Road surface longitudinal section collection control method and system, electronic device and storage medium

Abstract

The application relates to the technical field of data processing, in particular to a road surface longitudinal section collection control method and system, an electronic device and a storage medium. The road surface longitudinal section collection control method comprises the following steps: receiving longitudinal section collection data sent by a detection collection device installed on a test vehicle; analyzing the longitudinal section collection data to determine the vertical distance between the detection collection device and a preset reference line; determining whether the vertical distance is equal to a preset threshold distance from the reference line, and if not, determining the movement mode of the detection collection device based on the vertical distance and the middle position of the vehicle-mounted test crossbeam; and controlling the detection collection device to perform movement correction according to the movement mode, so that the detection collection device collects road surface longitudinal section data at the corrected position. The method can realize automatic control and data collection, improve the consistency and reliability of the data, effectively improve the precision and consistency of road surface longitudinal section collection, and provide basic data support for road design and maintenance.

Description

Technical Field

[0001] This application relates to the field of data processing technology, and in particular to a method, system, electronic device and storage medium for acquiring and controlling road longitudinal profile data. Background Technology

[0002] With the development of society and the economy, road facilities are becoming increasingly abundant. To ensure road traffic safety and improve traffic efficiency, the management, maintenance, and upkeep of roads are becoming increasingly important. Road longitudinal profile data collection is a crucial part of road management and maintenance. Road longitudinal profile data collection refers to obtaining information about the road's longitudinal profile by measuring and recording data such as longitudinal slope and undulation. This helps to understand the road's longitudinal profile morphology and provides basic data for road design and maintenance.

[0003] Currently, the process of collecting longitudinal profile data such as road surface smoothness and road surface texture depth in China mostly adopts a multi-point or single-point method, fixing the testing equipment to a vehicle-mounted crossbeam. Data is collected by controlling the operation of the testing equipment. However, since the testing equipment is fixed to the vehicle-mounted crossbeam, the testing mode is greatly affected by vehicle movement and cannot adapt to changes in road conditions in real time, resulting in low reliability of the road longitudinal profile data collected by the testing equipment. Summary of the Invention

[0004] To improve the reliability of road longitudinal profile related data, this application provides a road longitudinal profile acquisition and control method, system, electronic device and storage medium.

[0005] In a first aspect, this application provides a method for collecting and controlling the longitudinal profile of a road surface, including:

[0006] Receive longitudinal profile data sent by the detection and acquisition equipment;

[0007] Analyze the longitudinal profile data to determine the vertical distance between the detection and acquisition device and the preset baseline;

[0008] Determine whether the vertical distance is equal to a preset distance from the baseline threshold. If it is not equal to the distance from the baseline threshold, determine the movement mode of the detection and acquisition device based on the vertical distance and the midpoint of the vehicle-mounted test beam.

[0009] The detection and acquisition device is controlled to perform motion correction according to the described movement method, so that the detection and acquisition device can collect road longitudinal profile data at the corrected position.

[0010] By adopting the above technical solution, the longitudinal profile data sent by the detection and acquisition equipment can be received, enabling real-time acquisition and remote monitoring of road longitudinal profile information. Simultaneously, by analyzing the acquired data, the vertical distance between the detection and acquisition equipment and the preset baseline can be determined, thereby further judging the equipment's position status. The movement mode of the equipment is determined by judging whether the vertical distance is equal to a preset baseline threshold. When the vertical distance is not equal to the preset threshold, the movement direction of the equipment can be determined based on this vertical distance and the midpoint of the vehicle-mounted test beam, effectively improving the accuracy and consistency of road longitudinal profile acquisition. Based on the determined movement mode, precise control of the detection and acquisition equipment can be achieved, allowing it to move and correct along a preset path. This correction method allows the detection and acquisition equipment to acquire road longitudinal profile data at the corrected position, further improving the accuracy and reliability of the acquired data. This solution integrates multiple modules into one system to achieve automated control and data acquisition, which not only improves work efficiency but also reduces human error and intervention, improving data consistency and reliability. Overall, it effectively improves the accuracy and consistency of road longitudinal profile acquisition, providing fundamental data support for road design and maintenance.

[0011] Optionally, the method further includes:

[0012] Obtain the target road for which road longitudinal profile data is currently being collected and the corresponding road longitudinal profile collection route for the target road;

[0013] Based on the road longitudinal profile acquisition route and the default road information corresponding to the target road, road markings are selected from the target road as preset baselines.

[0014] By adopting the above technical solution, the target road information for the current road longitudinal profile data collection can be obtained, enabling the integration and analysis of the target road's road longitudinal profile collection route. This data acquisition and integration method improves the accuracy and efficiency of data collection. Based on the road longitudinal profile collection route and the default road information corresponding to the target road, road markings are selected from the target road as preset baselines. This selection method ensures the accuracy and consistency of the preset baselines, providing a reliable reference for subsequent road longitudinal profile collection. By using the preset baselines, precise control and automated correction of the road longitudinal profile collection equipment can be achieved. This control method improves the accuracy and consistency of the collected data while reducing human intervention and errors. Overall, it can improve the accuracy and consistency of road longitudinal profile collection, provide basic data support for road design and maintenance, and also achieve automated control and optimization, reducing the risk of human intervention and errors, and improving work efficiency and quality.

[0015] Optionally, the method further includes:

[0016] Obtain the vehicle attributes of the test vehicle to which the on-board test beam belongs;

[0017] Based on the vehicle attributes, the default road information, and the longitudinal and transverse road surface data collection routes, a distance threshold from the baseline is generated.

[0018] By adopting the above technical solution, the vehicle attributes of the test vehicle to which the onboard test beam belongs can be obtained, enabling the integration and analysis of vehicle information. This data acquisition and integration method can provide more accurate and reliable data support for subsequent road longitudinal profile data collection. Based on vehicle attributes, default road information, and the road longitudinal and transverse data collection routes, a distance threshold from the baseline is generated. This generation method ensures the accuracy and consistency of the threshold, providing a reliable reference for subsequent road longitudinal profile data collection. Furthermore, by optimizing the threshold, the accuracy and efficiency of road longitudinal profile data collection can be further improved. Overall, this improves the accuracy and consistency of road longitudinal profile data collection, providing fundamental data support for road design and maintenance.

[0019] Optionally, determining the movement mode of the detection and acquisition device based on the vertical distance and the midpoint position of the vehicle-mounted test beam includes:

[0020] The origin is taken as the middle position of the vehicle-mounted test beam;

[0021] Based on the origin and the vertical distance, determine the current position coordinates of the detection and acquisition device;

[0022] The offset coordinates of the detection and acquisition device are determined by calculating the coordinates of the origin and the current position coordinates. The offset coordinates include the sign and the offset value.

[0023] The offset coordinates are converted into the direction of movement and the lateral correction distance corresponding to the direction of movement, and the direction of movement and the lateral correction distance are used as the movement mode of the detection and acquisition device.

[0024] By adopting the above technical solution, the center position of the vehicle-mounted test beam is taken as the origin. Based on the origin and the vertical distance, the current position coordinates of the detection and acquisition equipment can be determined, which can intuitively represent the position of the detection and acquisition equipment on the road surface and provide a basis for subsequent corrections. By calculating the coordinates of the origin and the current position coordinates, the offset coordinates of the detection and acquisition equipment can be determined, including the positive and negative signs and the offset value. This can accurately describe the offset of the detection and acquisition equipment on the road surface and provide a basis for lateral correction. Converting the offset coordinates into the direction of movement and the corresponding lateral correction distance, the movement mode of the detection and acquisition equipment can be further determined, realizing precise control and automated correction of the detection and acquisition equipment, and improving the accuracy and consistency of road longitudinal profile acquisition. Overall, it can improve the accuracy of road longitudinal profile acquisition.

[0025] Optionally, the default road information includes the road length and basic road surface conditions of the target road; the method further includes:

[0026] Based on the road length and basic road surface conditions of the target road, the data collection method for the target road is determined, including single longitudinal profile data collection and multiple longitudinal profile data collection.

[0027] Based on the data collection method and the road length, determine the corresponding road surface detection distance;

[0028] The preset driving speed of the test vehicle to which the vehicle-mounted test beam belongs and the detection start time of the target road are obtained, and the road surface detection distance and the road surface longitudinal section acquisition period corresponding to the detection start time are determined.

[0029] Monitor the timing at which the detection and acquisition device sends the longitudinal section acquisition data;

[0030] When the sending time corresponds to the end time of the road longitudinal profile acquisition period, extract several sets of longitudinal profile acquisition data corresponding to the road longitudinal profile acquisition period.

[0031] Remove the data to be corrected from the aforementioned sets of longitudinal profile acquisition data to determine the standard longitudinal profile acquisition data. The data to be corrected is the longitudinal profile acquisition data used to determine the moment when motion correction is performed on the detection acquisition device.

[0032] According to the acquisition method, the standard longitudinal profile acquisition data is processed to determine the preferred longitudinal profile acquisition data, so as to determine the road condition of the target road based on the preferred longitudinal profile acquisition data. The data processing method includes taking the average value.

[0033] By adopting the above technical solution, the data collection method for the target road can be determined based on its length and basic pavement conditions, including single-pass longitudinal profile collection and multiple-pass longitudinal profile collection. This selection and optimization method can adapt to different road conditions and needs, improving the accuracy and efficiency of data collection. Based on the collection method and road length, the corresponding pavement detection distance can be determined, ensuring the integrity and accuracy of data collection while avoiding data redundancy and waste. When the transmission time corresponds to the end time of the pavement longitudinal profile collection period, several sets of longitudinal profile collection data corresponding to the collection period can be extracted, and data requiring correction can be removed to determine the standard longitudinal profile collection data. This correction method can improve data quality and consistency while avoiding interference from erroneous data. Based on the collection method, data processing is performed on the standard longitudinal profile collection data to determine the optimal longitudinal profile collection data, improving the accuracy and reliability of the data and providing a reliable basis for subsequent road condition analysis.

[0034] Secondly, this application provides a road longitudinal profile acquisition and control system, including: an industrial computer, a detection and acquisition device, a servo motor and a ball screw;

[0035] The detection and acquisition equipment is installed on the on-board test beam of the test vehicle, and the detection and acquisition equipment is used to collect longitudinal section data.

[0036] The industrial control computer is used to receive longitudinal profile data sent by the detection and acquisition device; analyze the longitudinal profile data to determine the vertical distance between the detection and acquisition device and a preset baseline; determine whether the vertical distance is equal to a preset distance threshold from the baseline; if it is not equal to the distance threshold, determine the movement mode of the detection and acquisition device based on the vertical distance and the midpoint position of the vehicle-mounted test beam; and control the detection and acquisition device to perform motion correction according to the movement mode so that the detection and acquisition device can perform road longitudinal profile data acquisition at the corrected position.

[0037] The servo motor is used to drive the ball screw to work according to the movement mode, so as to push the detection and acquisition device to move and complete the motion correction;

[0038] The detection and acquisition equipment is used to collect longitudinal profile data of the road surface at the corrected location.

[0039] Optionally, the industrial computer is also used for:

[0040] Obtain the target road for which road longitudinal profile data is currently being collected and the corresponding road longitudinal profile collection route for the target road;

[0041] Based on the road longitudinal profile acquisition route and the default road information corresponding to the target road, road markings are selected from the target road as preset baselines.

[0042] Optionally, the industrial computer is also used for:

[0043] Obtain the vehicle attributes of the test vehicle to which the on-board test beam belongs;

[0044] Based on the vehicle attributes, the default road information, and the longitudinal and transverse road surface data collection routes, a distance threshold from the baseline is generated.

[0045] Optionally, when the industrial control computer determines the movement mode of the detection and acquisition device based on the vertical distance and the midpoint position of the vehicle-mounted test beam, it is specifically used for:

[0046] The origin is taken as the middle position of the vehicle-mounted test beam;

[0047] Based on the origin and the vertical distance, determine the current position coordinates of the detection and acquisition device;

[0048] The offset coordinates of the detection and acquisition device are determined by calculating the coordinates of the origin and the current position coordinates. The offset coordinates include the sign and the offset value.

[0049] The offset coordinates are converted into the direction of movement and the lateral correction distance corresponding to the direction of movement, and the direction of movement and the lateral correction distance are used as the movement mode of the detection and acquisition device.

[0050] Optionally, the default road information includes the road length and basic road surface conditions of the target road; the industrial control computer is also used for:

[0051] Based on the road length and basic road surface conditions of the target road, the data collection method for the target road is determined, including single longitudinal profile data collection and multiple longitudinal profile data collection.

[0052] Based on the data collection method and the road length, determine the corresponding road surface detection distance;

[0053] The preset driving speed of the test vehicle to which the vehicle-mounted test beam belongs and the detection start time of the target road are obtained, and the road surface detection distance and the road surface longitudinal section acquisition period corresponding to the detection start time are determined.

[0054] Monitor the timing at which the detection and acquisition device sends the longitudinal section acquisition data;

[0055] When the sending time corresponds to the end time of the road longitudinal profile acquisition period, extract several sets of longitudinal profile acquisition data corresponding to the road longitudinal profile acquisition period.

[0056] Remove the data to be corrected from the aforementioned sets of longitudinal profile acquisition data to determine the standard longitudinal profile acquisition data. The data to be corrected is the longitudinal profile acquisition data used to determine the moment when motion correction is performed on the detection acquisition device.

[0057] According to the acquisition method, the standard longitudinal profile acquisition data is processed to determine the preferred longitudinal profile acquisition data, so as to determine the road condition of the target road based on the preferred longitudinal profile acquisition data. The data processing method includes taking the average value.

[0058] Optionally, the road longitudinal profile acquisition and control system also includes a servo motor and a ball screw;

[0059] The servo motor is used to drive the ball screw to work according to the movement mode, so as to push the detection and acquisition device to move and complete the motion correction;

[0060] Thirdly, this application provides an industrial control computer, comprising:

[0061] The data receiving module is used to receive longitudinal section data sent by the detection and acquisition equipment, which is installed on the vehicle-mounted test crossbeam of the test vehicle.

[0062] The vertical distance determination module is used to analyze the longitudinal section data and determine the vertical distance between the detection and acquisition device and the preset baseline.

[0063] The movement mode determination module is used to determine whether the vertical distance is equal to a preset distance from the baseline threshold. If it is not equal to the distance from the baseline threshold, the movement mode of the detection and acquisition device is determined based on the vertical distance and the midpoint of the vehicle-mounted test beam.

[0064] The motion correction module is used to control the detection and acquisition device to perform motion correction according to the movement mode, so that the detection and acquisition device can perform road longitudinal profile data acquisition at the corrected position.

[0065] Optionally, the industrial control computer further includes a preset baseline determination module, used for:

[0066] Obtain the target road for which road longitudinal profile data is currently being collected and the corresponding road longitudinal profile collection route for the target road;

[0067] Based on the road longitudinal profile acquisition route and the default road information corresponding to the target road, road markings are selected from the target road as preset baselines.

[0068] Optionally, the industrial control computer further includes a threshold generation module, used for:

[0069] Obtain the vehicle attributes of the test vehicle to which the on-board test beam belongs;

[0070] Based on the vehicle attributes, the default road information, and the longitudinal and transverse road surface data collection routes, a distance threshold from the baseline is generated.

[0071] Optionally, when determining the movement mode of the detection and acquisition device based on the vertical distance and the midpoint position of the vehicle-mounted test beam, the movement mode determination module is specifically used for:

[0072] The origin is taken as the middle position of the vehicle-mounted test beam;

[0073] Based on the origin and the vertical distance, determine the current position coordinates of the detection and acquisition device;

[0074] The offset coordinates of the detection and acquisition device are determined by calculating the coordinates of the origin and the current position coordinates. The offset coordinates include the sign and the offset value.

[0075] The offset coordinates are converted into the direction of movement and the lateral correction distance corresponding to the direction of movement, and the direction of movement and the lateral correction distance are used as the movement mode of the detection and acquisition device.

[0076] Optionally, the default road information includes the road length and basic road surface conditions of the target road; the industrial control computer also includes a road condition determination module, used for:

[0077] Based on the road length and basic road surface conditions of the target road, the data collection method for the target road is determined, including single longitudinal profile data collection and multiple longitudinal profile data collection.

[0078] Based on the data collection method and the road length, determine the corresponding road surface detection distance;

[0079] The preset driving speed of the test vehicle to which the vehicle-mounted test beam belongs and the detection start time of the target road are obtained, and the road surface detection distance and the road surface longitudinal section acquisition period corresponding to the detection start time are determined.

[0080] Monitor the timing at which the detection and acquisition device sends the longitudinal section acquisition data;

[0081] When the sending time corresponds to the end time of the road longitudinal profile acquisition period, extract several sets of longitudinal profile acquisition data corresponding to the road longitudinal profile acquisition period.

[0082] Remove the data to be corrected from the aforementioned sets of longitudinal profile acquisition data to determine the standard longitudinal profile acquisition data. The data to be corrected is the longitudinal profile acquisition data used to determine the moment when motion correction is performed on the detection acquisition device.

[0083] According to the acquisition method, the standard longitudinal profile acquisition data is processed to determine the preferred longitudinal profile acquisition data, so as to determine the road condition of the target road based on the preferred longitudinal profile acquisition data. The data processing method includes taking the average value.

[0084] Fourthly, this application provides an electronic device, including: a memory and a processor, wherein the memory stores a computer program capable of being loaded by the processor and executing the method of the first aspect.

[0085] Fifthly, this application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and execute the method of the first aspect. Attached Figure Description

[0086] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0087] Figure 1 This is a schematic diagram illustrating an application scenario provided in one embodiment of this application;

[0088] Figure 2 A flowchart of a road longitudinal profile acquisition and control method provided in one embodiment of this application;

[0089] Figure 3 This is a schematic diagram of the structure of a road longitudinal profile acquisition and control system provided in an embodiment of this application;

[0090] Figure 4 This is a schematic diagram of the structure of an industrial control computer provided in one embodiment of this application;

[0091] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0092] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0093] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0094] The embodiments of this application will now be described in further detail with reference to the accompanying drawings.

[0095] Currently, most methods for collecting road longitudinal profile data involve fixing the detection equipment to the vehicle's crossbeam using either multi-point or single-point methods. However, due to factors such as road surface smoothness and driver habits, vehicles may not follow the intended route or may experience bumps that cause the detection equipment's position to change. Consequently, the road longitudinal profile data detected by the equipment may be inaccurate, resulting in low reliability of current road longitudinal profile data.

[0096] Based on this, this application provides a road longitudinal profile acquisition and control method, system, electronic device, and storage medium. It receives longitudinal profile acquisition data sent by a detection and acquisition device, then analyzes the longitudinal profile acquisition data to determine the vertical distance between the detection and acquisition device and a preset baseline. It determines whether the vertical distance is equal to a preset distance threshold from the baseline. If it is not equal to the distance threshold, it determines the movement mode of the detection and acquisition device based on the vertical distance and the midpoint position of the vehicle-mounted test beam. The detection and acquisition device is controlled to perform motion correction according to the movement mode, so that the detection and acquisition device performs road longitudinal profile data acquisition at the corrected position.

[0097] Figure 1 This is a schematic diagram illustrating an application scenario provided by this application. The test vehicle can be parked on the target road where longitudinal profile data collection is to be performed. The detection and collection equipment (not shown in the diagram) can be mounted on the vehicle's onboard test beam (not shown in the diagram). Figure 1 In the application scenario shown, the road longitudinal profile acquisition and control method can be built on an industrial control computer. The industrial control computer can select a suitable road wheel track on the target road as a preset baseline based on the pre-set road longitudinal profile acquisition route. Then, it analyzes and determines the lateral adjustment method of the detection and acquisition equipment, and controls the movement correction of the detection and acquisition equipment so that the detection and acquisition equipment can acquire the road longitudinal profile at the corrected position.

[0098] For specific implementation details, please refer to the following examples.

[0099] Figure 2 This is a flowchart illustrating a road longitudinal profile acquisition and control method according to an embodiment of this application. The method of this embodiment can be applied to industrial control computers in the above scenarios. Figure 2 As shown, the method includes:

[0100] S201. Receive longitudinal section data sent by the detection and acquisition equipment, which is installed on the on-board test beam of the test vehicle.

[0101] The detection and data acquisition equipment can include total stations, inertial measurement units, industrial cameras, and real-time kinematic (RTK) measurement devices. Vehicles are equipped with a vehicle-mounted crossbeam, and the detection and data acquisition equipment can be mounted on this crossbeam, capturing longitudinal profile data as the vehicle moves. Longitudinal profile acquisition refers to measuring and recording data such as the longitudinal slope and undulation of the road to obtain information about its longitudinal profile, which helps in understanding the road's longitudinal morphology and provides basic data for road design and maintenance. The wheel track zone is a longitudinal strip-shaped section on the road surface, divided into left and right wheel track zones. Since the position of the wheel track zone changes with vehicle movement but rarely changes under a specified route, the directional reference for the detection and data acquisition equipment can be the wheel track zone. In this case, the detection range of the equipment extends from the edge of the road markings along the wheel track zone to directly below the equipment. The longitudinal profile data detected within this range can be used as a basis for adjusting the position of the detection and data acquisition equipment.

[0102] Specifically, the detection and data acquisition equipment can detect road conditions in real time, obtain longitudinal profile data, and send the data to the industrial control computer, which can then receive the data.

[0103] In some implementations, the detection and acquisition equipment may include an industrial camera, and the images captured by the industrial camera can be used to acquire longitudinal profile data.

[0104] In some other implementations, the detection and acquisition device can also be a sound signal transmitting device, and the time when the sound signal transmitting device transmits the signal and the time when it receives the reflected signal can be used as longitudinal profile acquisition data.

[0105] S202. Analyze the longitudinal profile data to determine the vertical distance between the detection and acquisition equipment and the preset baseline.

[0106] Longitudinal profile data can include images of the road surface. These images contain the current road surface conditions with the detection and acquisition device as one boundary and the road markings at the road edge as another boundary (preset baseline). Therefore, the vertical distance from the detection and acquisition device to the preset baseline can be obtained by analyzing the data.

[0107] Specifically, image analysis or data analysis can be performed on the longitudinal profile data to obtain the vertical distance between the detection and acquisition equipment and the preset baseline.

[0108] S203. Determine whether the vertical distance is equal to the preset distance to the baseline threshold. If it is not equal to the distance to the baseline threshold, determine the movement mode of the detection and acquisition device based on the vertical distance and the midpoint position of the vehicle-mounted test beam.

[0109] The vehicle-mounted crossbeam used for collecting road longitudinal profile data can be called a vehicle-mounted test crossbeam. The vehicle-mounted test crossbeam is a vehicle-mounted fixing device that is connected to the vehicle chassis and is used to support testing equipment, such as longitudinal profile testing equipment, industrial cameras, servo motors, ball screws and controllers, etc.

[0110] The distance threshold from the baseline can be set based on the pre-set vehicle test route and the basic road conditions. Under normal circumstances, the vehicle driver will drive along the pre-set route. However, there may be sections on the pre-set route with poor road conditions, causing the detection and acquisition equipment to move to varying degrees on the vehicle-mounted test beam. When the vertical distance is less than or greater than the distance threshold from the baseline, it indicates that the detection and acquisition equipment is too close or too far from the preset baseline, and the obtained road longitudinal profile data will not be accurate.

[0111] In some implementations, the middle position of the vehicle-mounted test beam can be used as a reference, with the left and right directions of the middle position considered as positive and negative respectively.

[0112] Specifically, the vertical distance can be compared with a preset threshold for distance from the baseline. If they are not equal, the distance from the middle position of the on-board test beam of the vehicle traveling along the preset route to the preset baseline can be directly extracted. Then, the difference between this distance and the vertical distance can be used to obtain a value with positive and negative characteristics. The movement information corresponding to this value is used as the movement method.

[0113] S204. Control the detection and acquisition equipment according to the movement method to perform motion correction so that the detection and acquisition equipment can collect road longitudinal profile data at the corrected position.

[0114] In some implementations, the industrial control computer can issue motion correction commands according to the movement method obtained in step S203. Motion control devices can be installed on the detection and acquisition equipment. When the detection and acquisition equipment receives the motion correction command, it can perform the corresponding movement and acquire road longitudinal profile data at the moved position.

[0115] In other implementations, a motion-corresponding actuator can be installed on the vehicle-mounted test beam, which can interact with an industrial control computer. The industrial control computer can issue push commands to the actuator according to the movement method obtained in step S203, enabling the actuator to perform motion correction of the detection and acquisition equipment. When the detection and acquisition equipment detects that it is currently stationary, it collects road longitudinal profile data at the corrected position.

[0116] This embodiment enables real-time acquisition and remote monitoring of road longitudinal profile information by receiving longitudinal profile data sent by the detection and acquisition device. Simultaneously, by analyzing the acquired data, the vertical distance between the detection and acquisition device and a preset baseline can be determined, thereby further judging the device's position status. The movement mode of the device is determined by judging whether the vertical distance equals a preset threshold distance from the baseline. When the vertical distance does not equal the preset threshold, the movement direction of the device can be determined based on this vertical distance and the midpoint position of the vehicle-mounted test beam, effectively improving the accuracy and consistency of road longitudinal profile acquisition. Based on the determined movement mode, precise control of the detection and acquisition device can be achieved, causing it to move and correct along a preset path. This correction method allows the detection and acquisition device to acquire road longitudinal profile data at the corrected position, further improving the accuracy and reliability of the acquired data. This solution integrates multiple modules into one system to achieve automated control and data acquisition, which not only improves work efficiency but also reduces human error and intervention, improving data consistency and reliability. Overall, it effectively improves the accuracy and consistency of road longitudinal profile acquisition, providing basic data support for road design and maintenance.

[0117] In some embodiments, a preset baseline can be determined by combining the target road and the corresponding road surface longitudinal profile acquisition route. Specifically, the target road for which road surface longitudinal profile data is currently being acquired and the corresponding road surface longitudinal profile acquisition route are obtained; based on the road surface longitudinal profile acquisition route and the default road information corresponding to the target road, road markings are selected from the target road as the preset baseline.

[0118] The roads currently requiring longitudinal profile data collection can be designated as target roads. Different target roads can have corresponding longitudinal profile data collection routes set. These routes can be tailored to the basic road surface conditions, ensuring that the vehicle's onboard detection and data collection equipment captures as many road surface features as possible, such as depressions and cracks, as the vehicle travels along the designated route. Furthermore, these routes can be parallel to the wheel tracks on both sides of the road.

[0119] The default road information for the target road can include basic road surface conditions such as cracks and undulations, as well as the distribution of wheel tracks on the target road. The wheel track can be a linear area on the road used to mark the trajectory of a vehicle. It can be a continuous line or a discontinuous mark, and is divided into left wheel track and right wheel track. Generally, the right wheel track is selected for detection. Therefore, the preset baseline also corresponds to the edge of the road marking in the direction of the right wheel track.

[0120] Specifically, the road to be sampled at the current moment can be obtained from the pre-stored longitudinal profile acquisition table as the target road, and then the road surface longitudinal profile acquisition route of the target road can be selected. Based on the road surface longitudinal profile acquisition route and the default road information of the target road, it can be determined which road markings are available on the target road, and then the one with the shortest vertical distance to the road surface longitudinal profile acquisition route can be used as the preset baseline.

[0121] In some implementations, the preset baseline can be aligned with the edge of the road markings. In this case, the position of the road wheel track and the preset baseline can be relatively fixed, typically 0.8m-1.0m. Therefore, the edge of the road markings in the selected road wheel track direction can be used as the preset baseline. For example, if the right wheel track is selected for detection, the edge of the right road markings can be used as the preset baseline.

[0122] This embodiment acquires the target road information for the current road longitudinal profile data collection, enabling the integration and analysis of the target road's road longitudinal profile collection route. This data acquisition and integration method improves the accuracy and efficiency of data collection. Based on the road longitudinal profile collection route and the default road information corresponding to the target road, a road surface wheel track is selected from the target road as a preset baseline. This selection method ensures the accuracy and consistency of the preset baseline, providing a reliable reference for subsequent road longitudinal profile collection. By using the preset baseline, precise control and automated correction of the road longitudinal profile collection equipment can be achieved. This control method improves the accuracy and consistency of the collected data while reducing human intervention and errors. Overall, it improves the accuracy and consistency of road longitudinal profile collection, provides basic data support for road design and maintenance, and also enables automated control and optimization, reducing the risk of human intervention and errors, and improving work efficiency and quality.

[0123] In some embodiments, the distance threshold from the baseline can be determined based on vehicle attributes, default road information, and the longitudinal and transverse road surface acquisition routes. Specifically, the vehicle attributes of the test vehicle to which the on-board test beam belongs are obtained; and the distance threshold from the baseline is generated based on the vehicle attributes, default road information, and the longitudinal and transverse road surface acquisition routes.

[0124] The test vehicle can be the vehicle used to detect the installation of the data acquisition equipment when collecting road longitudinal profile data, and it is also the vehicle to which the on-board test beam belongs. Vehicle attributes can be used to represent the impact of the test vehicle on normal vehicle operation under different road conditions, such as the body bumps of different vehicles on the same bumpy road.

[0125] A baseline threshold determination model can be established for training. This can be achieved by extracting vehicle attributes, default road information, road surface longitudinal and transverse survey routes, and corresponding baseline thresholds from historical longitudinal profile data to construct a training set. Training samples, consisting of vehicle attributes, default road information, and road surface longitudinal and transverse survey routes for each target road, can be obtained from the training set and input into the baseline threshold determination model to obtain the output result, i.e., the baseline threshold. Based on the baseline threshold obtained during training and the actual baseline thresholds corresponding to them in the training set, a loss function can be calculated. The model parameters of the baseline threshold determination model can be adjusted using gradient descent to reduce the loss function until training stops when the loss function no longer decreases, thus obtaining the baseline threshold determination model.

[0126] Specifically, the vehicle attributes of the test vehicle on the on-board test beam are obtained from the pre-stored vehicle attributes. Then, the vehicle attributes, default road information, and road longitudinal and transverse acquisition routes are input into the distance from the baseline threshold determination model, and the results are output to obtain the corresponding distance from the baseline threshold.

[0127] This embodiment achieves vehicle information integration and analysis by acquiring the vehicle attributes of the test vehicle to which the on-board test beam belongs. This data acquisition and integration method can provide more accurate and reliable data support for subsequent road longitudinal profile data collection. Based on vehicle attributes, default road information, and the road longitudinal and transverse data collection routes, a distance threshold from the baseline is generated. This generation method ensures the accuracy and consistency of the threshold, providing a reliable reference for subsequent road longitudinal profile data collection. Furthermore, by optimizing the threshold, the accuracy and efficiency of road longitudinal profile data collection can be further improved. Overall, this improves the accuracy and consistency of road longitudinal profile data collection, providing fundamental data support for road design and maintenance.

[0128] In some embodiments, the middle position of the vehicle-mounted test beam can be used as the origin to calculate the offset coordinates and thus determine the movement mode. Specifically, the middle position of the vehicle-mounted test beam is used as the origin; the current position coordinates of the detection and acquisition device are determined based on the origin and the vertical distance; the offset coordinates of the detection and acquisition device are calculated using the coordinates of the origin and the current position coordinates, including the positive and negative signs and the offset value; the offset coordinates are converted into the movement direction and the corresponding lateral correction distance, and the movement direction and the lateral correction distance are used as the movement mode of the detection and acquisition device.

[0129] Specifically, the origin can be set at the center of the vehicle-mounted test beam. A coordinate system can be established when the vehicle is parked at the starting point of the road's longitudinal and transverse data acquisition route, facing the direction of the route's continuation. Based on the origin and the vertical distance, the current position coordinates of the detection and acquisition equipment are determined. These coordinates are then calculated with the origin coordinates to obtain the offset coordinates. The horizontal coordinate of the offset coordinates represents the vertical distance perpendicular to the driving direction, and the vertical coordinate represents the vertical distance in the driving direction. If the wheel track on the left side of the vehicle's driving direction is used as the preset baseline, then the direction closer to the preset baseline can be considered negative, and the direction farther from the preset baseline can be considered positive. Therefore, the sign of the offset coordinates can be converted into the direction of movement, the specific value of the offset coordinates can be used as the lateral correction distance, and the combined direction of movement and lateral correction distance can be considered as the movement mode.

[0130] This embodiment uses the center position of the vehicle-mounted test beam as the origin. Based on the origin and the vertical distance, the current position coordinates of the detection and acquisition device can be determined, intuitively representing the device's position on the road surface and providing a basis for subsequent corrections. By calculating the coordinates of the origin and the current position, the offset coordinates of the detection and acquisition device can be determined, including its positive and negative sign and offset value. This accurately describes the device's offset on the road surface and provides a basis for lateral correction. Converting the offset coordinates into the direction of movement and the corresponding lateral correction distance further determines the movement mode of the detection and acquisition device, enabling precise control and automated correction, and improving the accuracy and consistency of road longitudinal profile acquisition. Overall, this improves the accuracy of road longitudinal profile acquisition.

[0131] In some embodiments, the default road information includes the road length and basic pavement conditions of the target road. Data collected from several longitudinal profiles of the target road can be processed to obtain accurate data on the pavement longitudinal profiles. Specifically, based on the road length and basic road surface conditions of the target road, the data collection method for the target road is determined, including single longitudinal profile data collection and multiple longitudinal profile data collection. The corresponding road surface detection distance is determined based on the data collection method and road length. The preset driving speed of the test vehicle to which the onboard test beam belongs and the detection start time of the target road are obtained to determine the road surface detection distance and the corresponding longitudinal profile data collection period. The transmission time of the longitudinal profile data collection equipment is monitored. When the transmission time corresponds to the end time of the road surface longitudinal profile data collection period, several sets of longitudinal profile data collection data corresponding to the road surface longitudinal profile data collection period are extracted. Data to be corrected in several sets of longitudinal profile data collection data are removed to determine the standard longitudinal profile data collection data. The data to be corrected is the longitudinal profile data collection data used to determine the moment for motion correction of the detection and acquisition equipment. Based on the data collection method, the standard longitudinal profile data collection data is processed to determine the optimal longitudinal profile data collection data. The road conditions of the target road are determined based on the optimal longitudinal profile data collection data. The data processing method includes averaging.

[0132] Road surface conditions can be used to indicate road surface cracks, bumps, etc., while road length can be used to indicate the length of the target road. For relatively flat target roads, the likelihood of vehicles experiencing bumps is low, so a single longitudinal profile acquisition can be used. If the likelihood of bumps is high, a multiple longitudinal profile acquisition method can be used. For target roads with longer lengths, the possibility of data errors is also higher; therefore, multiple longitudinal profile acquisition methods can also be chosen for long roads.

[0133] The road surface detection distance corresponding to different acquisition methods can be used to represent the actual distance traveled by the test vehicle to perform longitudinal profile acquisition. For example, the road surface detection distance for two longitudinal profile acquisitions can be twice the road length. The start time of the road longitudinal profile acquisition period is the detection start time, and the end time is the termination time. The preset driving speed can be pre-set to ensure successful acquisition of the road longitudinal profile.

[0134] When the longitudinal profile data collected at a certain moment shows that the detection and acquisition equipment needs correction, it indicates that there is a problem with that set of longitudinal profile data. This data can then be discarded and used as the data to be corrected. Correspondingly, the longitudinal profile data is transmitted at a relatively high frequency to ensure that removing problematic longitudinal profile data will not affect the overall situation.

[0135] Specifically, the data acquisition method can be selected based on the road length and basic road surface conditions of the target road, thereby determining the road surface detection distance under that method. The preset driving speed and detection start time of the test vehicle are obtained. By dividing the preset driving time period by the road surface detection distance, the total duration of the longitudinal profile data acquisition can be obtained. Using the detection start time as the starting time of this total duration, the corresponding longitudinal profile data acquisition period can be obtained. The industrial control computer can monitor the transmission time of the longitudinal profile data acquisition equipment in real time. If this transmission time corresponds to the end time of the longitudinal profile data acquisition period, all sets of longitudinal profile data from the detection start time to the end time of the corresponding longitudinal profile data acquisition period are extracted. Data to be corrected is removed to obtain standard longitudinal profile data. Then, the data processing method corresponding to the acquisition method can be found, and the standard longitudinal profile data can be processed to obtain optimized longitudinal profile data, which is then used to determine the road conditions of the target road.

[0136] This embodiment determines the data collection method for the target road based on its length and basic pavement conditions, including single-pass longitudinal profile collection and multiple-pass longitudinal profile collection. This selection and optimization method can adapt to different road conditions and needs, improving the accuracy and efficiency of data collection. Based on the collection method and road length, the corresponding pavement detection distance can be determined, ensuring the integrity and accuracy of data collection while avoiding data redundancy and waste. When the transmission time corresponds to the end time of the pavement longitudinal profile collection period, several sets of longitudinal profile collection data corresponding to the collection period can be extracted, and data requiring correction can be removed to determine the standard longitudinal profile collection data. This correction method improves data quality and consistency while avoiding interference from erroneous data. Based on the collection method, data processing is performed on the standard longitudinal profile collection data to determine the optimal longitudinal profile collection data, improving data accuracy and reliability and providing a reliable basis for subsequent road condition analysis.

[0137] In other embodiments, the reference position signal (longitudinal profile data) provided by the industrial camera (detection and acquisition device) is analyzed and processed by the industrial control computer to calculate the lateral adjustment distance required by the vehicle-mounted test equipment. The analysis process uses the center position of the stationary vehicle-mounted test equipment as the origin coordinate system, with the left and right sides representing positive and negative coordinate axes, respectively. When a baseline (preset baseline) is detected, this scheme selects the boundary line between the left side of the vehicle's lane markings and the driving lane as the reference baseline. When the distance to the test vehicle is relatively close, the processing software (which can be built on the industrial control computer) defines the coordinate system motion parameters as negative, and vice versa. After the measurement and control system calculates the lateral position deviation, it provides a relative distance deviation value as a correction distance. The positive and negative directions of the relative coordinate system and the relative distance deviation from the coordinate origin are output as feedback calculation results to the controller for corresponding distance displacement control.

[0138] The optimal solution for improving the precise real-time braking of the lateral displacement of the testing equipment: When the industrial control computer receives the adjustment signal (longitudinal section acquisition data) and controls the displacement in real time, considering the accuracy and real-time performance of the operating mechanism adjustment, a lateral position actuator composed of an industrial servo motor and a ball screw is used as the controller operating mechanism. Industrial servo motors are most widely used in industrial operating environments with high requirements for displacement precision and low response time delay; therefore, a servo motor is used as the execution unit for lower-level control. After the industrial control computer outputs the motion distance parameters, the control system controls the distance movement of the on-board testing equipment by the execution unit (i.e., the servo motor). The positive or negative sign of the output signal determines the forward or reverse rotation of the servo motor, which determines the displacement direction of the testing equipment. The relative distance deviation value is used as the displacement distance control of the servo motor to achieve real-time and precise adjustment of the testing equipment's lateral position, thereby completing closed-loop control in a real-time detection environment.

[0139] In this closed-loop measurement and control scheme, negative feedback involves comparing the output information with the reference input signal and adjusting the system based on the deviation to achieve stable operation. In the closed-loop feedback adjustment of tracking and guidance (motion guidance of the detection and acquisition equipment), the analysis and processing of feedback signals is crucial, receiving feedback signals from the previous stage and outputting control signals to the controller. In the closed-loop control system, this manifests as object measurement-control-output feedback-control throughout the entire process. Signal transmission involves system measurement-measurement signal input-signal processing (comparison, amplification, gain)-control action output-control signal feedback input comparison. Negative feedback adjustment and control are performed continuously within each clock cycle of the measurement and control system. Under different signal objects, different working environments, and different signal feedback conditions, continuous testing and adjustment of the entire closed-loop control system are necessary. Optimization of the control flow for different feedback signals requires continuous testing and adjustment. Under the premise of achieving accurate system control, continuous optimization improves the system's operational stability, efficiency, and real-time performance.

[0140] Figure 3 This is a schematic diagram of the structure of a road longitudinal profile acquisition and control system provided in one embodiment of this application, as shown below. Figure 3 As shown, the road longitudinal profile acquisition and control system 300 of this embodiment includes: an industrial control computer 301 and a detection and acquisition device 302; the industrial control computer 301 is used to execute the road longitudinal profile acquisition and control method in the above embodiment;

[0141] The detection and acquisition device 302 is installed on the on-board test crossbeam of the test vehicle and is used to collect longitudinal section data.

[0142] The industrial control computer 301 is used to receive longitudinal profile acquisition data sent by the detection and acquisition device 302; analyze the longitudinal profile acquisition data to determine the vertical distance between the detection and acquisition device and the preset baseline; determine whether the vertical distance is equal to the preset distance threshold from the baseline; if it is not equal to the distance threshold from the baseline, determine the movement mode of the detection and acquisition device 302 based on the vertical distance and the midpoint position of the vehicle-mounted test beam; and control the detection and acquisition device 302 to perform motion correction according to the movement mode so that the detection and acquisition device 302 can perform road longitudinal profile data acquisition at the corrected position.

[0143] The detection and acquisition device 302 is used to collect longitudinal profile data of the road surface at the corrected location.

[0144] Optionally, the industrial computer 301 is also used for:

[0145] Obtain the target road for which road longitudinal profile data is currently being collected and the corresponding road longitudinal profile collection route.

[0146] Based on the road longitudinal profile data collected from the route and the default road information corresponding to the target road, the wheel track strip on the target road is selected as the preset baseline.

[0147] Optionally, the industrial computer 301 is also used for:

[0148] Obtain the vehicle attributes of the test vehicle to which the on-board test beam belongs;

[0149] Based on vehicle attributes, default road information, and the longitudinal and transverse road surface data collection routes, a distance threshold from the baseline is generated.

[0150] Optionally, when determining the movement mode of the detection and acquisition equipment based on the vertical distance and the midpoint position of the vehicle-mounted test beam, the industrial control computer 301 is specifically used for:

[0151] The origin is taken as the middle position of the vehicle-mounted test beam;

[0152] Based on the origin and vertical distance, determine the current position coordinates of the detection and acquisition device 302;

[0153] The coordinates of the origin and the current position are calculated to determine the offset coordinates of the detection and acquisition device 302. The offset coordinates include the positive and negative signs and the offset value.

[0154] The offset coordinates are converted into the direction of movement and the corresponding lateral correction distance, and the direction of movement and the lateral correction distance are used as the movement mode of the detection and acquisition device 302.

[0155] Optionally, the default road information includes the target road's length and basic road surface conditions; the industrial control computer 301 is also used for:

[0156] Based on the road length and basic road surface conditions of the target road, the data collection method for the target road is determined. The data collection methods include single longitudinal profile data collection and multiple longitudinal profile data collection.

[0157] The corresponding road surface detection distance is determined based on the data collection method and road length;

[0158] Obtain the preset driving speed of the test vehicle to which the vehicle-mounted test beam belongs and the detection start time of the target road, and determine the road surface detection distance and the corresponding road surface longitudinal profile acquisition period at the detection start time;

[0159] The timing of transmission of longitudinal profile data by monitoring and detection acquisition device 302;

[0160] When the sending time corresponds to the end time of the road longitudinal profile collection period, extract several sets of longitudinal profile collection data corresponding to the road longitudinal profile collection period.

[0161] Remove the data to be corrected from several sets of longitudinal profile data, determine the standard longitudinal profile data, and the data to be corrected is the longitudinal profile data used to determine the moment when motion correction is performed on the detection and acquisition device 302.

[0162] Based on the acquisition method, the standard longitudinal profile data is processed to determine the optimal longitudinal profile data, and the road conditions of the target road are determined based on the optimal longitudinal profile data. The data processing method includes taking the average value.

[0163] Optionally, the road longitudinal profile acquisition and control system 300 also includes a servo motor 303 and a ball screw 304;

[0164] The servo motor 303 is used to drive the ball screw 304 to work according to the movement mode, so as to push the detection and acquisition device 302 to move and complete the motion correction.

[0165] Figure 4 This is a schematic diagram of the structure of an industrial control computer provided in one embodiment of this application, as shown below. Figure 4As shown, the industrial control computer 400 in this embodiment includes: a data receiving module 401, a vertical distance determination module 402, a movement mode determination module 403, and a motion correction module 404.

[0166] The data receiving module 401 is used to receive longitudinal section data sent by the detection and acquisition equipment, which is installed on the vehicle-mounted test crossbeam of the test vehicle.

[0167] The vertical distance determination module 402 is used to analyze the longitudinal section data and determine the vertical distance between the detection and acquisition equipment and the preset baseline.

[0168] The movement mode determination module 403 is used to determine whether the vertical distance is equal to the preset distance from the baseline threshold. If it is not equal to the distance from the baseline threshold, the movement mode of the detection and acquisition device is determined based on the vertical distance and the midpoint of the vehicle-mounted test beam.

[0169] The motion correction module 404 is used to control the detection and acquisition equipment to perform motion correction according to the movement mode, so that the detection and acquisition equipment can perform road longitudinal profile data acquisition at the corrected position.

[0170] Optionally, the industrial computer 400 also includes a preset baseline determination module 405, used for:

[0171] Obtain the target road for which road longitudinal profile data is currently being collected and the corresponding road longitudinal profile collection route.

[0172] Based on the road longitudinal profile data collected from the route and the default road information corresponding to the target road, road markings are selected from the target road as preset baselines.

[0173] Optionally, the industrial computer 400 also includes a threshold generation module 406, used for:

[0174] Obtain the vehicle attributes of the test vehicle to which the on-board test beam belongs;

[0175] Based on vehicle attributes, default road information, and the longitudinal and transverse road surface data collection routes, a distance threshold from the baseline is generated.

[0176] Optionally, when determining the movement mode of the detection and acquisition device based on the vertical distance and the midpoint position of the vehicle-mounted test beam, the movement mode determination module 403 is specifically used for:

[0177] The origin is taken as the middle position of the vehicle-mounted test beam;

[0178] Determine the current position coordinates of the detection and acquisition device based on the origin and vertical distance;

[0179] The coordinates of the origin and the current position are calculated to determine the offset coordinates of the detection and acquisition device. The offset coordinates include the positive and negative signs and the offset value.

[0180] The offset coordinates are converted into the direction of movement and the corresponding lateral correction distance, and the direction of movement and the lateral correction distance are used as the movement mode of the detection and acquisition device.

[0181] Optionally, the default road information includes the target road's length and basic road surface conditions; the industrial control computer 400 also includes a road condition determination module 407, used for:

[0182] Based on the road length and basic road surface conditions of the target road, the data collection method for the target road is determined. The data collection methods include single longitudinal profile data collection and multiple longitudinal profile data collection.

[0183] The corresponding road surface detection distance is determined based on the data collection method and road length;

[0184] Obtain the preset driving speed of the test vehicle to which the vehicle-mounted test beam belongs and the detection start time of the target road, and determine the road surface detection distance and the corresponding road surface longitudinal profile acquisition period at the detection start time;

[0185] The timing at which the monitoring and detection acquisition equipment sends longitudinal profile data;

[0186] When the sending time corresponds to the end time of the road longitudinal profile collection period, extract several sets of longitudinal profile collection data corresponding to the road longitudinal profile collection period.

[0187] The data to be corrected in several sets of longitudinal profile data were removed to determine the standard longitudinal profile data. The data to be corrected was the longitudinal profile data used to determine the moment when motion correction of the detection and acquisition equipment was performed.

[0188] Based on the acquisition method, the standard longitudinal profile data is processed to determine the optimal longitudinal profile data, and the road conditions of the target road are determined based on the optimal longitudinal profile data. The data processing method includes taking the average value.

[0189] The apparatus of this embodiment can be used to execute the method of any of the above embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.

[0190] Figure 5 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, as shown below. Figure 5 As shown, the electronic device 500 of this embodiment may include a memory 501 and a processor 502.

[0191] The memory 501 stores a computer program that can be loaded by the processor 502 and execute the methods described in the above embodiments.

[0192] The processor 502 and the memory 501 are connected, for example, via a bus.

[0193] Optionally, the electronic device 500 may also include a transceiver. It should be noted that in practical applications, the transceiver is not limited to one, and the structure of the electronic device 500 does not constitute a limitation on the embodiments of this application.

[0194] Processor 502 may be a CPU (Central Processing Unit), a general-purpose processor, a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. Processor 502 may also be a combination that implements computational functions, such as including one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0195] A bus can include a pathway for transmitting information between the aforementioned components. The bus can be a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, only one thick line is used in the diagram, but this does not imply that there is only one bus or one type of bus.

[0196] The memory 501 may be a ROM (Read Only Memory) or other type of static storage device capable of storing static information and instructions, RAM (Random Access Memory) or other type of dynamic storage device capable of storing information and instructions, or an EEPROM (Electrically Erasable Programmable Read Only Memory), CD-ROM (Compact Disc Read Only Memory) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto.

[0197] The memory 501 is used to store application code that executes the solution of this application, and its execution is controlled by the processor 502. The processor 502 is used to execute the application code stored in the memory 501 to implement the content shown in the foregoing method embodiments.

[0198] Electronic devices include, but are not limited to: mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), and in-vehicle terminals (such as in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Servers can also be included. Figure 5 The electronic device shown is merely an example and should not impose any limitation on the functionality and scope of use of the embodiments of this application.

[0199] The electronic device in this embodiment can be used to execute the method of any of the above embodiments, and its implementation principle and technical effect are similar, so they will not be described again here.

[0200] This application also provides a computer-readable storage medium storing a computer program that can be loaded by a processor and execute the methods described in the above embodiments.

[0201] Those skilled in the art will understand that all or part of the steps of the above-described method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments; and the aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

Claims

1. A method for acquiring and controlling road longitudinal profile data, characterized in that, include: Receive longitudinal profile data sent by the detection and acquisition equipment, which is installed on the vehicle-mounted test crossbeam of the test vehicle; Analyze the longitudinal profile data to determine the vertical distance between the detection and acquisition device and the preset baseline; Determine whether the vertical distance is equal to a preset distance from the baseline threshold. If it is not equal to the distance from the baseline threshold, determine the movement mode of the detection and acquisition device based on the vertical distance and the midpoint of the vehicle-mounted test beam. The detection and acquisition device is controlled to perform motion correction according to the aforementioned movement method, so that the detection and acquisition device can collect road longitudinal profile data at the corrected position; It also includes: obtaining the target road for which road longitudinal profile data is currently being collected and the road longitudinal profile collection route corresponding to the target road; Based on the road longitudinal profile acquisition route and the default road information corresponding to the target road, select road markings from the target road as preset baselines; It also includes: obtaining the vehicle attributes of the test vehicle to which the on-board test beam belongs; Based on the vehicle attributes, the default road information, and the road surface longitudinal profile acquisition route, a distance threshold from the baseline is generated; The step of determining the movement mode of the detection and acquisition device based on the vertical distance and the midpoint position of the vehicle-mounted test beam includes: The origin is taken as the middle position of the vehicle-mounted test beam; Based on the origin and the vertical distance, determine the current position coordinates of the detection and acquisition device; The offset coordinates of the detection and acquisition device are determined by calculating the coordinates of the origin and the current position coordinates. The offset coordinates include the sign and the offset value. The offset coordinates are converted into a moving direction and a corresponding lateral correction distance, and the moving direction and the lateral correction distance are used as the moving mode of the detection and acquisition device; The default road information includes the road length and basic road surface conditions of the target road; the road surface longitudinal profile acquisition and control method further includes: Based on the road length and basic road surface conditions of the target road, the data collection method for the target road is determined, including single longitudinal profile data collection and multiple longitudinal profile data collection. Based on the data collection method and the road length, determine the corresponding road surface detection distance; The preset driving speed of the test vehicle to which the vehicle-mounted test beam belongs and the detection start time of the target road are obtained, and the road surface detection distance and the road surface longitudinal section acquisition period corresponding to the detection start time are determined. Monitor the timing at which the detection and acquisition device sends the longitudinal section acquisition data; When the sending time corresponds to the end time of the road longitudinal profile acquisition period, extract several sets of longitudinal profile acquisition data corresponding to the road longitudinal profile acquisition period. Remove the data to be corrected from the aforementioned sets of longitudinal profile acquisition data to determine the standard longitudinal profile acquisition data. The data to be corrected is the longitudinal profile acquisition data used to determine the moment when motion correction is performed on the detection acquisition device. According to the data processing method corresponding to the acquisition method, the standard longitudinal profile acquisition data is processed to obtain the preferred longitudinal profile acquisition data, and the road condition of the target road is determined based on the preferred longitudinal profile acquisition data. The data processing method includes taking the average value.

2. A road longitudinal profile acquisition and control system, characterized in that, include: Industrial control computers and detection and data acquisition equipment; The detection and acquisition equipment is installed on the on-board test beam of the test vehicle, and the detection and acquisition equipment is used to collect longitudinal section data. The industrial control computer is used to receive longitudinal section acquisition data sent by the detection and acquisition equipment; Analyze the longitudinal profile data to determine the vertical distance between the detection and acquisition device and the preset baseline; determine whether the vertical distance is equal to the preset distance threshold from the baseline; if it is not equal to the distance threshold from the baseline, determine the movement mode of the detection and acquisition device based on the vertical distance and the midpoint of the vehicle-mounted test beam. The detection and acquisition device is controlled to perform motion correction according to the aforementioned movement method, so that the detection and acquisition device can collect road longitudinal profile data at the corrected position; The detection and acquisition equipment is used to collect longitudinal profile data of the road surface at the corrected position; The industrial control computer is also used for: Obtain the target road for which road longitudinal profile data is currently being collected and the corresponding road longitudinal profile collection route for the target road; Based on the road longitudinal profile acquisition route and the default road information corresponding to the target road, select road markings from the target road as preset baselines; The industrial control computer is also used for: Obtain the vehicle attributes of the test vehicle to which the on-board test beam belongs; Based on the vehicle attributes, the default road information, and the road surface longitudinal profile acquisition route, a distance threshold from the baseline is generated; When the industrial control computer determines the movement mode of the detection and acquisition equipment based on the vertical distance and the midpoint position of the vehicle-mounted test beam, it is specifically used for: The origin is taken as the middle position of the vehicle-mounted test beam; Based on the origin and the vertical distance, determine the current position coordinates of the detection and acquisition device; The offset coordinates of the detection and acquisition device are determined by calculating the coordinates of the origin and the current position coordinates. The offset coordinates include the sign and the offset value. The offset coordinates are converted into a moving direction and a corresponding lateral correction distance, and the moving direction and the lateral correction distance are used as the moving mode of the detection and acquisition device; Default road information includes the target road's length and basic road surface conditions; the industrial control computer also uses... At: Based on the road length and basic road surface conditions of the target road, the data collection method for the target road is determined, including single longitudinal profile data collection and multiple longitudinal profile data collection. Based on the data collection method and the road length, determine the corresponding road surface detection distance; The preset driving speed of the test vehicle to which the vehicle-mounted test beam belongs and the detection start time of the target road are obtained, and the road surface detection distance and the road surface longitudinal section acquisition period corresponding to the detection start time are determined. Monitor the timing at which the detection and acquisition device sends the longitudinal section acquisition data; When the sending time corresponds to the end time of the road longitudinal profile acquisition period, extract several sets of longitudinal profile acquisition data corresponding to the road longitudinal profile acquisition period. Remove the data to be corrected from the aforementioned sets of longitudinal profile acquisition data to determine the standard longitudinal profile acquisition data. The data to be corrected is the longitudinal profile acquisition data used to determine the moment when motion correction is performed on the detection acquisition device. According to the data processing method corresponding to the acquisition method, the standard longitudinal profile acquisition data is processed to obtain the preferred longitudinal profile acquisition data, and the road condition of the target road is determined based on the preferred longitudinal profile acquisition data. The data processing method includes taking the average value.

3. An electronic device, characterized in that, include: Memory and processor; The memory is used to store program instructions; The processor is used to call and execute program instructions in the memory to perform the road longitudinal profile acquisition and control method as described in claim 1.

4. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program; when the computer program is executed by a processor, it implements the road longitudinal profile acquisition and control method as described in claim 1.

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