CN112200049A - Method, device and equipment for marking road surface topography data and storage medium - Google Patents
Method, device and equipment for marking road surface topography data and storage medium Download PDFInfo
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Abstract
The invention discloses a method, a device, equipment and a storage medium for data annotation of road terrain, wherein the method comprises the following steps: acquiring a road surface image sequence acquired by a vehicle camera under the working condition that a vehicle runs on a test road, and acquiring vibration signal time sequence data of a vehicle suspension acquired by a suspension sensor under the working condition that the vehicle runs on the test road; performing data sliding interception on the vibration signal time sequence data by using a sliding window with a preset data interception width to obtain a plurality of sections of vibration signal intercepted data; similarity calculation is carried out on the multi-section vibration signal intercepting data and a preset vibration signal data template to obtain a corresponding similarity value; judging whether the similarity value is larger than a preset similarity threshold value or not; and if so, marking the image of the vibration signal interception data corresponding to the similarity value in the road surface image sequence in the same time stamp as the target road surface terrain image. The invention can automatically mark the road surface image which is the target terrain based on the suspension vibration signal.
Description
Technical Field
The invention relates to the technical field of computers, in particular to a method, a device, equipment and a storage medium for carrying out data annotation on road terrain.
Background
At present, road surface terrain recognition can be performed through an image recognition algorithm, specifically: in the process of driving of the vehicle on the road surface, the vehicle camera shoots a road surface image, and the road surface image is input into the road surface terrain recognition model for terrain recognition. The road surface topography recognition model needs to be trained in advance, and whether the road surface topography recognition result of the road surface image is accurate or not is determined by the quality of the road surface topography recognition model. The road surface topography recognition model is required to be recognized and trained in advance from a plurality of road surface images as target topography.
At present, the acquisition mode of a road surface image is as follows: the vehicle goes under experimental road operating mode, and the vehicle camera shoots the road surface in real time, obtains the road surface video, and the pilot's manual work carries out the discernment of target topography to the road surface image in the road surface video to record the time stamp of the road surface image that corresponds when discerning the target topography, thereby can find the corresponding road surface image for the target topography automatically according to the time stamp. However, this standard method for road surface topography data is inefficient, and the result of data labeling is not accurate because the time precision of data labeling is not sufficient due to the reaction time of the tester.
Disclosure of Invention
Embodiments of the present invention provide a method, an apparatus, a device, and a storage medium for data labeling of a road surface topography, which can automatically label a road surface image of a target topography based on a suspension vibration signal, thereby improving efficiency and accuracy of data labeling.
An embodiment of the present invention provides a method for performing data annotation on road surface topography based on a vehicle suspension vibration signal, including:
acquiring a road surface image sequence acquired by a vehicle camera under the working condition that a vehicle runs on a test road, and acquiring vibration signal time sequence data of a vehicle suspension acquired by a suspension sensor under the working condition that the vehicle runs on the test road; the road surface topography of the test road working condition comprises a target road surface topography;
performing data sliding interception on the vibration signal time sequence data by using a sliding window with a preset data interception width to obtain a plurality of sections of vibration signal intercepted data;
similarity calculation is carried out on the multiple sections of vibration signal intercepting data and a preset vibration signal data template corresponding to the target road surface topography to obtain corresponding similarity values;
judging whether the similarity value is larger than a preset similarity threshold value or not;
and if so, marking the image of the vibration signal interception data corresponding to the similarity value in the road surface image sequence in the same time stamp as a target road surface terrain image.
As an improvement of the above, after the acquiring the vibration signal timing data of the vehicle suspension collected by the suspension sensor under the condition that the vehicle runs on the test road, before the acquiring the vibration signal timing data of the vehicle suspension collected by the suspension sensor under the condition that the vehicle runs on the test road, the method further includes:
and carrying out normalization processing on the vibration signal time sequence data.
As an improvement of the above scheme, the vehicle repeatedly runs under the test road condition for many times, and the number of the vibration signal time sequence data is a plurality of, then the sliding window with the preset data interception width is used for performing data sliding interception on the vibration signal time sequence data to obtain a plurality of sections of vibration signal interception data, including:
acquiring vibration signal time sequence data which is a median in a plurality of different vibration signal time sequence data;
and performing data sliding interception on the vibration signal time sequence data which is the median by using a sliding window with a preset data interception width to obtain a plurality of sections of vibration signal intercepted data.
As an improvement of the scheme, the data interception width of the sliding window corresponds to the vehicle speed of the vehicle, and the faster the vehicle speed is, the smaller the data interception width is; the sliding step of the sliding window is consistent with the sampling frequency of the suspension sensor.
As an improvement of the above scheme, the calculating the similarity between the multiple sections of the captured vibration signal data and a preset vibration signal data template corresponding to the target road topography to obtain corresponding similarity values includes:
and calculating the similarity of a curve segment formed by intercepting data of each section of the vibration signal and a curve template which corresponds to the terrain of the target road surface and is the vibration signal data based on a DTW algorithm to obtain a corresponding similarity value.
The invention correspondingly provides a device for marking road surface terrain data based on vehicle suspension vibration signals, which comprises:
the system comprises an acquisition module, a data acquisition module and a data acquisition module, wherein the acquisition module is used for acquiring a road surface image sequence acquired by a vehicle camera under the working condition that the vehicle runs on a test road and acquiring vibration signal time sequence data of a vehicle suspension acquired by a suspension sensor under the working condition that the vehicle runs on the test road; the road surface topography of the test road working condition comprises a target road surface topography;
the data interception module is used for carrying out data sliding interception on the vibration signal time sequence data through a sliding window with a preset data interception width to obtain a plurality of sections of vibration signal intercepted data;
the similarity calculation module is used for calculating the similarity of the multiple sections of the vibration signal interception data and a preset vibration signal data template corresponding to the target road topography to obtain corresponding similarity values;
the judging module is used for judging whether the similarity value is larger than a preset similarity threshold value or not;
and if so, marking the image of the vibration signal interception data corresponding to the similarity value in the road surface image sequence at the same time stamp as the target road surface terrain image.
As an improvement of the above, the apparatus further comprises:
and the normalization module is used for performing normalization processing on the vibration signal time sequence data.
As an improvement of the above scheme, the similarity calculation module is specifically configured to:
and calculating the similarity of a curve segment formed by intercepting data of each section of the vibration signal and a curve template which corresponds to the terrain of the target road surface and is the vibration signal data based on a DTW algorithm to obtain a corresponding similarity value.
Another embodiment of the present invention provides an apparatus for performing data labeling on road surface topography based on vehicle suspension vibration signals, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, the processor implements the method for performing data labeling on road surface topography based on vehicle suspension vibration signals according to the above embodiment of the present invention.
Another embodiment of the present invention provides a storage medium, where the computer-readable storage medium includes a stored computer program, where when the computer program runs, the apparatus on which the computer-readable storage medium is controlled to execute the method for performing data annotation on road surface terrain based on vehicle suspension vibration signals described in the above embodiment of the present invention.
Compared with the prior art, one of the above embodiments has the following advantages:
acquiring vibration signal time sequence data of a vehicle suspension acquired by a suspension sensor under the working condition that the vehicle runs on a test road by acquiring a road image sequence acquired by a vehicle camera under the working condition that the vehicle runs on the test road; performing data sliding interception on the vibration signal time sequence data by using a sliding window with a preset data interception width to obtain a plurality of sections of vibration signal intercepted data; similarity calculation is carried out on the multiple sections of vibration signal intercepting data and a preset vibration signal data template corresponding to the target road surface topography to obtain corresponding similarity values; judging whether the similarity value is larger than a preset similarity threshold value or not; and if so, marking the image of the vibration signal interception data corresponding to the similarity value in the road surface image sequence in the same time stamp as a target road surface terrain image. Therefore, the embodiment of the invention can automatically mark the road surface image of the target road surface topography by analyzing the vibration signal of the vehicle suspension, thereby improving the efficiency and accuracy of data marking. Of course, it is not necessary for any product in which the invention is practiced to achieve all of the above-described advantages at the same time.
Drawings
FIG. 1 is a schematic flow chart of a method for data labeling of road surface topography based on vehicle suspension vibration signals according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of an apparatus for data labeling of road surface topography based on vehicle suspension vibration signals according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an apparatus for performing data labeling on road surface topography based on a vehicle suspension vibration signal according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flow chart of a method for labeling road surface topography based on a vehicle suspension vibration signal according to an embodiment of the present invention. The method is carried out by a device for carrying out data annotation on road surface topography based on vehicle suspension vibration signals, and the device can be a personal computer, a server and other computer devices. The method comprises the following steps:
s10, acquiring a road surface image sequence acquired by a vehicle camera under the working condition that the vehicle runs on a test road, and acquiring vibration signal time sequence data of a vehicle suspension acquired by a suspension sensor under the working condition that the vehicle runs on the test road; the road topography of the test road working condition comprises a target road topography.
When the vehicle runs under the working condition of the test road, the suspension sensor can collect the vibration of the vehicle suspension in real time and generate a vibration signal, and the vibration signal time sequence data can be generated according to the collected vibration signal according to the sequence of the collection time. The road surface topography of the test road working condition can be various, such as hollow road surface topography, road block road surface topography, stone road section road surface topography and the like. And the road surface topography of the test road working condition comprises a target road surface topography.
And S11, performing data sliding interception on the vibration signal time sequence data by using a sliding window with a preset data interception width to obtain multiple sections of vibration signal intercepted data.
S12, similarity calculation is carried out on the multiple sections of vibration signal intercepting data and a preset vibration signal data template corresponding to the target road topography to obtain corresponding similarity values;
and S13, judging whether the similarity value is larger than a preset similarity threshold value.
The method comprises the steps of setting a proper similarity threshold value, filtering vibration signal interception data of non-target terrains, and only keeping the vibration signal interception data corresponding to the target terrains.
And S14, if yes, marking the image of the vibration signal interception data corresponding to the similarity value in the road surface image sequence at the same time stamp as the target road surface terrain image.
According to the embodiment of the invention, the road surface image of the target road surface topography can be automatically marked through analyzing the vibration signal of the vehicle suspension, so that the efficiency and the accuracy of data marking are improved.
After labeling the target road surface topography images, the user can verify the target road surface topography images to confirm whether the road surface shot by the target road surface topography images is the target road surface topography. And intercepting data of the vibration signal corresponding to the target road surface terrain image which is confirmed to be positive by the user as a vibration signal data sample for training the road surface terrain recognition model.
In the embodiment of the present invention, further, after the acquiring the vibration signal timing data of the vehicle suspension collected by the suspension sensor when the vehicle is running on the test road condition, before the acquiring the vibration signal timing data of the vehicle suspension collected by the suspension sensor when the vehicle is running on the test road condition, the method further includes:
and carrying out normalization processing on the vibration signal time sequence data.
The vibration signal time sequence data are subjected to normalization processing, so that subsequent data analysis can be facilitated, and the data analysis is more accurate.
Specifically, the normalization processing mode is
Wherein X is vibration signal data to be analyzed currently, and X isminIs the minimum value, X, in the time series data of the vibration signalmaxIs the maximum value in the vibration signal timing data.
In an embodiment of the present invention, for example, when a vehicle repeatedly runs on a test road for a plurality of times and the number of the vibration signal time sequence data is multiple, the sliding window with a preset data capture width performs data sliding capture on the vibration signal time sequence data to obtain multiple sections of vibration signal capture data, including:
acquiring vibration signal time sequence data which is a median in a plurality of different vibration signal time sequence data;
and performing data sliding interception on the vibration signal time sequence data which is the median by using a sliding window with a preset data interception width to obtain a plurality of sections of vibration signal intercepted data.
In the embodiment of the invention, a plurality of vibration signal time sequence data are obtained through a plurality of repeated tests, and the vibration signal time sequence data with a median are adopted for analysis, so that the analysis of the data can be more accurate.
In the above embodiment, specifically, the data capture width of the sliding window corresponds to the vehicle speed of the vehicle, and the faster the vehicle speed is, the smaller the data capture width is; the sliding step of the sliding window is consistent with the sampling frequency of the suspension sensor.
The faster the vehicle speed is, the smaller the data interception width can be set, so that the situation that the sampled vibration signal contains too many road surface topography situations can be avoided, and ideally, only one road surface topography situation can be contained. When the vehicle speed is slower, the data interception width can be set to be larger, so that the pavement topography can be comprehensively sampled.
Further, as an example, the sampling frequency of the suspension sensor is 10ms sampling once, and then the sliding step size of the sliding window is 10ms each time.
In the foregoing embodiment, specifically, the calculating the similarity between the multiple sections of the captured vibration signal data and a preset vibration signal data template corresponding to the target road topography to obtain corresponding similarity values includes:
and calculating the similarity of a curve segment formed by intercepting data of each section of the vibration signal and a curve template which corresponds to the terrain of the target road surface and is the vibration signal data based on a DTW algorithm to obtain a corresponding similarity value.
The similarity calculation formula of the DTW algorithm is as follows:
referring to fig. 2, the schematic structural diagram of an apparatus for labeling road surface topography based on vehicle suspension vibration signals according to an embodiment of the present invention is shown, where the apparatus includes:
the system comprises an acquisition module 10, a data processing module and a data processing module, wherein the acquisition module is used for acquiring a road surface image sequence acquired by a vehicle camera under the working condition that a vehicle runs on a test road and acquiring vibration signal time sequence data of a vehicle suspension acquired by a suspension sensor under the working condition that the vehicle runs on the test road; the road surface topography of the test road working condition comprises a target road surface topography;
the data interception module 11 is configured to perform data sliding interception on the vibration signal time sequence data through a sliding window with a preset data interception width to obtain multiple sections of vibration signal intercepted data;
the similarity calculation module 12 is configured to perform similarity calculation on the multiple sections of the captured vibration signal data and a preset vibration signal data template corresponding to the target road topography to obtain corresponding similarity values;
the judging module 13 is configured to judge whether the similarity value is greater than a preset similarity threshold;
and if so, marking the image with the same timestamp as the intercepted vibration signal data corresponding to the similarity value in the road surface image sequence as a target road surface terrain image.
According to the embodiment of the invention, the road surface image of the target road surface topography can be automatically marked through analyzing the vibration signal of the vehicle suspension, so that the efficiency and the accuracy of data marking are improved.
As an improvement of the above, the apparatus further comprises:
and the normalization module is used for performing normalization processing on the vibration signal time sequence data.
As an improvement of the above scheme, the similarity calculation module is specifically configured to:
and calculating the similarity of a curve segment formed by intercepting data of each section of the vibration signal and a curve template which corresponds to the terrain of the target road surface and is the vibration signal data based on a DTW algorithm to obtain a corresponding similarity value.
As an improvement of the above scheme, the vehicle repeatedly runs on a test road for a plurality of times, and the number of the vibration signal time sequence data is multiple, then the data interception module is specifically configured to:
acquiring vibration signal time sequence data which is a median in a plurality of different vibration signal time sequence data;
and performing data sliding interception on the vibration signal time sequence data which is the median by using a sliding window with a preset data interception width to obtain a plurality of sections of vibration signal intercepted data.
As an improvement of the scheme, the data interception width of the sliding window corresponds to the vehicle speed of the vehicle, and the faster the vehicle speed is, the smaller the data interception width is; the sliding step of the sliding window is consistent with the sampling frequency of the suspension sensor.
Fig. 3 is a schematic diagram of an apparatus for performing data annotation on road surface topography based on a vehicle suspension vibration signal according to an embodiment of the present invention. The apparatus for data annotation of road topography of this embodiment comprises: a processor, a memory, and a computer program stored in and executable on the memory, such as a program for data labeling of road surface topography based on vehicle suspension vibration signals. The processor, when executing the computer program, performs the steps in each of the above-described embodiments of a method for data labeling of road surface topography based on vehicle suspension vibration signals. Alternatively, the processor implements the functions of the modules/units in the above device embodiments when executing the computer program.
Illustratively, the computer program may be partitioned into one or more modules/units that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program in the apparatus for data annotation of road surface topography.
The device for performing data annotation on the road surface topography can be a desktop computer, a notebook computer, a palm computer, a cloud server and other computing devices. The device for data annotation of the road surface topography can include, but is not limited to, a processor and a memory. It will be understood by those skilled in the art that the schematic diagram is merely an example of a device for data annotation of road surface topography, and does not constitute a limitation of a device for data annotation of road surface topography, and may include more or less components than those shown, or some components in combination, or different components, for example, the device for data annotation of road surface topography may further include an input-output device, a network access device, a bus, etc.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general-purpose processor may be a microprocessor, or the processor may be any conventional processor, and the processor is a control center of the device for performing data labeling on the road terrain, and various interfaces and lines are used to connect various parts of the whole device for performing data labeling on the road terrain.
The memory may be used to store the computer programs and/or modules, and the processor may implement the various functions of the apparatus for data tagging of road topography by running or executing the computer programs and/or modules stored in the memory, and calling the data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
The device-integrated module/unit for data annotation of road surface topography may be stored in a computer-readable storage medium if it is implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A method for data annotation of road surface topography based on vehicle suspension vibration signals, comprising:
acquiring a road surface image sequence acquired by a vehicle camera under the working condition that a vehicle runs on a test road, and acquiring vibration signal time sequence data of a vehicle suspension acquired by a suspension sensor under the working condition that the vehicle runs on the test road; the road surface topography of the test road working condition comprises a target road surface topography;
performing data sliding interception on the vibration signal time sequence data by using a sliding window with a preset data interception width to obtain a plurality of sections of vibration signal intercepted data;
similarity calculation is carried out on the multiple sections of vibration signal intercepting data and a preset vibration signal data template corresponding to the target road surface topography to obtain corresponding similarity values;
judging whether the similarity value is larger than a preset similarity threshold value or not;
and if so, marking the image of the vibration signal interception data corresponding to the similarity value in the road surface image sequence in the same time stamp as a target road surface terrain image.
2. The method for data annotation of road topography based on vehicle suspension vibration signals of claim 1, wherein after said obtaining vibration signal timing data of the vehicle suspension collected by the suspension sensor while the vehicle is traveling on the test road condition, and before said obtaining vibration signal timing data of the vehicle suspension collected by the suspension sensor while the vehicle is traveling on the test road condition, the method further comprises:
and carrying out normalization processing on the vibration signal time sequence data.
3. The method for data annotation of road topography based on vehicle suspension vibration signal according to claim 1, wherein, when the vehicle repeatedly runs on the test road condition for a plurality of times and the number of the vibration signal time series data is a plurality, the sliding window with the preset data interception width is used for performing data sliding interception on the vibration signal time series data to obtain a plurality of sections of vibration signal intercepted data, including:
acquiring vibration signal time sequence data which is a median in a plurality of different vibration signal time sequence data;
and performing data sliding interception on the vibration signal time sequence data which is the median by using a sliding window with a preset data interception width to obtain a plurality of sections of vibration signal intercepted data.
4. The method for data annotation of road surface topography based on vehicle suspension vibration signals as claimed in claim 1, characterized in that the data capture width of the sliding window corresponds to the vehicle speed of the vehicle, the faster the vehicle speed, the smaller the data capture width; the sliding step of the sliding window is consistent with the sampling frequency of the suspension sensor.
5. The method for data labeling of road topography based on vehicle suspension vibration signals according to claim 1, wherein said calculating the similarity of a plurality of sections of said vibration signal capturing data with a preset vibration signal data template corresponding to a target road topography to obtain a corresponding similarity value comprises:
and calculating the similarity of a curve segment formed by intercepting data of each section of the vibration signal and a curve template which corresponds to the terrain of the target road surface and is the vibration signal data based on a DTW algorithm to obtain a corresponding similarity value.
6. An apparatus for data labeling of road topography based on vehicle suspension vibration signals, comprising:
the system comprises an acquisition module, a data acquisition module and a data acquisition module, wherein the acquisition module is used for acquiring a road surface image sequence acquired by a vehicle camera under the working condition that the vehicle runs on a test road and acquiring vibration signal time sequence data of a vehicle suspension acquired by a suspension sensor under the working condition that the vehicle runs on the test road; the road surface topography of the test road working condition comprises a target road surface topography;
the data interception module is used for carrying out data sliding interception on the vibration signal time sequence data through a sliding window with a preset data interception width to obtain a plurality of sections of vibration signal intercepted data;
the similarity calculation module is used for calculating the similarity of the multiple sections of the vibration signal interception data and a preset vibration signal data template corresponding to the target road topography to obtain corresponding similarity values;
the judging module is used for judging whether the similarity value is larger than a preset similarity threshold value or not;
and if so, marking the image of the vibration signal interception data corresponding to the similarity value in the road surface image sequence at the same time stamp as the target road surface terrain image.
7. The apparatus for data labeling a road surface topography based on a vehicle suspension vibration signal as claimed in claim 6, further comprising:
and the normalization module is used for performing normalization processing on the vibration signal time sequence data.
8. The vehicle suspension vibration signal-based data annotation apparatus for road topography of claim 6, wherein said similarity calculation module is specifically configured to:
and calculating the similarity of a curve segment formed by intercepting data of each section of the vibration signal and a curve template which corresponds to the terrain of the target road surface and is the vibration signal data based on a DTW algorithm to obtain a corresponding similarity value.
9. An apparatus for data annotation of road surface topography based on vehicle suspension vibration signals, comprising a processor, a memory and a computer program stored in the memory and configured to be executed by the processor, the processor when executing the computer program implementing a method of data annotation of road surface topography based on vehicle suspension vibration signals as claimed in any one of claims 1 to 5.
10. A computer-readable storage medium, comprising a stored computer program, wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is stored to perform a method for data annotation of road surface topography based on vehicle suspension vibration signals according to any one of claims 1 to 5.
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