the pitch angle filtering data of the continuous sampling point in 5m, and count for example, being 5m for the first distance
Arithmetic mean of instantaneous value is calculated, obtains the first arithmetic mean of instantaneous value.
Step 4：First arithmetic in i-th adjacent of first interval section and i+1 first interval section is calculated
The absolute value of the difference of average value.
Wherein, i-th of first interval section than i+1 first interval section close to the starting point of road to be measured.
Step 5：Judge whether the absolute value of the difference of the first arithmetic mean of instantaneous value is less than second threshold.
Second threshold can be empirical value.Second threshold in the embodiment of the present invention is 0.0001.If being less than, walked
Rapid 6；If being not less than, step 7 is carried out.
Step 6：The radius of vertical curve for determining i-th of first interval section is the first radius of vertical curve threshold value.
The first radius of vertical curve threshold value is generally empirical value.First radius of vertical curve threshold value of the embodiment of the present invention is
10000。
Step 7：According toThe radius of vertical curve in i-th of first interval section is calculated.
Wherein, BiFor the radius of vertical curve in i-th of first interval section, AiThe first arithmetic for i-th of first interval section
Average value, Ai+1For first arithmetic mean of instantaneous value in i+1 first interval section, a is the first distance.For example, the first distance a is
5。
By above-mentioned process, the radius of vertical curve in each first interval section can obtain.
When form parameter is radius of vertical curve, step S103 specifically includes following process：
Step 1：The radius of vertical curve for judging whether there is the first interval section of continuous at least the first quantity is all higher than the
Two radius of vertical curve threshold values.
Wherein, the second radius of vertical curve threshold value can be empirical value, the second radius of vertical curve threshold in the embodiment of the present invention
Be worth is 5000.First quantity can be empirical value, and the first quantity in the embodiment of the present invention is 4.Therefore, the embodiment of the present invention
In, specifically judge that the no radius of vertical curve for having continuous at least four first interval section is all higher than 5000.
If so, carry out step 2.
Step 2：The first interval section of continuous at least the first quantity of extraction is longitudinal gradient section.
For example, the radius of vertical curve for having continuous at least four first interval section is all higher than 5000, then at least four
One section section is longitudinal gradient section.
For longitudinal gradient section, the method for the embodiment of the present invention can further obtain the relevant parameter of longitudinal gradient section, the process
It is specific as follows：
(1) according toObtain the longitudinal slope value in each first interval section.
Wherein, CiLongitudinal slope value (i.e. the longitudinal slope gradient) for first interval section.
(2) distance of longitudinal gradient section is obtained.
It should be understood that the distance is positive number.The distance of longitudinal gradient section can be obtained according to such a way：
If A, the start position of the longitudinal gradient section and final position are corresponding with pile No. just, the difference of two pile No. it is absolute
Value is the distance of longitudinal gradient section.
Specifically, every section of highway can all have highway condition investigation.Highway condition investigation can obtain pile No..Pile No. be divided into kilometer stake, hundred meters
Stake, is the affiliated facility object that mark and positioning action are played to highway, represents to be meant that arrive at the position of pile No. itself and be somebody's turn to do
The distance of Duan Gonglu starting points.For example, G6 Jing Zang high speeds k357+100 just uniquely represents 357 kilometers of a road (kilometer stake)+100
The position of rice (hundred-metre pile).For example, the pile No. of the start position of the longitudinal gradient section is k100+100, the pile No. in final position is
K200+100, then, the absolute value of difference between the two is 100 kilometers, i.e., the distance of longitudinal gradient section is 100 kilometers.The pile No.
Specifically obtained using such a way：By being mounted on the area array cameras triggered by distance signal on detection vehicle to both sides of the road
Road domain environmental information be acquired, the image of acquisition is handled, identification mileage pile No. information, speed-limiting messages data.It should
The technology for identifying pile No. is the prior art, and details are not described herein.Positioning device (Distance on detection vehicle
Measurement Instrument) the input starting point mileage at the beginning of detection, by emitting the non-cpntact measurements such as laser
Mode, can add up mileage during itself is travelled.Mode in this way, can be by mileage pile No. information, speed limit
Information data etc. is corresponding with road physical location, convenient for carrying out the judgement of Dangerous Area etc. later.
B, the distance of longitudinal gradient section can also calculate the first interval between the start position of longitudinal gradient section and final position
The product of first distance in section and the quantity in first interval section obtains.
(3) according toObtain the longitudinal slope value of each longitudinal gradient section.
Wherein, DmFor the longitudinal slope value of longitudinal gradient section, EmFor the distance of longitudinal gradient section, ∑ CiRepresent all in longitudinal gradient section
The sum of the longitudinal slope value in first interval section.
(4) according to Fm=a × Em×cos(arctanDm) obtain each longitudinal gradient section longitudinal slope it is long.
Wherein, FmLongitudinal slope for longitudinal gradient section is long.For example, the first distance a is 5 in the embodiment of the present invention, then Fm=5Em×
cos(arctanDm)。
Through the above steps, the distance, longitudinal slope value and longitudinal slope that can obtain longitudinal gradient section are long.
Step 3：It is vertical curve section section to determine the first interval section other than longitudinal gradient section.
For example, the radius of vertical curve for having continuous at least four first interval section is all higher than 5000, then at least four
One section section is longitudinal gradient section, and the first interval section other than the longitudinal gradient section is vertical curve section section.
Step 4：Whether judge the radius of vertical curve in each vertical curve section section has identical positive negativity.
Pass through the step, it can be determined that the point to deflect in each vertical curve section section with the presence or absence of turn direction.
If so, show there is no the point that turn direction deflects, then to carry out step 5.If it is not, show that there are turn directions
The point to deflect, then carry out step 6.
Step 5：Positive negativity according to the radius of vertical curve in vertical curve section section determines that data line section section is concave curved
Part of path or evagination part of path.
Specifically, the difference of the calibration according to the inertia measurement instrument of use, it may be determined that all radius of vertical curve are just
Vertical curve section section for concave curved part of path, all radius of vertical curve are that negative vertical curve section section is evagination circuit
Section；Alternatively, it is evagination part of path that determining all radius of vertical curve, which are positive vertical curve section section, all radius of vertical curve are equal
It is concave curved part of path for negative vertical curve section section.In the embodiment of the present invention, if unspecified, all radius of vertical curve
It is positive vertical curve section section for concave curved part of path, all radius of vertical curve are that negative vertical curve section section is evagination
Part of path.
Further, either concave curved part of path or evagination part of path, the distance in section can use above-mentioned
The method for calculating the distance of longitudinal gradient section obtains the distance of corresponding concave curved part of path or evagination part of path, no longer superfluous herein
It states.
Step 6：Since the starting point in vertical curve section section, vertical curve section section is split successively, after fractionation
All radius of vertical curve in each vertical curve section section there is identical positive negativity, and according to the perpendicular of vertical curve section section
The positive negativity of sweep determines that vertical curve section section is concave curved part of path or evagination part of path.
The step is split as the identical section section of multiple positive negativity by constantly splitting, by vertical curve section section, from
And it can specifically determine that the section section after each fractionation is evagination part of path or concave curved part of path.
Further, above-mentioned calculating longitudinal slope either can be used for evagination part of path or concave curved part of path
The method of the distance in section obtains the distance of corresponding concave curved part of path or evagination part of path, and details are not described herein.
Specifically, for step S102, when attitude parameter is course angle, which specifically includes following process：
Step 1：If Gj-Gj+1The correction value G' of the course angle of j-th of continuous sampling point is then calculated in ＞ 300j=Gj-
360。
Step 2：If Gj+1-GjThe correction value G' of the course angle of j-th of continuous sampling point is then calculated in ＞ 300j=Gj+
360。
Step 3：If it is unsatisfactory for Gj-Gj+1＞ 300 and Gj+1-GjThe amendment of ＞ 300, the then course angle of j-th of continuous sampling point
Value G'j=Gj。
Wherein, GjFor the course angle of j-th of continuous sampling point, Gj+1For the jth+1 adjacent with j-th of continuous sampling point
The course angle of continuous sampling point, j-th of continuous sampling point is than+1 continuous sampling point of jth close to the starting point of road to be measured.Due to 0
Degree and 360 degree of course angle are actually identical, so by the judgement of step 1~3, it can be according to different results to course
Angle is modified, and so as to obtain unified course angle, avoids generating mistake.
It should be understood that above-mentioned step 1~3 are selection steps arranged side by side.Preferably, in order to reduce operand,
Before carrying out above-mentioned step 1~3, can approximate processing first be carried out to course angle, for example, retaining course angle three after decimal point
The effective digital of position.
Step 4：According to starting point of the continuous sampling point away from road to be measured from closely to remote sequence, to each continuous sampling point
The correction value of course angle carries out mean filter with the sliding window of third threshold value successively, obtains course angle filter value.
Specifically, third threshold value can demarcate in advance.The standard of calibration can consider grade road construction standard, course angle
Quantity, the corresponding third threshold value of best effects that is determined by experiment.Third threshold value can specifically be chosen in the embodiment of the present invention
It is 401, then a mean filter is carried out to every 401 course angle correction values successively, obtain course angle filter value.
Step 5：Since the starting point of road to be measured, road to be measured is in turn divided at least two second interval sections.
Wherein, the distance in each second interval section is second distance.Second distance can have according to the length of road to be measured
Body selects.For example, the second distance in the embodiment of the present invention is 5m, then since the starting point of road to be measured, one is divided every 5m
A second interval section.It should be understood that for same road to be measured, if the first distance and second distance are equal, first
Section section is second interval section.
Step 6：The second arithmetic mean of instantaneous value of the course angle filtering data in each second interval section is calculated.
Then it is to sum it up the course angle filtering data of the continuous sampling point in 5m, and count for example, being 5m for second distance
Arithmetic mean of instantaneous value is calculated, obtains the second arithmetic mean of instantaneous value.
Step 7：Second arithmetic in n-th adjacent of second interval section and (n+1)th second interval section is calculated
The absolute value of the difference of average value.
Wherein, than (n+1)th, n-th of second interval section second interval section is close to the starting point of road to be measured.
Step 8：Judge whether the absolute value of the difference of the second arithmetic mean of instantaneous value is less than the 4th threshold value.
4th threshold value can be empirical value.The 4th threshold value in the embodiment of the present invention is 0.0001.If being less than, walked
Rapid 9；If being not less than, step 10 is carried out.
Step 9：The radius of horizontal curve for determining n-th of second interval section is the first radius of horizontal curve threshold value.
The first radius of horizontal curve threshold value is generally empirical value.First radius of horizontal curve threshold value of the embodiment of the present invention is
10000。
Step 10：According toThe radius of horizontal curve in n-th of second interval section is calculated.
Wherein, InFor the radius of horizontal curve in n-th of second interval section, HnThe second arithmetic for n-th of second interval section
Average value, Hn+1For second arithmetic mean of instantaneous value in (n+1)th second interval section, b is second distance.For example, second distance b is
5。
By above-mentioned process, the radius of horizontal curve in each second interval section can obtain.
When form parameter is radius of horizontal curve, step 103 specifically includes following process：
Step 1：The radius of horizontal curve for judging whether there is the second interval section of continuous at least the second quantity is all higher than the
Two radius of horizontal curve threshold values.
Wherein, the second radius of horizontal curve threshold value can be empirical value, the second radius of horizontal curve threshold in the embodiment of the present invention
Be worth is 500.Second quantity can be empirical value, and the second quantity in the embodiment of the present invention is 4.Therefore, in the embodiment of the present invention,
Specifically judge that the no radius of horizontal curve for having continuous at least four second interval section is all higher than 500.
If so, carry out step 2.If it is not, then carry out step 3.
Step 2：The second interval section of continuous at least the second quantity of extraction is linear section.
For example, the radius of vertical curve for having continuous at least four second interval section is all higher than 500, then at least four second
Section section is linear section.
Step 3：It is horizontal curve section section to determine the second interval section other than linear section.
For example, the second interval section other than above-mentioned at least four second interval section is horizontal curve section section.
Step 4：Whether judge the radius of horizontal curve in each horizontal curve section section has identical positive negativity.
Pass through the step, it can be determined that the point to deflect in each horizontal curve section section with the presence or absence of turn direction.
If so, show there is no the point that turn direction deflects, then to carry out step 5.If it is not, show that there are turn directions
The point to deflect, then carry out step 6.
Step 5：Positive negativity according to the radius of horizontal curve in horizontal curve section section determines that horizontal curve section section is left song
Part of path or right curve section.
Specifically, the difference of the calibration according to the inertia measurement instrument of use, it may be determined that all radius of horizontal curve are just
Horizontal curve section section for right curve section, all radius of horizontal curve are that negative horizontal curve section section is left curve road
Section；Alternatively, it is left curve section that determining all radius of horizontal curve, which are positive horizontal curve section section, all radius of horizontal curve are equal
It is right curve section for negative horizontal curve section section.In the embodiment of the present invention, if unspecified, all radius of horizontal curve
It is positive horizontal curve section section for right curve section, all radius of horizontal curve are that negative horizontal curve section section is left song
Part of path.
Step 6：Since the starting point in horizontal curve section section, horizontal curve section section is split successively, after fractionation
All radius of horizontal curve in each horizontal curve section section there is identical positive negativity, and according to the flat of horizontal curve section section
The positive negativity of sweep determines that horizontal curve section section is left curve section or right curve section.
The step is split as the identical section section of multiple positive negativity by constantly splitting, by horizontal curve section section, from
And it can specifically determine that the section section after each fractionation is left curve section or right curve section.
Preferably, whether there is the step of identical positive negativity in the radius of horizontal curve for judging each horizontal curve section section
Later, if judging result is no, i.e., the horizontal curve in each horizontal curve section section does not have identical positive negativity, then this method is also
This feature section of convolution part of path can be extracted by the steps：
Step 1：Since the beginning and end in horizontal curve section section, using least square method to horizontal curve section section
Radius of horizontal curve be iterated, obtain the first mean square deviation.
If the positive negativity of the radius of horizontal curve in the horizontal curve section section is inconsistent, the starting point from horizontal curve section section
Start with terminal, the radius of horizontal curve in horizontal curve section section is iterated using least square method, obtains the first mean square deviation.
Until the process of the iteration continues until that the first mean square deviation is less than 90%.
Step 2：3rd interval section of the first mean square deviation in the section of horizontal curve section more than 90% is divided into mitigation
Curve section.
By the step, the part way in the section of horizontal curve section is determined as transition curve path section.
Step 3：Obtain the distance of transition curve path section.
Specifically, the method for the distance of above-mentioned calculating longitudinal gradient section may be used, the distance of transition curve path section is obtained,
Details are not described herein.
Step 4：If the distance of transition curve path section is less than the 5th threshold value, transition curve path section is extracted as continued curve.
5th threshold value can be empirical value, and the 5th threshold value in the embodiment of the present invention is 20.For example, transition curve path section
Distance is less than 20, it is determined that transition curve path section is continued curve.
Through the above steps, it may be determined that whether transition curve path section is continued curve.
Specifically, since the starting point in horizontal curve section section, horizontal curve section section is split successively, until splitting
All radius of horizontal curve in each horizontal curve section section afterwards have identical positive negativity, and according to horizontal curve section section
After the positive negativity of radius of horizontal curve determines the step of horizontal curve section section is left curve section or right curve section, the party
Whether method can also determine left curve section or right curve section comprising convolution part of path using the steps：
Step 1：To each left curve section either right curve section respectively from left curve section or right curve section
Beginning and end starts, and the radius of horizontal curve of left curve section or right curve section is iterated using least square method,
Obtain the second mean square deviation.
Until the process of the iteration continues until that the second mean square deviation is less than 90%.
Step 2：The second mean square deviation in left curve section or right curve section is more than to 90% the 4th section section
Left curve section or the remaining part of right curve section are divided into circle after being removed from left curve section either right curve section
Curve section.
By the step, the circular curve section in left curve section or right curve section can be found out.Due to left curve road
Section or right curve section be bent in one direction, therefore, find out in circular curve section, can further judge the circle song
Whether part of path is convolution part of path.
In addition, fourth section section of the second mean square deviation in left curve section or right curve section more than 90% is drawn
It is divided into transition curve path section.
Step 3：The arithmetic mean of instantaneous value of all radius of horizontal curve in circular curve section is calculated, obtains the circle in circular curve section
Sweep.
By the step, can circular curve radius be obtained by discrete radius of horizontal curve.
Step 4：Obtain the distance in circular curve section.
Specifically, the method for the distance of above-mentioned calculating longitudinal gradient section may be used, the distance in circular curve section is obtained,
This is repeated no more.
Step 5：Judge whether the distance of circular curve meets
Wherein, K is the distance of circular curve, and J is circular curve radius.
If satisfied, then carry out step 6.If not satisfied, then show that the circular curve section is not convolution part of path.
Step 6：Determine circular curve section for convolution part of path.
Through the above steps, whether can further determine that has convolution circuit in the left curve or right curve section
Section.
Preferably, attitude parameter further includes roll angle, and the horizontal slope value of road to be measured can be obtained by roll angle.Horizontal slope value
It is the gradient of road-center or one end to the other end using road Cross Section as visual angle.Any road may have horizontal slope value.It is horizontal
Slope value is that 0, then road-center or one end are horizontal to the other end.The method of the embodiment of the present invention further includes：
Step 1：According to starting point of the continuous sampling point away from road to be measured from closely to remote sequence, to each continuous sampling point
Roll angle carries out medium filtering with the sliding window of the 6th threshold value and first step length successively, obtains the first roll angle filter value.
Preferably, in order to reduce operand, can approximate processing first be carried out to roll angle, for example, retaining roll angle small
The effective digital of three after several points.
Specifically, the 6th threshold value is empirical value, the 6th threshold value can specifically be chosen for 3 in the embodiment of the present invention；First step-length
For empirical value, the first step-length can specifically be chosen for 1 in the embodiment of the present invention；Then the embodiment of the present invention can be first first to sorting successively
3 roll angles carry out a medium filtering, obtain a first roll angle filter value；Then 1 step-length is moved, to latter 3
Roll angle carries out a medium filtering；And so on.For example, roll angle is followed successively by 1,2,3,4,5,6, then first carried out to 1,2 and 3
Then medium filtering carries out medium filtering to 2,3 and 4, then carries out medium filtering to 3,4 and 5, finally carry out intermediate value to 4,5 and 6
Filtering.
Step 2：Mean value filter is carried out with the sliding window of the 7th threshold value and second step length successively to the first roll angle filter value
Wave obtains the second roll angle filter value.
Specifically, the 7th threshold value is empirical value, the 7th threshold value can specifically be chosen for 5 in the embodiment of the present invention；Second step-length
For empirical value, the second step-length can specifically be chosen for 1 in the embodiment of the present invention.The step is identical with step 1, unlike, the step
Suddenly using mean filter.
Step 3：The second roll angle filter value of third quantity is divided into one group successively, and calculates the second roll angle of the group
The third arithmetic mean of instantaneous value of filter value.
Wherein, third quantity is empirical value, and third quantity can specifically be chosen for 10, therefore, this hair in the embodiment of the present invention
In bright embodiment a third arithmetic mean of instantaneous value is sought according to order, every 10 the second roll angle filter values.
Step 4：According toThe corresponding road to be measured of third arithmetic mean of instantaneous value is calculated
The horizontal slope value in the 5th section section.
Wherein, LkThe horizontal slope value in the 5th section section for the corresponding road to be measured of third arithmetic mean of instantaneous value, MkIt is calculated for third
Art average value.
Therefore, pass through above-mentioned steps, you can in the hope of the horizontal slope value in the section section that road to be measured includes.
To sum up, the method for the embodiment of the present invention, the attitude parameter that can be directly acquired according to inertia measurement instrument, passes through mathematics meter
It calculates, extracts the feature section that road to be measured includes, not only efficiency is higher for this method, also with preferable stability.
The embodiment of the invention also discloses a kind of extraction systems in feature section.As shown in Fig. 2, the system is included as follows
Module：
Measurement module 201 for measuring road to be measured using inertia measurement instrument, obtains the road to be measured of inertia measurement instrument acquisition
The corresponding attitude parameter of each continuous sampling point on road.
Wherein, the mounting surface of inertia measurement instrument is parallel with the road surface of road to be measured, and attitude parameter includes：Pitch angle and course
Angle.
First determining module 202, for according to attitude parameter, determining the form parameter that road to be measured includes.
Wherein, form parameter includes：Radius of vertical curve and radius of horizontal curve.
First extraction module 203 for the form parameter in section section included according to road to be measured, extracts road to be measured
Comprising feature section.
Wherein, feature section includes：Evagination part of path, concave curved part of path, longitudinal gradient section, left curve section, right curve road
Section and linear section.
Preferably, when attitude parameter is pitch angle, the first determining module 202 includes：
First filtering submodule, for according to starting point of the continuous sampling point away from road to be measured from closely to remote sequence, to every
The pitch angle of a continuous sampling point carries out mean filter with the sliding window of first threshold successively, obtains pitch angle filter value.
First divides submodule, for since the starting point of road to be measured, road to be measured to be in turn divided at least two
First interval section.
Wherein, the distance in each first interval section is the first distance.
First computational submodule, for the first arithmetic of the pitch angle filtering data in each first interval section to be calculated
Average value.
Second computational submodule, for i-th adjacent of first interval section and i+1 first interval road to be calculated
The absolute value of the difference of first arithmetic mean of instantaneous value of section.
Wherein, i-th of first interval section than i+1 first interval section close to the starting point of road to be measured.
First judging submodule, for judging whether the absolute value of the difference of the first arithmetic mean of instantaneous value is less than second threshold.
First determination sub-module, if for being less than, it is determined that the radius of vertical curve in i-th of first interval section is perpendicular for first
Sweep threshold value.
Second determination sub-module, if for being not less than, according toIt is calculated i-th first
The radius of vertical curve in section section.
Wherein, BiFor the radius of vertical curve in i-th of first interval section, AiThe first arithmetic for i-th of first interval section
Average value, Ai+1For first arithmetic mean of instantaneous value in i+1 first interval section, a is the first distance.
Preferably, the first extraction module 203 includes：
Second judgment submodule, for judging whether there is the vertical curve in the first interval section of continuous at least the first quantity
Radius is all higher than the second radius of vertical curve threshold value.
First extracting sub-module, for if so, the first interval section of continuous at least the first quantity of extraction is longitudinal slope
Section.
Third determination sub-module, for determining that the first interval section other than longitudinal gradient section is vertical curve section section.
Third judging submodule, for judge the radius of vertical curve in each vertical curve section section whether have it is identical just
Negativity.
4th determination sub-module, for if so, being determined according to the positive negativity of the radius of vertical curve in vertical curve section section
Vertical curve section section is concave curved part of path or evagination part of path；
5th determination sub-module, for if it is not, then since the starting point in vertical curve section section, by vertical curve section section
It splits successively, all radius of vertical curve in each vertical curve section section after fractionation have identical positive negativity, and press
Determine that vertical curve section section is concave curved part of path or convex curve according to the positive negativity of the radius of vertical curve in vertical curve section section
Section.
Preferably, which further includes：
The step of third acquisition module, the first interval section for extracting continuous at least the first quantity is longitudinal gradient section
Later, according toObtain the longitudinal slope value in each first interval section.
Wherein, CiLongitudinal slope value for first interval section.
4th acquisition module, for obtaining the distance of longitudinal gradient section.
5th acquisition module, for according toObtain the longitudinal slope value of each longitudinal gradient section.
Wherein, DmFor the longitudinal slope value of longitudinal gradient section, EmFor the distance of longitudinal gradient section, ∑ CiRepresent all in longitudinal gradient section
The sum of the longitudinal slope value in first interval section.
6th acquisition module, for according to Fm=a × Em×cos(arctanDm) obtain each longitudinal gradient section longitudinal slope it is long.
Wherein, FmLongitudinal slope for longitudinal gradient section is long.
Preferably, when attitude parameter is course angle, the first determining module 902 includes：
First corrects submodule, if for Gj-Gj+1The course angle of j-th of continuous sampling point is then calculated in ＞ 300
Correction value G'j=Gj-360。
Second corrects submodule, if for Gj+1-GjThe course angle of j-th of continuous sampling point is then calculated in ＞ 300
Correction value G'j=Gj+360。
Third corrects submodule, if for being unsatisfactory for Gj-Gj+1＞ 300 and Gj+1-Gj＞ 300, then j-th of continuous sampling point
Course angle correction value G'j=Gj。
Wherein, GjFor the course angle of j-th of continuous sampling point, Gj+1For the jth+1 adjacent with j-th of continuous sampling point
The course angle of continuous sampling point, j-th of continuous sampling point is than+1 continuous sampling point of jth close to the starting point of road to be measured.
Second filtering submodule, for according to starting point of the continuous sampling point away from road to be measured from closely to remote sequence, to every
The correction value of the course angle of a continuous sampling point carries out mean filter with the sliding window of third threshold value successively, obtains course angle filter
Wave number.
Second divides submodule, for since the starting point of road to be measured, road to be measured to be in turn divided at least two
Second interval section.
Wherein, the distance in each second interval section is second distance.
Third computational submodule, for the second arithmetic of the course angle filtering data in each second interval section to be calculated
Average value.
4th computational submodule, for n-th adjacent of second interval section and (n+1)th second interval road to be calculated
The absolute value of the difference of second arithmetic mean of instantaneous value of section.
Wherein, than (n+1)th, n-th of second interval section second interval section is close to the starting point of road to be measured.
4th judging submodule, for judging whether the absolute value of the difference of the second arithmetic mean of instantaneous value is less than the 4th threshold value；
6th determination sub-module, if for being less than, it is determined that the radius of horizontal curve in n-th of second interval section is flat for first
Sweep threshold value.
5th computational submodule, if for being not less than, according toIt is calculated n-th
The radius of horizontal curve in two sections section.
Wherein, InFor the radius of horizontal curve in n-th of second interval section, HnThe second arithmetic for n-th of second interval section
Average value, Hn+1For second arithmetic mean of instantaneous value in (n+1)th second interval section, b is second distance.
Preferably, the first extraction module 203 includes：
5th judging submodule, for judging whether there is the horizontal curve in the second interval section of continuous at least the second quantity
Radius is all higher than the second radius of horizontal curve threshold value.
Third extracting sub-module, for if so, the second interval section of continuous at least the second quantity of extraction is straight line
Section.
7th determination sub-module, for determining that the second interval section other than linear section is horizontal curve section section.
6th judging submodule, for judge the radius of horizontal curve in each horizontal curve section section whether have it is identical just
Negativity.
8th determination sub-module, for if so, being determined according to the positive negativity of the radius of horizontal curve in horizontal curve section section
Horizontal curve section section is left curve section or right curve section.
9th determination sub-module, for if it is not, then since the starting point in horizontal curve section section, by horizontal curve section section
It splits successively, all radius of horizontal curve in each horizontal curve section section after fractionation have identical positive negativity, and press
Determine that horizontal curve section section is left curve section or right curve according to the positive negativity of the radius of horizontal curve in horizontal curve section section
Section.
Preferably, which further includes：
First iteration module, for judging it is identical positive and negative whether the radius of horizontal curve in each horizontal curve section section has
After the step of property, if it is not, then since the beginning and end in horizontal curve section section, using least square method to horizontal curve area
Between the radius of horizontal curve in section be iterated, obtain the first mean square deviation；
First division module, for the first mean square deviation in the section of horizontal curve section to be more than to 90% 3rd interval section
It is divided into transition curve path section.
7th acquisition module, for obtaining the distance of transition curve path section.
Third extraction module if the distance for transition curve path section is less than the 5th threshold value, extracts transition curve path section
For continued curve.
Preferably, which further includes：
Secondary iteration module, for determining horizontal curve section according to the positive negativity of the radius of horizontal curve in horizontal curve section section
Section for left curve section either right curve section the step of after to each left curve section or right curve section, respectively
Using least square method to left curve section or right song since left the curve section either beginning and end of right curve section
The radius of horizontal curve of part of path is iterated, and obtains the second mean square deviation.
Second division module, for by the of the second mean square deviation in left curve section or right curve section more than 90%
Left curve section or the remaining portion of right curve section after four sections section are removed from left curve section either right curve section
Graduation is divided into circular curve section.
Second computing module for calculating the arithmetic mean of instantaneous value of all radius of horizontal curve in circular curve section, is justified
The circular curve radius of curve section.
8th acquisition module, for obtaining the distance in circular curve section.
Judgment module, for judging whether the distance of circular curve meets
Wherein, K is the distance of circular curve, and J is circular curve radius.
Third determining module, for if satisfied, then determining circular curve section for convolution part of path.
Preferably, attitude parameter further includes roll angle, then the system further includes：
First filter module, for according to starting point of the continuous sampling point away from road to be measured from closely to remote sequence, to each
The roll angle of continuous sampling point carries out medium filtering with the sliding window of the 6th threshold value and first step length successively, obtains the first roll
Angle filter value.
Second filter module, for the first roll angle filter value successively with the sliding window and the second step-length of the 7th threshold value
Mean filter is carried out, obtains the second roll angle filter value.
4th computing module, for the second roll angle filter value of third quantity to be divided into one group, and calculate the group successively
The second roll angle filter value third arithmetic mean of instantaneous value.
5th computing module, for according toIt is corresponding that third arithmetic mean of instantaneous value is calculated
The horizontal slope value in the 5th section section of road to be measured.
Wherein, LkThe horizontal slope value in the 5th section section for the corresponding road to be measured of third arithmetic mean of instantaneous value, MkIt is calculated for third
Art average value.
To sum up, the device of the embodiment of the present invention, the attitude parameter that can be directly acquired according to inertia measurement instrument, passes through mathematics meter
It calculates, extracts the feature section that road to be measured includes, not only efficiency is higher for this method, also with preferable stability.
The embodiment of the invention also discloses a kind of judgment methods of Dangerous Area.As shown in figure 3, this method is included as follows
Step：
Step S301：Using the extracting method in above-mentioned feature section, the feature section that road to be measured includes is extracted.
Step S302：Obtain the characteristic parameter in feature section that road to be measured includes.
Specifically, this feature parameter includes：Circular curve radius, the distance in circular curve section, the corresponding horizontal stroke in circular curve section
Slope value, the start position in circular curve section, the final position in circular curve section, the start position of linear section, linear section
Final position, the start position of clothoid part of path, clothoid part of path final position etc..
Step S303：According to the desin speed of road to be measured, the characteristic threshold value of the corresponding road to be measured of desin speed is obtained.
The desin speed of the road to be measured is usually what is planned in advance when building highway.Desin speed is corresponding to be treated
The characteristic threshold value for surveying road is usually empirical value.The type of characteristic threshold value is generally identical with characteristic parameter or can be joined by feature
Transformation of variables obtains.
Step S304：According to characteristic parameter and the comparison result of characteristic threshold value, the feature section that road to be measured includes is determined
Whether it is Dangerous Area.
The judgement in different characteristic section is described further below.
1st, when designing road, no matter highway plane corner size at different levels should all set circular curve section.Therefore, it is selecting
During circular curve radius, it should be adapted with desin speed.Preferably, it is circular curve section for feature section, this method is specifically such as
Under：
(1) the circular curve section that road to be measured includes is extracted.
(2) circular curve radius in circular curve section is obtained.
(3) according to the desin speed of road to be measured, the circular curve half of the corresponding road to be measured of the desin speed to prestore is obtained
Diameter threshold value.
The circular curve radius threshold value of the corresponding road to be measured of the desin speed is as shown in table 1.Circle is bent in the embodiment of the present invention
Line radius threshold chooses the general value of circular curve least radius.
The circular curve radius threshold value of the corresponding road to be measured of 1 desin speed of table
(4) according to circular curve radius and the comparison result of circular curve radius threshold value, the feature road that road to be measured includes is determined
Whether section is Dangerous Area.
When the circular curve radius is less than circular curve radius threshold value, the circular curve section of the road to be measured is dangerous bend
Section.
For example, the desin speed of the road to be measured is 120, then corresponding circular curve radius threshold value is 1000.If this is to be measured
The circular curve radius of road is less than 1000, then the circular curve section of the road to be measured is recorded as dangerous bend section.
2nd, when designing road, highway, Class I highway, Class II highway, Class III highway straight line with not set less than table 2
The radially connected place of circular curve least radius of superelevation, should set convolution part of path.The straight line of Class IV highway is super with not set less than table 2
The high radially connected place of circular curve least radius, should set superelevation, widen changeover portion.It is preferred, therefore, that it is for feature section
Circle round part of path, and this method is specific as follows：
(1) circular curve section and the linear section that road to be measured includes are extracted.
(2) circular curve radius in acquisition circular curve section, the corresponding horizontal slope value in circular curve section, the starting point in circular curve section
Position, the final position in circular curve section, the start position of linear section, the final position of linear section, clothoid part of path
Start position, clothoid part of path final position.
The corresponding horizontal slope value in the circular curve section
Wherein, the corresponding horizontal slope in circular curve section is LqFor the horizontal slope value in each horizontal slope section that circular curve section includes,
The LqIt is discrete horizontal slope value.∑LqRepresent the sum of the horizontal slope value in all horizontal slope sections that circular curve section includes.It is bent in extraction circle
During part of path, the distance in each horizontal curve section section of division, horizontal slope section corresponding with each horizontal slope value away from
From can be different.It is understood, therefore, that the horizontal slope in the discrete horizontal slope value not necessarily each horizontal curve section section
Value.For example, the distance in each horizontal curve section section is 5m, and the distance in each horizontal slope section is 1m, then LqIt should be every 1m's
The horizontal slope value in the section section of the horizontal slope value in horizontal slope section rather than every 5m.MpIt is the distance in circular curve section.B is institute above
The second distance stated, for example, 5m.
The corresponding horizontal slope value in the circular curve section is road camber.
(3) according to the desin speed of road to be measured, the circular curve half of the corresponding road to be measured of the desin speed to prestore is obtained
Diameter threshold value.
The circular curve radius threshold value of the corresponding road to be measured of the desin speed is as shown in table 2.The embodiment needs to combine circle
The corresponding horizontal slope value of curve section determines the corresponding circular curve radius threshold value of road to be measured.If specifically, circular curve section pair
The horizontal slope value answered is more than 2%, then circular curve radius threshold value when the corresponding road camber of Query Design speed is more than 2%；If circular curve
The corresponding horizontal slope value in section is not more than 2%, then circular curve radius threshold when the corresponding road camber of Query Design speed is no more than 2%
Value.
The circular curve radius threshold value of the corresponding road to be measured of 2 desin speed of table
(4) according to circular curve radius and the comparison result of circular curve radius threshold value, the feature road that road to be measured includes is determined
Whether section is Dangerous Area.
Specifically, if circular curve radius is less than circular curve radius threshold value, judge between circular curve section and linear section
Whether convolution part of path is connected with.
For example, can be by whether calculating the distance between the final position in circular curve section and the start position of linear section
Equal to 0, alternatively, whether calculating the distance between the final position of linear section and the start position in circular curve section equal to 0
Judge.It is not connected with having convolution part of path when equal to 0, between circular curve section and linear section, records the road to be measured and include
The circular curve section and linear section be dangerous bend section.When not equal to 0, also need further to judge following four features ginsengs
Whether number meets sequence from small to large：The corresponding distance value of start position in circular curve section, the terminal of clothoid part of path
The corresponding distance value in position, the corresponding distance value of start position of clothoid part of path, linear section final position it is corresponding away from
From value, i.e., the start position in circular curve section, the end of clothoid part of path are followed successively by since the starting point in the section that need to be judged
Point position, the start position of clothoid part of path, linear section final position.If not satisfied, then the road to be measured include should
Circular curve section, convolution part of path and linear section are dangerous bend section.
3rd, when designing road, minimum length of horizontal curve should be as shown in table 3.It is preferred, therefore, that it is circle for feature section
Curve section, this method are specific as follows：
(1) the circular curve section that road to be measured includes is extracted.
(2) distance in circular curve section is obtained.
(3) according to the desin speed of road to be measured, the horizontal curve for obtaining the corresponding road to be measured of the desin speed to prestore is long
Spend threshold value.
The horizontal curve length threshold value of the corresponding road to be measured of the desin speed is as shown in table 3.Song is put down in the embodiment of the present invention
Line length threshold value chooses the general value of minimum length of horizontal curve.
The horizontal curve length threshold value of the corresponding road to be measured of 3 desin speed of table
(4) according to the comparison result of the distance in circular curve section and horizontal curve length threshold value, determine what road to be measured included
Whether feature section is dangerous bend section.
When the distance in the circular curve section is less than horizontal curve length threshold value, the circular curve section which includes is
Dangerous bend section.
4th, when designing road, when route corner is equal to or less than 7 °, longer horizontal curve, length such as table should be set
Shown in 4.
(1) the circular curve section that road to be measured includes is extracted.
(2) distance in circular curve section, circular curve radius, the corresponding corner in circular curve section in circular curve section are obtained
Value.
Specifically, the corresponding corner value in circular curve section is calculated using following formula：
Wherein, △ be the corresponding corner value in circular curve section, MpIt is the distance in circular curve section, JpFor circular curve section
Circular curve radius.
(3) according to the desin speed of road to be measured, the horizontal curve for obtaining the corresponding road to be measured of the desin speed to prestore is long
Spend threshold value.
The horizontal curve length threshold value of the corresponding road to be measured of the desin speed is as shown in table 4.Song is put down in the embodiment of the present invention
Line length threshold value chooses the general value of minimum length of horizontal curve.
The horizontal curve length threshold value of the corresponding road to be measured of 4 desin speed of table
| Desin speed (km/h) | 120 | 100 | 80 | 60 | 40 | 30 | 20 |
| Horizontal curve length (m) | 1400/△ | 85/△ | 70/△ | 50/△ | 35/△ | 25/△ | 20/△ |
△ is route corner value (°) in table 4, works as △<At 2 °, calculated by △=2 °.
(4) according to the comparison result of the distance in circular curve section and horizontal curve length threshold value, determine what road to be measured included
Whether feature section is dangerous bend section.
Obtain the quotient of horizontal curve length threshold value divided by the corresponding corner value in circular curve section.When the distance in the circular curve section
During the quotient acquired less than above-mentioned, the circular curve section which includes is dangerous bend section.
5th, when designing road, the maximum longitudinal grade value regulation of highway is as shown in table 5.In addition, also following regulation：
A, the desin speed of road is the highway of 40km/h, 30km/h, 20km/h, and reconstruction project utilizes the road of the origin road
Section, through technical and economic proof, maximum longitudinal grade value can increase by 1%.
B, the desin speed of road is the highway of 120km/h, 100km/h, 80km/h, by orographic condition or other spies
During different situation limitation, through technical and economic proof, maximum longitudinal grade value can increase by 1%.
C, Class IV highway is located at the section of more than height above sea level 2000m or accumulated snow frost region, and maximum longitudinal grade value should not exceed
8%.
(1) longitudinal gradient section that road to be measured includes is extracted.
(2) the longitudinal slope value of longitudinal gradient section is obtained.
(3) according to the desin speed of road to be measured, the longitudinal slope value threshold of the corresponding road to be measured of the desin speed to prestore is obtained
Value.
The longitudinal slope value threshold value of the corresponding road to be measured of the desin speed is as shown in table 5.
The longitudinal slope value threshold value of the corresponding road to be measured of 5 desin speed of table
| Desin speed (km/h) | 120 | 100 | 80 | 60 | 40 | 30 | 20 |
| Maximum longitudinal grade value (m) | 3 | 4 | 5 | 6 | 7 | 8 | 9 |
(4) according to the comparison result of longitudinal slope value and longitudinal slope value threshold value, determine feature section that road to be measured includes whether be
Dangerous longitudinal slope.
When the longitudinal slope value is more than longitudinal slope value threshold value, the longitudinal gradient section which includes is dangerous bend section.
6th, when designing road, the minimum longitudinal gradient length regulation of highway longitudinal slope is as shown in table 6.The maximum of highway difference longitudinal slope is indulged
Length of grade regulation is as shown in table 7.When the continuous upward slope of highway or descending, should mitigation be set no more than between longitudinal slope length as defined in table 7
Slope section.The longitudinal slope value of transitional gradient should be not more than 3%, and length should meet the regulation of the minimum longitudinal gradient length of table 6.
(1) longitudinal gradient section that road to be measured includes is extracted.
(2) longitudinal slope value and the longitudinal slope for obtaining longitudinal gradient section are long.
(3) according to the desin speed of road to be measured, the long threshold of longitudinal slope of the corresponding road to be measured of the desin speed to prestore is obtained
Value.
The longitudinal slope value threshold value of the corresponding road to be measured of the desin speed is as shown in table 6.
The long threshold value of longitudinal slope of the corresponding road to be measured of 6 desin speed of table
| Desin speed (km/h) | 120 | 100 | 80 | 60 | 40 | 30 | 20 |
| Minimum longitudinal gradient grows (m) | 300 | 250 | 200 | 150 | 120 | 100 | 60 |
The long threshold value of longitudinal slope of 7 desin speed of table and the corresponding road to be measured of longitudinal slope value
(4) according to the comparison result of longitudinal slope length and the long threshold value of longitudinal slope, determine feature section that road to be measured includes whether be
Dangerous longitudinal slope.
It is long according to corresponding minimum longitudinal gradient in desin speed acquisition table 6 when the longitudinal slope value of the longitudinal slope is less than 3, judge to treat
Whether the longitudinal slope length for surveying the longitudinal gradient section that road includes is long less than minimum longitudinal gradient.If being less than, longitudinal slope which includes
Section is unqualified gentle slope.
When the longitudinal slope value of the longitudinal gradient section is not less than 3, table 7 is determined according to the longitudinal slope value and desin speed of the longitudinal gradient section
In corresponding maximum longitudinal grade it is long, judge the longitudinal gradient section that road to be measured includes longitudinal slope length whether be more than maximum longitudinal grade it is long.It is if big
In the longitudinal gradient section that then road to be measured includes is dangerous longitudinal slope.
7th, when designing road, vertical curve section section should be set, and vertical curve section section is most at highway longitudinal slope change
Small radius of vertical curve and vertical curve length threshold regulation are as shown in table 8.Vertical curve segment in the embodiment of the present invention has been drawn
It is divided into evagination part of path or concave curved part of path.
(1) evagination part of path or the concave curved part of path that road to be measured includes are extracted.
(2) distance and radius of vertical curve of evagination part of path or concave curved part of path are obtained.
(3) according to the desin speed of road to be measured, the vertical curve for obtaining the corresponding road to be measured of the desin speed to prestore is long
Spend threshold value and radius of vertical curve threshold value.
The vertical curve length threshold and radius of vertical curve threshold value of the corresponding road to be measured of the desin speed are as shown in table 8.
The vertical curve length threshold and radius of vertical curve threshold value of the corresponding road to be measured of 8 desin speed of table
(4) according to the comparison result of the distance and vertical curve length threshold of evagination part of path or concave curved part of path, alternatively, root
According to the comparison result of the radius of vertical curve and radius of vertical curve threshold value of evagination part of path or concave curved part of path, road packet to be measured is determined
Whether the feature section contained is dangerous vertical curve section.
Judge whether the distance of evagination part of path that road to be measured includes or concave curved part of path is less than vertical curve length threshold.
If being less than, evagination part of path or concave curved part of path which includes are dangerous vertical curve section.
Judge whether the radius of vertical curve of evagination part of path that road to be measured includes or concave curved part of path is less than vertical curve half
Diameter threshold value (it should be understood that this is in when comparison, needs, according to being evagination part of path or concave curved part of path, to distinguish
More corresponding radius of vertical curve threshold value).If being less than, evagination part of path or concave curved part of path which includes are danger
Dangerous vertical curve section.
8th, when designing road, single sharp turn refers to that the circular curve radius of single bend is less than or equal to listed by table 9
Circular curve least radius, the circular curve radius of clothoid are less than the circular curve least radius listed by table 10.Continuous sharp turn refers to
It is continuous there are three or three less than or equal to circular curve least radius listed by table 9 circular curve, and between each circular curve
Distance is less than minimum range between the circular curve listed by table 9；Or it is continuous there are two and more than two circular curve radius be less than 10 institute of table
The clothoid of the circular curve least radius of row, and be less than by the distance of starting point of terminal to the next clothoid of a clothoid
Minimum range between clothoid listed by table 10.
(1) convolution part of path and the circular curve section that road to be measured includes are extracted.
(2) the corresponding distance value of start position, the clothoid of the circular curve radius of convolution part of path, the part of path that circles round are obtained
The corresponding distance value in final position, the circular curve radius in circular curve section, the start position in circular curve section in section are corresponding
Distance value, the corresponding distance value in final position in circular curve section.
The corresponding distance value of start position of part of path, the corresponding distance value of terminal for the part of path that circles round circle round for calculating
Distance between two clothoids, for example, the corresponding distance value in final position of previous convolution part of path subtracts latter convolution circuit
The corresponding distance of start position of section is worth to the distance between two convolution part of paths.Similarly, the start position in circular curve section
Corresponding distance value, circular curve section the corresponding distance value in final position for calculate two circular curves between distance.
(3) according to the desin speed of road to be measured, the circular curve half of the corresponding road to be measured of the desin speed to prestore is obtained
The distance threshold between distance threshold, clothoid between diameter threshold value, circular curve.
Between distance threshold, clothoid between the circular curve radius threshold value of the corresponding road to be measured of the desin speed, circular curve
Distance threshold respectively as shown in Tables 9 and 10.In the present embodiment, circular curve radius threshold value is circular curve least radius.Circular curve
Between distance threshold between circular curve minimum range.Distance threshold between the clothoid minimum range between clothoid.
Distance threshold between the circular curve radius threshold value of the corresponding road to be measured of 9 desin speed of table, circular curve
| Desin speed | 40 | 30 | 20 |
| Circular curve least radius | 60 | 30 | 15 |
| Minimum range between circular curve | 80 | 60 | 40 |
Distance threshold between the clothoid radius threshold of the corresponding road to be measured of 10 desin speed of table, circular curve
(4) according to the circular curve radius in circular curve section and the comparison result of circular curve radius threshold value, alternatively, according to convolution
The circular curve radius of part of path and the comparison result of circular curve radius threshold value determine that the single bend section that road to be measured includes is
No is single sharp turn.
Judge the circular curve section that road to be measured includes circular curve radius or circle round part of path circular curve radius whether
No more than corresponding circular curve least radius.If being not more than, single circular curve section or clothoid which includes
Section is single sharp turn.
(5) circular curve radius in circular curve section and the comparison knot of circular curve radius threshold value according to continuous three or more
The comparison result of the distance threshold between distance and circular curve between fruit and each circular curve；Alternatively, according to continuous more than two times
Between distance and clothoid between the circular curve radius in spin line section and the comparison result of circular curve radius threshold value and each clothoid
Distance threshold comparison result, determine whether the continued curve section that road to be measured includes is continuous sharp turn.
Judge the circular curve radius in continuous three or more circular curve sections that road to be measured includes whether no more than corresponding
Circular curve least radius, and the distance between each circular curve is less than minimum range between the circular curve listed by table 9.If no more than corresponding
Circular curve least radius, and less than minimum range between the circular curve listed by table 9, it is determined that the Curved Continuous road that road to be measured includes
Section is continuous sharp turn.
Judge the circular curve radius of continuous more than two convolution part of paths that road to be measured includes whether no more than corresponding
Circular curve least radius, and the distance between each clothoid is less than minimum range between the clothoid listed by table 10.If no more than corresponding to
Circular curve least radius, and less than minimum range between the clothoid listed by table 10, it is determined that the Curved Continuous that road to be measured includes
Road segment segment is continuous sharp turn.
To sum up, the judgment method of the Dangerous Area of the embodiment of the present invention, based on efficiently, efficiently feature section extraction side
Method can obtain the characteristic parameter in feature section, so as to by this feature parameter road to be measured corresponding with the section desin speed
Characteristic threshold value compare, to determine whether the section is Dangerous Area according to comparison result, this method is simple, efficient, energy
Whether dangerous enough accurately determine section.
The embodiment of the invention also discloses a kind of judgement systems of Dangerous Area.As shown in figure 4, the system includes：
Second extraction module 401, for using the extracting method in above-mentioned feature section, extracting the road to be measured and including
Feature section.
First acquisition module 402, for obtaining the characteristic parameter in feature section that the road to be measured includes.
For the desin speed according to the road to be measured, it is corresponding to obtain the desin speed for second acquisition module 403
The characteristic threshold value of the road to be measured.
Second determining module 404 for the comparison result according to the characteristic parameter and the characteristic threshold value, determines described
Whether the feature section that road to be measured includes is Dangerous Area.
To sum up, the judgement system of the Dangerous Area of the embodiment of the present invention, based on efficiently, efficiently feature section extraction side
Method can obtain the characteristic parameter in feature section, so as to by this feature parameter road to be measured corresponding with the section desin speed
Characteristic threshold value compare, to determine whether the section is Dangerous Area according to comparison result, this method is simple, efficient, energy
Whether dangerous enough accurately determine section.
The above description is merely a specific embodiment, but protection scope of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can readily occur in change or replacement, should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be subject to the protection scope in claims.
Claims (10)
1. a kind of extracting method in feature section, which is characterized in that the method includes：
Road to be measured is measured using inertia measurement instrument, obtains each continuous of the road to be measured that the inertia measurement instrument acquires
The corresponding attitude parameter of sampled point, wherein, the mounting surface of the inertia measurement instrument is parallel with the road surface of the road to be measured, described
Attitude parameter includes：Pitch angle and course angle；
According to the attitude parameter, the form parameter that the road to be measured includes is determined, wherein, the form parameter includes：It is perpendicular
Sweep and radius of horizontal curve；
According to the form parameter in section section that the road to be measured includes, the feature section that the road to be measured includes is extracted,
Wherein, the feature section includes：Evagination part of path, concave curved part of path, longitudinal gradient section, left curve section, right curve section and
Linear section.
2. according to the method described in claim 1, it is characterized in that, when the attitude parameter be pitch angle when, it is described according to institute
The step of stating attitude parameter, determining the form parameter that the road to be measured includes, including：
According to the starting point of the continuous sampling point away from the road to be measured from closely to remote sequence, to each continuous sampling point
The pitch angle successively with the sliding window of first threshold carry out mean filter, obtain pitch angle filter value；
Since the starting point of the road to be measured, the road to be measured is in turn divided at least two first interval sections,
In, the distance in each first interval section is the first distance；
The first arithmetic mean of instantaneous value of the pitch angle filtering data in each first interval section is calculated；
Described first that the first interval section of adjacent i-th and the i+1 first interval section is calculated is calculated
The absolute value of the difference of art average value, wherein, i-th of first interval section is leaned on than the i+1 first interval section
The starting point of the nearly road to be measured；
Judge whether the absolute value of the difference of first arithmetic mean of instantaneous value is less than second threshold；
If it is less than, it is determined that the radius of vertical curve in i-th of first interval section is the first radius of vertical curve threshold value；
If being not less than, according toThe radius of vertical curve in i-th of first interval section is calculated
Bi, wherein, AiFor first arithmetic mean of instantaneous value in i-th of first interval section, Ai+1For the i+1 first interval section
The first arithmetic mean of instantaneous value, a be first distance；
The form parameter in section section included according to the road to be measured extracts the feature road that the road to be measured includes
The step of section, including：
The radius of vertical curve for judging whether there is the first interval section of continuous at least the first quantity is all higher than the second perpendicular song
Line radius threshold；
If so, the first interval section of continuous at least the first quantity of extraction is longitudinal gradient section；
It is vertical curve section section to determine the first interval section other than the longitudinal gradient section；
Whether judge the radius of vertical curve in each vertical curve section section has identical positive negativity；
If so, determine vertical curve section road according to the positive negativity of the radius of vertical curve in vertical curve section section
Section is concave curved part of path or evagination part of path；
If it is not, then since the starting point in vertical curve section section, vertical curve section section is split successively, until tearing open
All radius of vertical curve in each vertical curve section section after point have identical positive negativity, and according to the vertical curve
The positive negativity of the radius of vertical curve in section section determines that vertical curve section section is concave curved part of path or convex curve
Section.
3. according to the method described in claim 2, it is characterized in that, described the first of continuous at least the first quantity of the extraction
After the step of section section is longitudinal gradient section, the method further includes：
According toObtain the longitudinal slope value Ci in each first interval section；
Obtain the distance of the longitudinal gradient section；
According toObtain the longitudinal slope value D of each longitudinal gradient sectionm, wherein, EmFor the distance of the longitudinal gradient section,
∑CiRepresent the sum of the longitudinal slope value in all first interval sections in the longitudinal gradient section；
According to Fm=a × Em×cos(arctanDm) obtain the long F of longitudinal slope of each longitudinal gradient sectionm。
4. according to the method described in claim 1, it is characterized in that, when the attitude parameter be course angle when, it is described according to institute
The step of stating attitude parameter, determining the form parameter that the road to be measured includes, including：
If Gj-Gj+1The correction value G' of the course angle of j-th of continuous sampling point is then calculated in ＞ 300j=Gj-360；Its
In, GjFor the course angle of j-th of continuous sampling point, Gj+1For jth+1 institute adjacent with j-th of continuous sampling point
The course angle of continuous sampling point is stated, j-th of continuous sampling point is than+1 continuous sampling point of jth close to the road to be measured
The starting point on road；
If Gj+1-GjThe correction value G' of the course angle of j-th of continuous sampling point is then calculated in ＞ 300j=Gj+360；
If it is unsatisfactory for Gj-Gj+1＞ 300 and Gj+1-GjThe correction value G' of ＞ 300, the then course angle of j-th of continuous sampling pointj
=Gj；
According to the starting point of the continuous sampling point away from the road to be measured from closely to remote sequence, to the institute of each continuous sampling point
The correction value for stating course angle carries out mean filter with the sliding window of third threshold value successively, obtains course angle filter value；
Since the starting point of the road to be measured, the road to be measured is in turn divided at least two second interval sections,
In, the distance in each second interval section is second distance；
The second arithmetic mean of instantaneous value of the course angle filtering data in each second interval section is calculated；
Described second that the second interval section of adjacent n-th and (n+1)th second interval section is calculated is calculated
The absolute value of the difference of art average value, wherein, n-th of second interval section second interval section more described than (n+1)th is leaned on
The starting point of the nearly road to be measured；
Judge whether the absolute value of the difference of second arithmetic mean of instantaneous value is less than the 4th threshold value；
If it is less than, it is determined that the radius of horizontal curve in n-th of second interval section is the first radius of horizontal curve threshold value；
If being not less than, according toThe horizontal curve half in n-th of second interval section is calculated
Diameter In, wherein, HnFor second arithmetic mean of instantaneous value in n-th of second interval section, Hn+1For (n+1)th second interval road
Second arithmetic mean of instantaneous value of section, b are the second distance；
The form parameter in section section included according to the road to be measured extracts the feature road that the road to be measured includes
The step of section, including：
The radius of horizontal curve for judging whether there is the second interval section of continuous at least the second quantity is all higher than the second flat song
Line radius threshold；
If so, the second interval section of continuous at least the second quantity of extraction is linear section；
It is horizontal curve section section to determine the second interval section other than the linear section；
Whether judge the radius of horizontal curve in each horizontal curve section section has identical positive negativity；
If so, determine horizontal curve section road according to the positive negativity of the radius of horizontal curve in horizontal curve section section
Section is left curve section or right curve section；
If it is not, then since the starting point in horizontal curve section section, horizontal curve section section is split successively, until tearing open
All radius of horizontal curve in each horizontal curve section section after point have identical positive negativity, and according to the horizontal curve
The positive negativity of the radius of horizontal curve in section section determines that horizontal curve section section is left curve section or right curve
Section.
5. the method according to requiring 4, which is characterized in that the flat song for judging each horizontal curve section section
After whether line radius has the step of identical positive negativity, the method further includes：
If it is not, then since the beginning and end in horizontal curve section section, using least square method to the horizontal curve area
Between the radius of horizontal curve in section be iterated, obtain the first mean square deviation；
3rd interval section of the first mean square deviation in the section of the horizontal curve section more than 90% is divided into easement curve road
Section；
Obtain the distance of the transition curve path section；
If the distance of the transition curve path section is less than the 5th threshold value, the transition curve path section is extracted as continued curve.
6. the according to the method described in claim 4, it is characterized in that, flat song according to horizontal curve section section
It is described after the positive negativity of line radius determines the step of horizontal curve section section is left curve section or right curve section
Method further includes：
To each left curve section either right curve section respectively from the left curve section or the right curve section
Beginning and end start, using least square method to the radius of horizontal curve of the left curve section or the right curve section
It is iterated, obtains the second mean square deviation；
By the second mean square deviation in the left curve section or the right curve section more than 90% the 4th section section from
The left curve section or the right curve section are left after the left curve section is either removed in the right curve section
Part be divided into circular curve section；
The arithmetic mean of instantaneous value of all radius of horizontal curve in the circular curve section is calculated, obtains the circular curve section
Circular curve radius；
Obtain the distance in the circular curve section；
Judge whether the distance of the circular curve meetsWherein, K is the distance of the circular curve, and J is the circle
Sweep；
If satisfied, then determine the circular curve section for convolution part of path.
7. according to the method described in claim 1, it is characterized in that, the attitude parameter further includes roll angle, then the method
It further includes：
According to the starting point of the continuous sampling point away from the road to be measured from closely to remote sequence, to each continuous sampling point
The roll angle successively with the sliding window of the 6th threshold value and the first step length carry out medium filtering, obtain the first roll angle filtering
Value；
Mean filter is carried out with the sliding window of the 7th threshold value and second step length successively to the first roll angle filter value, is obtained
Second roll angle filter value；
The second roll angle filter value of third quantity is divided into one group successively, and calculates the second roll angle filter value of the group
Third arithmetic mean of instantaneous value；
According toIt is calculated the 5th of the corresponding road to be measured of the third arithmetic mean of instantaneous value the
The horizontal slope value L in section sectionk, wherein, MkFor the third arithmetic mean of instantaneous value.
8. a kind of extraction system in feature section, which is characterized in that including：
Measurement module for measuring road to be measured using inertia measurement instrument, obtains the described to be measured of the inertia measurement instrument acquisition
The corresponding attitude parameter of each continuous sampling point of road, wherein, the mounting surface of the inertia measurement instrument and the road to be measured
Road surface it is parallel, the attitude parameter includes：Pitch angle and course angle；
First determining module, for according to the attitude parameter, determining the form parameter that the road to be measured includes, wherein, institute
Form parameter is stated to include：Radius of vertical curve and radius of horizontal curve；
First extraction module for the form parameter in section section included according to the road to be measured, extracts the road to be measured
The feature section that road includes, wherein, the feature section includes：Evagination part of path, concave curved part of path, longitudinal gradient section, left curve
Section, right curve section and linear section.
9. a kind of judgment method of Dangerous Area, which is characterized in that including：
Using the extracting method in such as claim 1~7 any one of them feature section, the spy that the road to be measured includes is extracted
Levy section；
Obtain the characteristic parameter in feature section that the road to be measured includes；
According to the desin speed of the road to be measured, the characteristic threshold value of the corresponding road to be measured of the desin speed is obtained；
According to the characteristic parameter and the comparison result of the characteristic threshold value, determine that the feature section that the road to be measured includes is
No is Dangerous Area.
10. a kind of judgement system of Dangerous Area, which is characterized in that including：
Second extraction module, for using the extracting method such as claim 1~7 any one of them feature section, extracting institute
State the feature section that road to be measured includes；
First acquisition module, for obtaining the characteristic parameter in feature section that the road to be measured includes；
Second acquisition module for the desin speed according to the road to be measured, obtains that the desin speed is corresponding described to be treated
Survey the characteristic threshold value of road；
Second determining module for the comparison result according to the characteristic parameter and the characteristic threshold value, determines the road to be measured
Whether the feature section that road includes is Dangerous Area.
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