A road network level road surface technical condition detection path planning method

Abstract

This invention provides a road network-level pavement technical condition detection path planning method, comprising: determining the current mileage marker coordinates corresponding to the road network to be detected based on the number of detection vehicles; determining all detection road segments corresponding to the current mileage marker coordinates based on the current mileage marker coordinates; determining recommended detection road segments from all detection road segments; traversing all remaining mileage marker coordinates, and determining the planned path corresponding to the road network to be detected based on the recommended detection road segments. The road network-level pavement technical condition detection path planning method provided by this invention divides the road network to be detected into several detection road segments with mileage marker coordinates as nodes, and uses these detection road segments as basic traversal units to traverse all detection road segments, ultimately determining the final planned path. This method avoids the drawback of detection vehicles traversing numerous backtracks, reducing detection time and labor costs; furthermore, this method is more scientific and efficient.

Description

Technical Field

[0001] This invention relates to the field of road network-level highway pavement technology, and in particular to a road network-level pavement technical condition detection path planning method. Background Technology

[0002] According to the "Highway Technical Condition Assessment Standard" (JTG 5210-2018), road maintenance units are required to conduct a full-coverage inspection of road surface damage and smoothness on provincial highways across the country every year to ensure the construction quality of highways, ensure that highways are safe, reliable and usable, and provide strong protection for the public's safe driving.

[0003] Currently, the method for inspecting the pavement technical condition of highways at the road network level involves maintenance personnel from the management unit using inspection vehicles to inspect the road network under inspection, thereby completing the assessment of the Pavement Technical Condition Index (PQI) for the road network. Before inspection, maintenance personnel first need to plan the inspection route for the road network to be inspected, and then complete the inspection according to this route. However, currently, maintenance personnel plan the routes for the road network to be inspected manually using electronic maps, paper road network maps, etc., but manual planning has the following drawbacks:

[0004] 1. Using the guidance of technical personnel from the management unit requires additional investment in maintenance vehicles and related technical personnel, resulting in a waste of human and material resources and increased testing costs.

[0005] 2. Conventional electronic or paper maps cannot directly plan routes. It is necessary to manually query historical data and maintenance information to plan the route. However, there are many nodes on ordinary national and provincial highways. To complete tens of thousands of kilometers of inspection, it is inefficient and unscientific and unreasonable to use manual route planning. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the existing technology and provide a road network-level pavement technical condition detection path planning method.

[0007] A road network-level pavement technical condition detection path planning method includes:

[0008] Based on the number of inspection vehicles, determine the current mileage marker coordinates corresponding to the road network to be inspected;

[0009] Based on the current mileage marker coordinates, determine all the detection road segments corresponding to the current mileage marker coordinates;

[0010] Recommended test sections are determined from all the test sections;

[0011] Traverse all remaining kilometer marker coordinates and determine the planned path corresponding to the road network to be tested based on the recommended test road segments.

[0012] Furthermore, in the road network-level pavement technical condition detection path planning method described above, determining the recommended detection road segment from all the detection road segments includes:

[0013] Select the detection segment with the shortest detection time from all the detection segments as the recommended detection segment.

[0014] Furthermore, in the road network-level pavement technical condition detection path planning method described above, if there is a situation where there will be continuous rainfall in some areas of the detection road segment corresponding to the shortest detection time, then the detection road segment corresponding to the second shortest detection time is selected as the recommended detection road segment.

[0015] Furthermore, the road network-level pavement technical condition detection path planning method described above obtains the pavement technical condition index corresponding to the recommended detection road segment and selects the direction with poor road conditions as the detection direction of the recommended detection road segment.

[0016] Furthermore, in the road network-level pavement technical condition detection path planning method described above, the determination of the detection time includes:

[0017] Based on the principle of prioritizing national highways while also considering provincial highways, the corresponding testing time for the recommended testing sections is determined.

[0018] Furthermore, in the road network-level pavement technical condition detection path planning method described above, the determination of the detection time includes:

[0019] The detection time is determined based on the distance between the current mileage marker coordinates and the next mileage marker coordinates;

[0020] If the distance between the current mileage marker coordinates and the next mileage marker coordinates is greater than 500 kilometers, a rest stop shall be determined at a location 350 kilometers away from the current mileage marker coordinates.

[0021] The required testing time for the corresponding testing section is determined based on the rest point.

[0022] Beneficial effects:

[0023] The road network-level pavement technical condition detection path planning method provided by this invention divides the road network to be detected into several detection segments with the coordinates of the piles as nodes, and uses the detection segment as the basic traversal unit to traverse all detection segments, and finally determines the final planned path. This method avoids the defect of the detection vehicle traveling a lot of backtracking, reducing detection time and labor costs; on the other hand, this method is more scientific and efficient. Attached Figure Description

[0024] Figure 1 A flowchart of the path planning method provided by this invention;

[0025] Figure 2 A schematic diagram of the road network to be tested. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention are described clearly and completely below. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0027] Figure 1 The flowchart of the road network-level pavement technical condition detection path planning method provided by the present invention is as follows: Figure 1 As shown, the method includes:

[0028] Step 101: Determine the coordinates of the current mileage markers corresponding to the road network to be inspected based on the number of inspection vehicles.

[0029] Specifically, the road network to be tested is the national and provincial highway network to be tested. Depending on the number of testing vehicles, a certain city can be set as the starting point of the testing task, i.e., the current mileage marker coordinates.

[0030] Step 102: Based on the current mileage marker coordinates, determine all the detection road segments corresponding to the current mileage marker coordinates.

[0031] Specifically, since the road network to be tested has multiple mileage marker coordinates, each pair of mileage marker coordinates constitutes a test road segment. The next mileage marker coordinates corresponding to the current mileage marker coordinates include at least two, therefore, the corresponding test road segments also include at least two test road segments. The purpose of path planning is to select the optimal test road segment from these at least two test road segments as the recommended test road segment.

[0032] Step 103: Determine recommended test sections from all the test sections;

[0033] Step 104: Traverse all remaining mileage marker coordinates and determine the planned path corresponding to the road network to be tested based on the recommended test road segments.

[0034] Specifically, the optimal path is selected from all the road segments corresponding to the road network to be tested as the planned path for the road network to be tested.

[0035] The road network-level pavement technical condition detection path planning method provided by this invention divides the road network to be detected into several detection segments with the coordinates of the piles as nodes, and uses the detection segment as the basic traversal unit to traverse all detection segments, and finally determines the final planned path. This method avoids the defect of the detection vehicle traveling a lot of backtracking, reducing detection time and labor costs; on the other hand, this method is more scientific and efficient.

[0036] The following is a detailed explanation of how to determine recommended inspection sections from all inspection sections:

[0037] Factors determining the recommended road sections for testing include: testing time, road surface technical condition index, rest stop location, and weather information.

[0038] First, select the road segment with the shortest detection time from all the detection segments as the recommended detection segment.

[0039] Secondly, even if the recommended testing section has the shortest testing time, if during the testing process, meteorological data indicates that there will be areas with continuous rainfall, then the route needs to be replanned, i.e., the testing section with the second shortest testing time should be selected as the recommended testing section.

[0040] The determination of the detection time includes: determining the detection time corresponding to the recommended detection road section based on the principle of prioritizing national highways while also considering provincial highways.

[0041] Specifically, national highways are the first choice for testing. If a provincial highway intersects with the national highway to be tested in the testing section, the intersecting provincial highway will also be tested, and the testing time will be calculated. Finally, the sum of the testing time of the provincial highway and the testing time of the national highway will be used as the testing time of the road section to be tested.

[0042] Furthermore, determining the detection time also includes:

[0043] The detection time is determined based on the distance between the current mileage marker coordinates and the next mileage marker coordinates; if the distance between the current mileage marker coordinates and the next mileage marker coordinates is greater than 500 kilometers, a rest stop is determined at a location 350 kilometers away from the current mileage marker coordinates; the detection time required for the corresponding detection section is determined based on the rest stop.

[0044] Finally, regarding the inspection direction, during the route planning process, based on historical road condition data, the system automatically determines the magnitude of the Road Surface Technical Condition Index (PQI) for both directions of the route to be inspected, and selects the direction with poorer road conditions as the recommended inspection section. The PQI includes the following inspection indicators: Road surface damage (DR), International Roughness Index (IRI), Rutting Depth (RD), Road Surface Bounce (PB), Texture Depth (MPD), and Road Lateral Force Coefficient (SFC); and the following evaluation indicators: Road Surface Damage Index (PCI), Road Surface Ride Quality Index (RQI), Road Surface Rutting Depth Index (RDI), Road Surface Bounce Index (PBI), Road Surface Wear Index (PWI), and Skid Resistance Index (SRI).

[0045] Figure 2 A schematic diagram of the road network to be detected is shown below. The method provided by this invention is described in the following section. Figure 2 Let's take an example to explain in detail:

[0046] (1) Based on the national and provincial road network to be inspected, and according to the number of inspection vehicles, a certain city is set as the starting point for the inspection task;

[0047] (2) The route planning method takes road segments as the basic traversal unit and prioritizes national highways while taking provincial highways into account.

[0048] Optimal path planning method: The optimal path planning method is to find paths in an undirected graph where all vertices (except the start and end points) are distinct, and all edges are also distinct. Figure 2 For example: Starting from the mileage marker coordinate ①, taking the national highway closest to a certain city as the starting point, the detection path follows this route, where the detection time for road segments ① and ② is 4 days, and the detection time for road segments ① and ③ is 3 days; then road segments ① and ③ are selected as the recommended detection road segments.

[0049] However, during the testing process, after checking the meteorological data, it was found that road sections ① and ③ would experience continuous rainfall in the next two days, so road sections ① and ② were selected as the recommended testing road sections.

[0050] Next, starting from kilometer marker coordinate ②, the detection time is calculated sequentially in the directions of kilometer marker coordinates ④, ⑤, and ⑥, and iterated sequentially until all road segments of the road network to be detected have been traversed. Then the task terminates and the final planned path is determined.

[0051] The path planning method provided by this invention has the following advantages:

[0052] 1. The planned inspection path is automatically planned by the system platform without human intervention. During the inspection process, the vehicle completes the inspection entirely according to the planned path, which enhances the objectivity of the inspection data.

[0053] 2. The inspection process only requires the participation of the inspection unit, eliminating the need for guidance from maintenance unit technicians, thus significantly reducing labor costs. Taking an 18,000-kilometer road network as an example, the guidance personnel would require one guidance vehicle, one driver, and one technician. Based on the current inspection efficiency, the average daily inspection workload is 180 kilometers / day, and the daily mileage is 350 kilometers / day. Therefore, it would take 100 days to complete the relevant tasks. The accommodation standard per person per day is 330 yuan / day, and the travel allowance is 100 yuan / day. Assuming an average fuel consumption of 9L / 100km for off-road vehicles, the total cost would be 1,129,955,000 yuan. This cost represents the initial savings.

[0054] 3. Through automated route planning for the technical condition of highway pavement at the road network level, factors such as road condition level and daily workload can be comprehensively considered. Based on key testing elements such as optimal testing route, testing direction that better conforms to standard requirements, and shortest travel distance, detailed route planning schemes can be generated, which can greatly improve the testing efficiency of testing units.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A path planning method for road network-level pavement technical condition detection, characterized in that, include: Based on the number of inspection vehicles, determine the current mileage marker coordinates corresponding to the road network to be inspected; Based on the current mileage marker coordinates, determine all the detection road segments corresponding to the current mileage marker coordinates; Recommended test sections are determined from all the test sections; Traverse all remaining kilometer marker coordinates and determine the planned path corresponding to the road network to be tested based on the recommended test road segments; The step of determining recommended detection segments from all the detection segments includes: Select the detection segment with the shortest detection time from all the detection segments as the recommended detection segment; If there is a situation where there will be continuous rainfall in some areas of the detection section corresponding to the shortest detection time, then the detection section corresponding to the second shortest detection time shall be selected as the recommended detection section. The determination of the detection time includes: Based on the principle of prioritizing national highways while also considering provincial highways, the corresponding testing time for the recommended testing sections is determined. Obtain the road surface technical condition index corresponding to the recommended detection road segment, and select the direction with poor road conditions as the detection direction of the recommended detection road segment.

2. The road network-level pavement technical condition detection path planning method according to claim 1, characterized in that, The determination of the detection time includes: The detection time is determined based on the distance between the current mileage marker coordinates and the next mileage marker coordinates; If the distance between the current mileage marker coordinates and the next mileage marker coordinates is greater than 500 kilometers, a rest stop shall be determined at a location 350 kilometers away from the current mileage marker coordinates. The required testing time for the corresponding testing section is determined based on the rest point.

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