WO2016188363A1 - Road condition physical information drawing and inquiring method based on electronic map - Google Patents

Road condition physical information drawing and inquiring method based on electronic map Download PDF

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Publication number
WO2016188363A1
WO2016188363A1 PCT/CN2016/082715 CN2016082715W WO2016188363A1 WO 2016188363 A1 WO2016188363 A1 WO 2016188363A1 CN 2016082715 W CN2016082715 W CN 2016082715W WO 2016188363 A1 WO2016188363 A1 WO 2016188363A1
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Prior art keywords
road
electronic map
road surface
grade
information
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PCT/CN2016/082715
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French (fr)
Chinese (zh)
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汪军
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四川行之智汇知识产权运营有限公司
汪军
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Publication of WO2016188363A1 publication Critical patent/WO2016188363A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3848—Data obtained from both position sensors and additional sensors
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3807—Creation or updating of map data characterised by the type of data
    • G01C21/3815—Road data
    • G01C21/3822—Road feature data, e.g. slope data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
    • G06F16/29—Geographical information databases
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
    • G06F16/58—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually
    • G06F16/5866—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using information manually generated, e.g. tags, keywords, comments, manually generated location and time information
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/95—Retrieval from the web
    • G06F16/953—Querying, e.g. by the use of web search engines
    • G06F16/9537—Spatial or temporal dependent retrieval, e.g. spatiotemporal queries
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram

Definitions

  • the invention belongs to the field of geographic information technology, and relates to a method for drawing and querying physical information of road conditions based on electronic maps.
  • the real-time road conditions are mainly to check the traffic congestion, slow-moving and smooth conditions of the main traffic routes of the city and the connecting roads between cities, and whether there are any accidents or constructions.
  • the real-time traffic maps, road conditions video, and the presentation of traffic events it is convenient for the majority of travel users.
  • Real-time road conditions are already a mature vehicle-mounted intelligent traffic navigation technology. Real-time road conditions can reflect the traffic texts in the area in real time, guide the best and fastest driving routes, and improve the efficiency of roads and vehicles.
  • the road traffic congestion condition is judged according to factors such as the average vehicle speed or the vehicle braking frequency, and the physical information of the road condition, that is, the road surface state is not involved, in fact, the road material and the road surface are actually involved. Physical information such as width, flatness, slope, and pavement damage distribution are also important factors in driving.
  • the poor road surface requires high performance. Especially in some natural scenic areas, physical information of road conditions is more likely to determine road traffic. The primary factor of ability.
  • the existing real-time road condition technology cannot reflect the physical information of the road condition.
  • the present invention discloses a road map physical information drawing and query method based on the electronic map.
  • the S1 uses a mobile terminal having a positioning function and a camera function to move on the road surface, manually determines the road grade and marks on the electronic map;
  • S2 installs a vibration sensor on the measuring vehicle, measures the vehicle to travel on the road that has been marked with the road grade and collects the vibration data of the vibration sensor:
  • the X value interval corresponding to the road grade is obtained by driving acquisition;
  • the measuring vehicle carries a positioning device and a speed measuring device;
  • the S3 measures the vehicle to travel on the road surface to be tested, calculates the parameter X according to the data collected by the vibration sensor, and determines the road surface grade of the road surface to be tested according to the calculation result, and marks it on the electronic map.
  • the vibration sensor is mounted at a shock absorbing strut of each traveling wheel of the measuring vehicle.
  • the marking method for the road surface level is: different road surface levels display different colors.
  • the steps S1 and S3 further include marking the master node and marking the road surface level information on the electronic map.
  • the child node is a junction point of different road grades.
  • the master node is marked, the coordinates, road grade and photos of the master node are marked together; the child nodes are automatically timed or fixed when the road grade does not change before and after the road grade. The added coordinate point.
  • the child node further includes an intersection, a road turn, an iconic building or an attraction.
  • the coordinate information, the road grade information and the road surface image information manually collected by the mobile terminal are wirelessly transmitted to the remote server, and the remote server performs calculation processing, and the road grade information is determined in real time. Mark on the electronic map.
  • the data and coordinate information collected by the vibration sensor are wirelessly transmitted to the remote server, and the remote server performs calculation processing, and the road grade information is determined and marked on the electronic map in real time.
  • the calculation of the parameter X further includes a special case correction
  • the special case correction is performed when the road surface has the following conditions: snow on the road surface, ice armor, falling rock; road surface wading; road slope is greater than the threshold; pavement is mud sand.
  • the electronic map-based physical information drawing and query method based on the electronic map of the present invention fills the blank of the current electronic map without road surface condition information, and the road condition of the current user needs to query a certain road can only be through a search engine or a social means.
  • the invention can greatly improve the efficiency of the user to acquire the target information, and the information is more intuitive and accurate.
  • FIG. 1 is a schematic structural view of a specific embodiment of the present invention.
  • FIG. 2 is a schematic structural view of a specific implementation manner of completing physical information collection of road conditions by using the present invention
  • FIG. 3 is a schematic structural diagram of a specific implementation manner of collecting a master node and a child node according to the present invention
  • the table shown in FIG. 4 is a specific implementation manner of the road condition classification in the present invention.
  • FIG. 5 is a schematic diagram of the force and displacement analysis of the vehicle during running in the present invention.
  • the method for drawing and querying physical information of a road condition based on an electronic map comprises the following steps:
  • the S1 uses a mobile terminal having a positioning function and a camera function to move on the road surface, manually determines the road grade and marks on the electronic map;
  • step S1 a device such as a smart phone or a vehicle driving recorder is usually used.
  • the road surface image is recorded immediately, and the measuring personnel visually measure the road width, the flatness, the slope and the like, and comprehensively determine the driving speed factor of the vehicle and determine the road surface by itself.
  • the level is continuously sent back to the geographic coordinates of the mobile terminal, thereby obtaining road condition information of different coordinates on the electronic map.
  • Figure 4 shows a division of the road grade in the present invention.
  • the physical information of the road condition is divided into five levels, each Levels are distinguished by different colors on the electronic map. The worst level is that the car cannot pass, and the road grade mark is marked by marking different colors on the map of the electronic map.
  • the road condition is pre-judged by manually collecting road surface information. There are many subjective factors in manually collecting road condition physical information. Although the results of repeated collection by multiple people can be comprehensively considered, the labor cost is undoubtedly increased.
  • the physical information of the road condition is further quantitatively defined by the sensor measurement in step S2.
  • step S2 a vibration sensor is mounted on the measuring vehicle, and the vehicle is measured to travel on the road on which the road grade has been marked and the vibration data of the vibration sensor is collected:
  • FIG. 5 it is a schematic diagram of a simplified force displacement analysis when the wheel of the traveling vehicle encounters an obstacle.
  • the vehicle forward direction is an X coordinate
  • the vertical direction is a Y coordinate.
  • the bumps of the vehicle are caused by the uneven force in all directions when the wheels in contact with the ground are subjected to collision.
  • m is the mass of the vehicle
  • V is the vehicle speed
  • Vyi is the velocity component produced in the Y-axis direction after the impact
  • ⁇ Vyi is the amount of change in the velocity component in the Y-axis direction during the collision
  • Ti is the duration of the collision process
  • D is The amount of displacement of the wheel during the collision
  • ⁇ is the angle between the moving direction of the wheel after the collision and the Y-axis.
  • D is the collision displacement, which is only related to the impact velocity and the material of the impacting object.
  • D/cos ⁇ can be approximated as a constant independent of the mass of the vehicle, and it can be concluded that the vertical acceleration Ayi of each wheel is inversely proportional to the square of the velocity.
  • the above formula and the verification reasoning process are based on the data obtained from a large number of driving. For ordinary cars, the wheel circumference is usually in the range of 1-2 meters, and the acceleration data of tens of thousands of wheel cycles can be obtained by driving more than 100 kilometers, which can be considered as satisfying the data amount. Claim. Further taking the standard deviation of the obtained large amount of acceleration data, the present invention finally determines the parameter for indicating the vibration of the vehicle.
  • the vibration sensor is usually installed at the shock struts of each traveling wheel of the vehicle.
  • the shock struts of the running wheel can directly measure the longitudinal movement amplitude of the wheel without interference and the damping measures of other components of the vehicle.
  • the vibration data is more realistic.
  • a sensor is installed at a pillar below the four tire damping devices of the automobile for recording the motion state of each wheel (S 1 , S 2 , S 3 , S 4 ) to 4 Based on the motion state of the wheels, a parametric equation affecting the determination of the current road grade is established.
  • x i refers to a parameter index that can reflect the grade of the road surface
  • the acceleration of four points at a certain time point is perpendicular to the standard deviation of the vector value of the direction of travel of the vehicle.
  • Step S2 uses the vibration sensor to quantitatively define the vibration data of each road surface level in step S1.
  • the road surface condition level is defined by the range of X, which overcomes the subjectivity and contingency of the measurement personnel when customizing. Improve the objectivity and credibility of physical grade division of road conditions.
  • step S3 After dividing the physical grade of the road condition by X, the road grade of the road surface to be measured is measured by the driving mode.
  • step S3 the measuring vehicle travels on the road surface to be tested, and the parameter X is calculated according to the data collected by the vibration sensor, and the road surface level of the road surface to be tested is determined according to the calculation result, and marked on the electronic map.
  • Steps S1 and S3 further include marking the primary node and the child node when marking the road surface level information on the electronic map.
  • the primary node is used to separate different road condition levels, and the primary node is a junction point of different road surface levels.
  • the main node is marked, the coordinates of the main node, the road grade and the road condition photos are marked together.
  • the main node does not appear only at the junction level of the road grade.
  • the same road grade can add multiple photos indicating the coordinates, road grade and road condition. Node, but the master node must be marked when the road grade changes.
  • the pavement level of the main node is usually the road grade after the change; the sub-node is the coordinate point automatically added by the timing or the distance when the road grade does not change before, for example, after the main node, one sub-node is added every 1 minute or 1 km. Subsection The road grade of the point is the same as the closest road grade at the former main node.
  • the child nodes may also include intersections, road turns, landmark buildings or scenic spots.
  • step S3 the data and coordinate information collected by the vibration sensor are wirelessly transmitted to the remote server, and the remote server performs calculation processing, and the road surface level information is determined and marked on the electronic map in real time.
  • step S1 a similar method may also be adopted to receive the data sent by the mobile terminal by the remote server for unified processing.
  • the special case correction is performed when the road surface has the following conditions: snow on the road surface, ice armor, falling rock; road surface wading; road slope is greater than the threshold; the road surface is sediment, Better reflect the physical information of the road.
  • Figure 2 shows the specific implementation of the physical information of a road condition using the present invention.
  • the road condition information is collected, and the road grade is determined by photographing, sensor data collection, etc., when the road grade changes.
  • the master node is tagged for collection. After the master node is marked, the child node tag is collected. The data is uploaded to the remote server immediately during the collection process.
  • the steps of a method or algorithm described in the embodiments disclosed herein may be implemented directly in hardware, a software module executed by a processor, or a combination of both.
  • the software module can be placed in random access memory (RAM), memory, read only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or technical field. Any other form of storage medium known.
  • the electronic map-based physical information drawing and query method based on the electronic map of the present invention fills the blank of the current electronic map without road surface condition information, and the road condition of the current user needs to query a certain road can only be through a search engine or a social means.
  • the invention can greatly improve the efficiency of the user to acquire the target information, and the information is more intuitive and accurate.

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Abstract

A road condition physical information drawing and inquiring method based on an electronic map, comprising the following steps: S1, a mobile terminal with a locating function and a camera shooting function is used to move on a pavement, manually determine a pavement grade, and mark on an electronic map; S2, install a vibration sensor on a measurement vehicle, the measurement vehicle runs on a road with the pavement grade already marked, and collects vibration data of the vibration sensor; for each pavement grade, obtain an X value taking interval corresponding to the pavement grade by means of running and collection; the measurement vehicle carries a locating apparatus and a speed measuring apparatus; and S3, the measurement vehicle runs on a to-be-tested pavement, calculate, according to the data collected by the vibration sensor, a parameter x, determine, according to a calculation result, a pavement grade of the to-be-tested pavement, and mark on the electronic map. The method fills a gap of the current electronic map having no road condition information, can greatly improve the efficiency for a user to acquire target information, and can obtain more intuitive and precise information.

Description

基于电子地图的路况物理信息绘制及查询方法Road condition physical information drawing and query method based on electronic map 技术领域Technical field
本发明属于地理信息技术领域，涉及一种基于电子地图的路况物理信息绘制及查询方法。The invention belongs to the field of geographic information technology, and relates to a method for drawing and querying physical information of road conditions based on electronic maps.
背景技术Background technique
实时路况主要是查看城市主要交通要道及城市间连接通道公路的拥堵、缓行、畅通状况以及是否有发生突发事故、施工等信息。通过实时交通地图、路况视频、交通事件的展现形式，方便广大出行用户。实时路况已经是一项成熟的车载智能交通导航技术。实时路况能实时反映区域内交通文字路况，指引最佳、最快捷的行驶路线，提高道路和车辆的使用效率。但现有的实时路况技术中，仅关注道路的拥堵情况，根据平均车速或车辆刹车频率等因素判断道路交通拥堵状况，对路况物理信息，即路面自身状态没有涉及，实际上，路面材料、路面宽度、平整度、坡度、路面破损分布等路况物理信息同样是驾车出行的重要影响因素，较差路面对车辆性能要求高，特别是在部分自然风景区，路况物理信息更可能是决定路面通行能力的首要因素。而现有的实时路况技术，不能反应路况物理信息。The real-time road conditions are mainly to check the traffic congestion, slow-moving and smooth conditions of the main traffic routes of the city and the connecting roads between cities, and whether there are any accidents or constructions. Through the real-time traffic maps, road conditions video, and the presentation of traffic events, it is convenient for the majority of travel users. Real-time road conditions are already a mature vehicle-mounted intelligent traffic navigation technology. Real-time road conditions can reflect the traffic texts in the area in real time, guide the best and fastest driving routes, and improve the efficiency of roads and vehicles. However, in the existing real-time road condition technology, only the road congestion situation is concerned, and the road traffic congestion condition is judged according to factors such as the average vehicle speed or the vehicle braking frequency, and the physical information of the road condition, that is, the road surface state is not involved, in fact, the road material and the road surface are actually involved. Physical information such as width, flatness, slope, and pavement damage distribution are also important factors in driving. The poor road surface requires high performance. Especially in some natural scenic areas, physical information of road conditions is more likely to determine road traffic. The primary factor of ability. The existing real-time road condition technology cannot reflect the physical information of the road condition.
发明内容Summary of the invention
为克服现有实时路况技术中，仅关注道路的拥堵情况、不能反应路况物理信息的技术缺陷，本发明公开了一种基于电子地图的路况物理信息绘制及查询方法。In order to overcome the technical defects of the current real-time road condition technology, focusing only on the road congestion situation and the inability to reflect the road condition physical information, the present invention discloses a road map physical information drawing and query method based on the electronic map.
本发明所述基于电子地图的路况物理信息绘制及查询方法，其特征在于，包括如下步骤：The method for drawing and querying physical information of a road condition based on an electronic map according to the present invention is characterized in that it comprises the following steps:
S1使用具有定位功能和摄像功能的移动终端在路面上移动，人工判断出路面等级并在电子地图上作出标记；The S1 uses a mobile terminal having a positioning function and a camera function to move on the road surface, manually determines the road grade and marks on the electronic map;
S2在测量车辆上安装振动传感器，测量车辆在已经标记出路面等级的道路上行驶并采集振动传感器的振动数据：S2 installs a vibration sensor on the measuring vehicle, measures the vehicle to travel on the road that has been marked with the road grade and collects the vibration data of the vibration sensor:
定义参数X＝f(Si)＝(1/V2)×STDEV(Si)，其中STDEV表示对括号内的值求标准偏差，Si为振动数据，下标i用于区别不同位置的振动传感器；对每一路面等级，通过行驶采集得到该路面等级对应的X取值区间；所述测量车辆上携带有定位装置和测速装置；Define the parameter X=f(Si)=(1/V 2 )×STDEV(Si), where STDEV represents the standard deviation of the values in the brackets, Si is the vibration data, and the subscript i is used to distinguish the vibration sensors at different positions; For each road grade, the X value interval corresponding to the road grade is obtained by driving acquisition; the measuring vehicle carries a positioning device and a speed measuring device;
S3测量车辆在待测路面上行驶，根据振动传感器采集的数据进行参数X的计算并根据计算结果判定出待测路面的路面等级，并标记在电子地图上。The S3 measures the vehicle to travel on the road surface to be tested, calculates the parameter X according to the data collected by the vibration sensor, and determines the road surface grade of the road surface to be tested according to the calculation result, and marks it on the electronic map.
优选的，所述振动传感器安装在测量车辆的每一行驶车轮的减震支柱处。Preferably, the vibration sensor is mounted at a shock absorbing strut of each traveling wheel of the measuring vehicle.
优选的，所述对路面等级的标记方法为：不同的路面等级显示不同的颜色。Preferably, the marking method for the road surface level is: different road surface levels display different colors.
优选的，所述步骤S1和S3在将路面等级信息标记在电子地图上时，还包括标记主节点和 子节点，所述主节点为不同路面等级的交界点，标记主节点时，一并标示主节点的坐标、路面等级和照片；所述子节点为路面等级前后不发生变化时定时或定距自动添加的坐标点。Preferably, the steps S1 and S3 further include marking the master node and marking the road surface level information on the electronic map. The child node is a junction point of different road grades. When the master node is marked, the coordinates, road grade and photos of the master node are marked together; the child nodes are automatically timed or fixed when the road grade does not change before and after the road grade. The added coordinate point.
进一步的，所述子节点还包括交叉路口、道路拐弯、标志性建筑或景点处。Further, the child node further includes an intersection, a road turn, an iconic building or an attraction.
优选的，所述步骤S1中，人工通过移动终端采集的坐标信息、路面等级信息和路面图片信息通过无线方式发送至远端服务器，由远端服务器进行计算处理，并将路面等级信息实时判定和标记在电子地图上。Preferably, in the step S1, the coordinate information, the road grade information and the road surface image information manually collected by the mobile terminal are wirelessly transmitted to the remote server, and the remote server performs calculation processing, and the road grade information is determined in real time. Mark on the electronic map.
优选的，所述步骤S3中，振动传感器采集的数据及坐标信息通过无线方式发送至远端服务器，由远端服务器进行计算处理，并将路面等级信息实时判定和标记在电子地图上。Preferably, in the step S3, the data and coordinate information collected by the vibration sensor are wirelessly transmitted to the remote server, and the remote server performs calculation processing, and the road grade information is determined and marked on the electronic map in real time.
优选的，所述步骤S3中，进行参数X的计算时还包括特殊情况修正，修正方式为对特殊情况进行评分得到C＝∑Ui，其中Ui为第i项特殊路况预先设置的评分，以X’作为修正后的参数，其中X’＝X+C，所述特殊情况修正在路面发生以下情况时进行：路面有积雪、冰甲、落石；路面涉水；路面坡度大于阈值；路面为泥沙。Preferably, in the step S3, the calculation of the parameter X further includes a special case correction, and the correction mode is to score a special case to obtain C=∑Ui, where Ui is a preset score of the i-th special road condition, and X 'As a modified parameter, where X'=X+C, the special case correction is performed when the road surface has the following conditions: snow on the road surface, ice armor, falling rock; road surface wading; road slope is greater than the threshold; pavement is mud sand.
采用本发明所述基于电子地图的路况物理信息绘制及查询方法，填补了当前电子地图没有路面路况信息的空白，相对于目前用户需要查询某条道路的路面路况只能通过搜索引擎或者社交手段，本发明能够大幅提高用户获取目标信息的效率，并且信息更加直观和精确。The electronic map-based physical information drawing and query method based on the electronic map of the present invention fills the blank of the current electronic map without road surface condition information, and the road condition of the current user needs to query a certain road can only be through a search engine or a social means. The invention can greatly improve the efficiency of the user to acquire the target information, and the information is more intuitive and accurate.
附图说明DRAWINGS
图1为本发明一种具体实施方式结构示意图；1 is a schematic structural view of a specific embodiment of the present invention;
图2为采用本发明完成路况物理信息采集的一种具体实施方式结构示意图；2 is a schematic structural view of a specific implementation manner of completing physical information collection of road conditions by using the present invention;
图3为本发明中采集主节点和子节点的一种具体实施方式结构示意图；3 is a schematic structural diagram of a specific implementation manner of collecting a master node and a child node according to the present invention;
图4所示表格为本发明中路况分级的一种具体实施方式；The table shown in FIG. 4 is a specific implementation manner of the road condition classification in the present invention;
图5为本发明中对车辆行驶中抖动的受力及位移分析示意图。FIG. 5 is a schematic diagram of the force and displacement analysis of the vehicle during running in the present invention.
具体实施方式detailed description
下面结合附图，对本发明的具体实施方式作进一步的详细说明。The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings.
本发明所述基于电子地图的路况物理信息绘制及查询方法，包括如下步骤：The method for drawing and querying physical information of a road condition based on an electronic map according to the present invention comprises the following steps:
S1使用具有定位功能和摄像功能的移动终端在路面上移动，人工判断出路面等级并在电子地图上作出标记；The S1 uses a mobile terminal having a positioning function and a camera function to move on the road surface, manually determines the road grade and marks on the electronic map;
步骤S1中，通常使用智能手机或车载行车记录仪等设备，车辆在路面行驶时即时记录路面图像，由测量人员目测路面宽度、平整度、坡度等信息，综合车辆行驶速度因素，自行判断出路面等级，同时定时不断的发回移动终端的地理坐标，从而在电子地图上得到不同坐标的路况信息。图4给出了本发明中对路面等级的一种划分方式，路况物理信息分为五级，每一 等级在电子地图上以不同颜色区分，最差一级为小汽车无法通过，通过在电子地图的地图上标示不同的颜色进行路面等级标记。In step S1, a device such as a smart phone or a vehicle driving recorder is usually used. When the vehicle is traveling on the road surface, the road surface image is recorded immediately, and the measuring personnel visually measure the road width, the flatness, the slope and the like, and comprehensively determine the driving speed factor of the vehicle and determine the road surface by itself. The level, at the same time, is continuously sent back to the geographic coordinates of the mobile terminal, thereby obtaining road condition information of different coordinates on the electronic map. Figure 4 shows a division of the road grade in the present invention. The physical information of the road condition is divided into five levels, each Levels are distinguished by different colors on the electronic map. The worst level is that the car cannot pass, and the road grade mark is marked by marking different colors on the map of the electronic map.
S1中通过人工采集路面信息进行路况预判，人工采集路况物理信息存在较多的主观因素，虽然可以采用多人反复采集的结果综合考虑，但无疑增大了人工成本。本发明中，进一步通过步骤S2中的传感器测量对路况物理信息进行定量的定义。In S1, the road condition is pre-judged by manually collecting road surface information. There are many subjective factors in manually collecting road condition physical information. Although the results of repeated collection by multiple people can be comprehensively considered, the labor cost is undoubtedly increased. In the present invention, the physical information of the road condition is further quantitatively defined by the sensor measurement in step S2.
步骤S2中，在测量车辆上安装振动传感器，测量车辆在已经标记出路面等级的道路上行驶并采集振动传感器的振动数据：In step S2, a vibration sensor is mounted on the measuring vehicle, and the vehicle is measured to travel on the road on which the road grade has been marked and the vibration data of the vibration sensor is collected:
定义参数X＝f(Si)＝(1/V2)×STDEV(Si)，其中STDEV表示对括号的值求标准偏差，Si为振动数据，下标i用于区别不同位置的振动传感器；对每一路面等级，通过行驶采集得到该路面等级对应的X取值区间；所述测量车辆上携带有定位装置和测速装置。Define the parameter X=f(Si)=(1/V 2 )×STDEV(Si), where STDEV represents the standard deviation of the value of the brackets, Si is the vibration data, and the subscript i is used to distinguish the vibration sensors at different positions; For each road grade, the X value interval corresponding to the road grade is obtained by running the vehicle; the measuring vehicle carries the positioning device and the speed measuring device.
如图5所示，为行驶车辆的车轮遇到障碍物时的简化后的受力位移分析示意图，图5中以车辆前进方向为X坐标，垂直于地面方向为Y坐标。As shown in FIG. 5, it is a schematic diagram of a simplified force displacement analysis when the wheel of the traveling vehicle encounters an obstacle. In FIG. 5, the vehicle forward direction is an X coordinate, and the vertical direction is a Y coordinate.
车辆颠簸是因为与地面接触的轮子在受到碰撞时各个方向受力的不均造成的，最影响汽车行驶颠簸程度的受力方向为垂直于前行方向的力，但由于受力过程在汽车行驶过程中难以测定，因此本发明通过测量各车轮垂直方向的加速度Ayi＝Si来代替。其中i用于区别不同位置的传感器，y表示在图5中Y轴方向的分量向量。如图5所示，在车轮以沿X轴方向撞击障碍物时，在Y轴方向的阻力分量为Fyi。The bumps of the vehicle are caused by the uneven force in all directions when the wheels in contact with the ground are subjected to collision. The direction of the force that most affects the bumpiness of the car is the force perpendicular to the forward direction, but the force is in the car. It is difficult to measure in the process, so the present invention is replaced by measuring the acceleration Ayi = Si in the vertical direction of each wheel. Where i is used to distinguish sensors at different positions, and y is the component vector in the Y-axis direction in FIG. As shown in FIG. 5, when the wheel hits the obstacle in the X-axis direction, the resistance component in the Y-axis direction is Fyi.
根据力学原理及，可以得到According to the mechanics principle, you can get
Fyi﹒Ti＝m﹒△VyiFyi. Ti=m. △Vyi
Fyi＝m﹒AyiFyi=m. Ayi
Ti＝D/VTi=D/V
△Vyi＝Vyi–0＝Vyi△Vyi=Vyi–0=Vyi
Vyi＝V﹒cosθVyi=V. Cosθ
其中m为车辆质量，V为车辆速度，Vyi为撞击后在Y轴方向产生的速度分量，△Vyi为碰撞过程中在Y轴方向的速度分量的变化量，Ti为碰撞过程持续时间，D为车轮在碰撞过程中的位移量，θ为车轮碰撞后移动方向与Y轴的夹角。Where m is the mass of the vehicle, V is the vehicle speed, Vyi is the velocity component produced in the Y-axis direction after the impact, ΔVyi is the amount of change in the velocity component in the Y-axis direction during the collision, Ti is the duration of the collision process, D is The amount of displacement of the wheel during the collision, θ is the angle between the moving direction of the wheel after the collision and the Y-axis.
由以上公式组得出：From the above formula group:
m﹒Ayi﹒D/V＝m﹒Vyim. Ayi. D/V=m. Vyi
D/cosθ＝V2/AyiD/cosθ=V 2 /Ayi
其中D做为碰撞位移，仅与撞击速度和撞击物体的材料有关，在角度固定的情况下，D/cos θ可近似认为是与车辆质量无关的常量，可以得出各车轮垂直加速度Ayi与速度平方成反比。以上公式及验证推理过程基于大量行驶所得到的数据，对于普通轿车，车轮周长通常在1-2米范围内，行驶100公里以上可以得到数万个车轮周期的加速度数据，可以认为满足数据量要求。进一步对得到的大量加速度数据取标准偏差，本发明最终确定用于表示车辆振动的参数Where D is the collision displacement, which is only related to the impact velocity and the material of the impacting object. In the case of fixed angle, D/cos θ can be approximated as a constant independent of the mass of the vehicle, and it can be concluded that the vertical acceleration Ayi of each wheel is inversely proportional to the square of the velocity. The above formula and the verification reasoning process are based on the data obtained from a large number of driving. For ordinary cars, the wheel circumference is usually in the range of 1-2 meters, and the acceleration data of tens of thousands of wheel cycles can be obtained by driving more than 100 kilometers, which can be considered as satisfying the data amount. Claim. Further taking the standard deviation of the obtained large amount of acceleration data, the present invention finally determines the parameter for indicating the vibration of the vehicle.
X＝f(Si)＝(1/V2)×STDEV(Si)。X = f (Si) = (1/V 2 ) × STDEV (Si).
振动传感器通常安装在测量车辆的每一行驶车轮的减震支柱处，行驶轮的减震支柱能最直接的测量到车轮的纵向运动幅度，没有干扰和车辆其他部件的减震措施抵消，得到的振动数据更真实。The vibration sensor is usually installed at the shock struts of each traveling wheel of the vehicle. The shock struts of the running wheel can directly measure the longitudinal movement amplitude of the wheel without interference and the damping measures of other components of the vehicle. The vibration data is more realistic.
例如以常见的四轮车辆为例，在汽车四个轮胎减震设施下面的支柱处安装传感器，用于记录每个轮子的运动状态(S1,S2,S3,S4)，以4个轮子的运动状态为基础建立一个影响当前路面等级判定的参数方程式。For example, in a common four-wheeled vehicle, a sensor is installed at a pillar below the four tire damping devices of the automobile for recording the motion state of each wheel (S 1 , S 2 , S 3 , S 4 ) to 4 Based on the motion state of the wheels, a parametric equation affecting the determination of the current road grade is established.
xi＝f(S1i,S2i,S3i,S4i)x i =f(S 1i ,S 2i ,S 3i ,S 4i )
其中xi指能够反映路面等级的某一参数指标，例如某一时间点四个点的加速度垂直于车辆行进方向向量值的标准偏差。用该测量车辆在已有路况数据的道路上进行大量行驶实验，从而获得各级路面xi的范围区间，并得出一个用于反应当前路面难度的综合参数X＝f(xi)用于判定路面等级。Where x i refers to a parameter index that can reflect the grade of the road surface, for example, the acceleration of four points at a certain time point is perpendicular to the standard deviation of the vector value of the direction of travel of the vehicle. Using the measurement vehicle to carry out a large number of driving experiments on the road with existing road condition data, thereby obtaining the range of the road surface x i of each level, and obtaining a comprehensive parameter X=f(x i ) for reflecting the current road difficulty is used for Determine the grade of the road.
步骤S2采用振动传感器对步骤S1中的各个路面等级进行了振动数据的定量定义，通过计算X，对各个路面路况等级以X的范围进行定义，克服了测量人员自定义时的主观性和偶然性，提高了路面路况物理等级划分的客观性和可信度。Step S2 uses the vibration sensor to quantitatively define the vibration data of each road surface level in step S1. By calculating X, the road surface condition level is defined by the range of X, which overcomes the subjectivity and contingency of the measurement personnel when customizing. Improve the objectivity and credibility of physical grade division of road conditions.
通过以X对路况物理等级进行划分后，再通过行驶方式对待测路面的路面等级进行测量。在步骤S3中，测量车辆在待测路面上行驶，根据振动传感器采集的数据进行参数X的计算并根据计算结果判定出待测路面的路面等级，并标记在电子地图上。After dividing the physical grade of the road condition by X, the road grade of the road surface to be measured is measured by the driving mode. In step S3, the measuring vehicle travels on the road surface to be tested, and the parameter X is calculated according to the data collected by the vibration sensor, and the road surface level of the road surface to be tested is determined according to the calculation result, and marked on the electronic map.
步骤S1和S3在将路面等级信息标记在电子地图上时，还包括标记主节点和子节点，如图3所示，主节点用于分隔不同路况等级，所述主节点为不同路面等级的交界点，标记主节点时，一并标示主节点的坐标、路面等级和路况照片，主节点并非仅出现在路面等级交界点上，同一路面等级可以添加多个标示了坐标、路面等级和路况照片的主节点，但路面等级变化时必须标记主节点。Steps S1 and S3 further include marking the primary node and the child node when marking the road surface level information on the electronic map. As shown in FIG. 3, the primary node is used to separate different road condition levels, and the primary node is a junction point of different road surface levels. When the main node is marked, the coordinates of the main node, the road grade and the road condition photos are marked together. The main node does not appear only at the junction level of the road grade. The same road grade can add multiple photos indicating the coordinates, road grade and road condition. Node, but the master node must be marked when the road grade changes.
主节点的路面等级通常为变化之后的路面等级；子节点为路面等级前后不发生变化时定时或定距自动添加的坐标点，例如主节点之后，每行驶1分钟或1公里添加一个子节点，子节 点的路面等级与最接近的在前主节点的路面等级一致。为方便用户查询路况，子节点还可以包括交叉路口、道路拐弯、标志性建筑或景点处等。The pavement level of the main node is usually the road grade after the change; the sub-node is the coordinate point automatically added by the timing or the distance when the road grade does not change before, for example, after the main node, one sub-node is added every 1 minute or 1 km. Subsection The road grade of the point is the same as the closest road grade at the former main node. In order to facilitate the user to query the road conditions, the child nodes may also include intersections, road turns, landmark buildings or scenic spots.
在所述步骤S3中，振动传感器采集的数据及坐标信息通过无线方式发送至远端服务器，由远端服务器进行计算处理，并将路面等级信息实时判定和标记在电子地图上。在步骤S1中，也可以采用类似方法，以远端服务器接收移动终端发送的数据，进行统一处理。In the step S3, the data and coordinate information collected by the vibration sensor are wirelessly transmitted to the remote server, and the remote server performs calculation processing, and the road surface level information is determined and marked on the electronic map in real time. In step S1, a similar method may also be adopted to receive the data sent by the mobile terminal by the remote server for unified processing.
所述步骤S3中，进行参数X的计算时还包括特殊情况修正，修正方式为对特殊情况进行评分得到C＝∑Ui，其中Ui为第i项特殊路况预先设置的评分，以X’作为修正后的参数，其中X’＝X+C，所述特殊情况修正在路面发生以下情况时进行：路面有积雪、冰甲、落石；路面涉水；路面坡度大于阈值；路面为泥沙，以更好的体现路况物理信息。In the step S3, the calculation of the parameter X further includes a special case correction, and the correction mode is to score a special case to obtain C=∑Ui, where Ui is a preset score of the i-th special road condition, and the X' is used as a correction. After the parameter, where X'=X+C, the special case correction is performed when the road surface has the following conditions: snow on the road surface, ice armor, falling rock; road surface wading; road slope is greater than the threshold; the road surface is sediment, Better reflect the physical information of the road.
图2所示给出了使用本发明完成一条道路路况物理信息的具体实现方式，用户登陆通过后，开始进行路况信息采集，通过拍照、传感器数据收集等形式确定路面等级，在路面等级变化时进行主节点标记采集，主节点标记完成后进行子节点标记采集，采集过程中即时将数据上传至远端服务器。Figure 2 shows the specific implementation of the physical information of a road condition using the present invention. After the user logs in, the road condition information is collected, and the road grade is determined by photographing, sensor data collection, etc., when the road grade changes. The master node is tagged for collection. After the master node is marked, the child node tag is collected. The data is uploaded to the remote server immediately during the collection process.
本发明中所公开的实施例描述的方法或算法的步骤可以直接用硬件、处理器执行的软件模块，或者二者的结合来实施。软件模块可以置于随机存储器(RAM)、内存、只读存储器(ROM)、电可编程ROM、电可擦除可编程ROM、寄存器、硬盘、可移动磁盘、CD-ROM、或技术领域内所公知的任意其它形式的存储介质中。The steps of a method or algorithm described in the embodiments disclosed herein may be implemented directly in hardware, a software module executed by a processor, or a combination of both. The software module can be placed in random access memory (RAM), memory, read only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or technical field. Any other form of storage medium known.
采用本发明所述基于电子地图的路况物理信息绘制及查询方法，填补了当前电子地图没有路面路况信息的空白，相对于目前用户需要查询某条道路的路面路况只能通过搜索引擎或者社交手段，本发明能够大幅提高用户获取目标信息的效率，并且信息更加直观和精确。The electronic map-based physical information drawing and query method based on the electronic map of the present invention fills the blank of the current electronic map without road surface condition information, and the road condition of the current user needs to query a certain road can only be through a search engine or a social means. The invention can greatly improve the efficiency of the user to acquire the target information, and the information is more intuitive and accurate.
前文所述的为本发明的各个优选实施例，各个优选实施例中的优选实施方式如果不是明显自相矛盾或以某一优选实施方式为前提，各个优选实施方式都可以任意叠加组合使用，所述实施例以及实施例中的具体参数仅是为了清楚表述发明人的发明验证过程，并非用以限制本发明的专利保护范围，本发明的专利保护范围仍然以其权利要求书为准，凡是运用本发明的说明书及附图内容所作的等同结构变化，同理均应包含在本发明的保护范围内。 The foregoing description of the preferred embodiments of the present invention, the preferred embodiments of the preferred embodiments may be arbitrarily combined and used in any preferred embodiment. The specific parameters of the embodiments and the examples are only for the purpose of clearly indicating the inventor's invention verification process, and are not intended to limit the scope of patent protection of the present invention. The scope of patent protection of the present invention is still subject to the claims, and the application is The equivalent structural changes made in the specification and the drawings of the present invention are also included in the scope of the present invention.

Claims (8)

  1. 基于电子地图的路况物理信息绘制及查询方法，其特征在于，包括如下步骤：A method for drawing and querying physical conditions of road conditions based on an electronic map, comprising the following steps:
    S1使用具有定位功能和摄像功能的移动终端在路面上移动，人工判断出路面等级并在电子地图上作出标记；The S1 uses a mobile terminal having a positioning function and a camera function to move on the road surface, manually determines the road grade and marks on the electronic map;
    S2在测量车辆上安装振动传感器，测量车辆在已经标记出路面等级的道路上行驶并采集振动传感器的振动数据：S2 installs a vibration sensor on the measuring vehicle, measures the vehicle to travel on the road that has been marked with the road grade and collects the vibration data of the vibration sensor:
    定义参数X＝f(Si)＝(1/V2)×STDEV(Si)，其中STDEV表示对括号内的值求标准偏差，Si为振动数据，下标i用于区别不同位置的振动传感器；对每一路面等级，通过行驶采集得到该路面等级对应的X取值区间；所述测量车辆上携带有定位装置和测速装置；Define the parameter X=f(Si)=(1/V 2 )×STDEV(Si), where STDEV represents the standard deviation of the values in the brackets, Si is the vibration data, and the subscript i is used to distinguish the vibration sensors at different positions; For each road grade, the X value interval corresponding to the road grade is obtained by driving acquisition; the measuring vehicle carries a positioning device and a speed measuring device;
    S3测量车辆在待测路面上行驶，根据振动传感器采集的数据进行参数X的计算并根据计算结果判定出待测路面的路面等级，并标记在电子地图上。The S3 measures the vehicle to travel on the road surface to be tested, calculates the parameter X according to the data collected by the vibration sensor, and determines the road surface grade of the road surface to be tested according to the calculation result, and marks it on the electronic map.
  2. 如权利要求1所述基于电子地图的路况物理信息绘制及查询方法，其特征在于，所述振动传感器安装在测量车辆的每一行驶车轮的减震支柱处。The electronic map-based road condition physical information drawing and query method according to claim 1, wherein the vibration sensor is installed at a shock absorbing strut of each traveling wheel of the measuring vehicle.
  3. 如权利要求1所述基于电子地图的路况物理信息绘制及查询方法，其特征在于，所述对路面等级的标记方法为：不同的路面等级显示不同的颜色。The electronic map-based road condition physical information drawing and query method according to claim 1, wherein the marking method for the road surface level is: different road surface levels display different colors.
  4. 如权利要求1所述基于电子地图的路况物理信息绘制及查询方法，其特征在于，所述步骤S1和S3在将路面等级信息标记在电子地图上时，还包括标记主节点和子节点，所述主节点为不同路面等级的交界点，标记主节点时，一并标示主节点的坐标、路面等级和照片；所述子节点为路面等级前后不发生变化时定时或定距自动添加的坐标点。The electronic map-based road condition physical information drawing and querying method according to claim 1, wherein the steps S1 and S3 further include marking a master node and a child node when the road surface level information is marked on the electronic map, The master node is the junction point of different road grades. When the master node is marked, the coordinates, road grade and photo of the master node are marked together; the child nodes are coordinate points automatically added by timing or distance when the road grade does not change before and after.
  5. 如权利要求4所述基于电子地图的路况物理信息绘制及查询方法，其特征在于，所述子节点还包括交叉路口、道路拐弯、标志性建筑或景点处。The electronic map-based road condition physical information drawing and query method according to claim 4, wherein the child node further comprises an intersection, a road turn, an iconic building or an attraction.
  6. 如权利要求1所述基于电子地图的路况物理信息绘制及查询方法，其特征在于，所述步骤S1中，人工通过移动终端采集的坐标信息、路面等级信息和路面图片信息通过无线方式发送至远端服务器，由远端服务器进行计算处理，并将路面等级信息实时判定和标记在电子地图上。The electronic map-based physical information drawing and querying method based on the electronic map according to claim 1, wherein in the step S1, the coordinate information, the road surface level information and the road surface image information manually collected by the mobile terminal are wirelessly transmitted to the far side. The end server is calculated and processed by the remote server, and the road grade information is determined and marked on the electronic map in real time.
  7. 如权利要求1所述基于电子地图的路况物理信息绘制及查询方法，其特征在于，所述步骤S3中，振动传感器采集的数据及坐标信息通过无线方式发送至远端服务器，由远端服务器进行计算处理，并将路面等级信息实时判定和标记在电子地图上。The method for drawing and querying the physical information of the road condition based on the electronic map according to claim 1, wherein in the step S3, the data and coordinate information collected by the vibration sensor are wirelessly transmitted to the remote server, and are performed by the remote server. The calculation process is performed, and the road grade information is determined and marked on the electronic map in real time.
  8. 如权利要求1所述基于电子地图的路况物理信息绘制及查询方法，其特征在于，所述步骤S3中，进行参数X的计算时还包括特殊情况修正，修正方式为对特殊情况进行评分得到C＝∑Ui，其中Ui为第i项特殊路况预先设置的评分，以X’作为修正后的参数，其中X’ ＝X+C，所述特殊情况修正在路面发生以下情况时进行：路面有积雪、冰甲、落石；路面涉水；路面坡度大于阈值；路面为泥沙。 The method for drawing and querying physical condition information based on an electronic map according to claim 1, wherein in the step S3, the calculation of the parameter X further includes special case correction, and the correction mode is to score a special case to obtain C. =∑Ui, where Ui is the pre-set score for the i-th special road condition, with X' as the corrected parameter, where X' =X+C, the special case correction is carried out when the road surface has the following conditions: snow on the road surface, ice armor, falling rock; road surface wading; road slope is greater than the threshold; the road surface is sediment.
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