Road surface flatness calculation method, device, equipment, medium and program product

Abstract

The invention relates to the technical field of road surface detection, and discloses a road surface flatness calculation method, device and equipment, a medium and a program product, and the method comprises the steps: obtaining a pitch angle and a heeling angle of an automobile when the automobile is located at any one of a plurality of road surface detection points in a to-be-detected land parcel; calculating a generalized gradient vector of any road surface measuring point according to the pitch angle and the heeling angle; and calculating the flatness of the to-be-measured plot according to the generalized gradient vectors corresponding to the plurality of pavement measuring points. According to the method, the pavement flatness can be rapidly and accurately detected without additional equipment, the operation is simple and convenient, the method is suitable for static application scenes such as separation and combination of split type hovercars, and reliable pavement conditions are provided for the cars.

Description

Technical Field

[0001] The present invention relates to the technical field of road surface detection, and in particular to a method, device, equipment, medium and program product for calculating road surface flatness. Background Art

[0002] Most existing methods for detecting the flatness of a road surface require additional detection equipment, such as the three-meter ruler method, the road surface settlement method, detecting the road surface flatness information through a laser radar or other additional equipment, or detecting the unevenness of the road surface through an acceleration sensor on the road section to be detected. However, additional detection equipment will cause a burden on the vehicle equipment, and because the movement of the vehicle is a quasi-static process in some special scenarios, and the site is small, for example, when a split flying car is separated and combined, the car is in a relatively static state, so using acceleration as a reference indicator cannot accurately reflect the road surface flatness of a small area. Summary of the invention

[0003] In view of this, the present invention provides a method, device, equipment, medium and program product for calculating the road surface flatness to solve the problem that cars cannot effectively measure the road surface flatness in static scenes.

[0004] In a first aspect, the present invention provides a method for calculating road surface flatness, the method comprising:

[0005] When the car is located at any one of the multiple road surface measurement points in the plot to be measured, the pitch angle and roll angle of the car are obtained;

[0006] Calculate the generalized gradient vector of any road surface measurement point based on the pitch angle and roll angle;

[0007] The flatness of the plot to be measured is calculated based on the generalized gradient vectors corresponding to multiple road surface measurement points.

[0008] The method for calculating the road surface flatness provided by the embodiment of the present invention obtains the pitch angle and roll angle of the car at multiple road surface measuring points in the plot to be measured, calculates the generalized gradient vector of the road surface measuring point according to the pitch angle and roll angle, and calculates the flatness of the plot to be measured according to the multiple generalized gradient vectors. The present invention can quickly and accurately detect the road surface flatness without additional equipment, is simple and convenient to operate, and is suitable for static application scenarios such as the separation and combination of split-type flying cars, providing reliable road conditions for cars.

[0009] In an optional embodiment, when the car is located at any one of a plurality of road surface measuring points in the plot to be measured, before obtaining the pitch angle and roll angle of the car, it also includes: selecting at least one road surface measuring point in the plot to be measured, and controlling the car to move to the road surface measuring point.

[0010] The present invention can enrich the data samples for calculating the road surface flatness by selecting a plurality of road surface measuring points, thereby improving the accuracy of the flatness.

[0011] In an optional embodiment, a generalized gradient vector of any road surface measurement point is calculated based on the pitch angle and the roll angle, including: obtaining first coordinate information of a preset position point of the vehicle in a ground coordinate system; determining a projection point of the ground corresponding to the preset position point in the ground coordinate system, and obtaining a vertical distance interval between the preset position point and the projection point; determining an intersection line between a vehicle body plane corresponding to the preset position point in the vehicle coordinate system and the ground, and determining a vertical intersection point corresponding to the preset position on the intersection line, calculating a plane distance interval between the projection point and the vertical intersection point based on the pitch angle, the roll angle and the vertical distance interval; and calculating a generalized gradient vector of the road surface measurement point based on the vertical distance interval and the plane distance interval.

[0012] The present invention calculates the generalized gradient vector at a road surface measuring point through the geometric relationship between the car and the ground, can reflect the unevenness of the road surface measuring point through the generalized gradient vector, and the calculation process is simple and easy to implement.

[0013] In an optional embodiment, a generalized gradient vector of a road surface measurement point is calculated according to a vertical distance interval and a plane distance interval, including: determining second coordinate information of the projection point according to the first coordinate information, and calculating third coordinate information of the vertical intersection point according to the second coordinate information and the plane distance interval; determining a direction vector formed by the projection point and the vertical intersection point on the ground according to the second coordinate information and the third coordinate information, and determining a unit direction vector parallel to the direction vector; calculating an inclination angle of the road surface measurement point according to the vertical distance interval and the plane distance interval, and expressing the generalized gradient vector as the product of the unit direction vector and the inclination angle.

[0014] The present invention can facilitate the subsequent calculation of the generalized gradient vectors at multiple road surface measurement points by uniformly expressing the generalized gradient vectors in the form of unit vectors and tilt angles, thereby further simplifying the calculation process.

[0015] In an optional implementation, the flatness of the plot to be measured is calculated based on the generalized gradient vectors corresponding to multiple road surface measurement points, including: calculating the absolute value of the sum of multiple generalized gradient vectors and the sum of the absolute values ​​of multiple generalized gradient vectors; performing exponentiation operations on the absolute value of the sum of multiple generalized gradient vectors and the sum of the absolute values ​​of multiple generalized gradient vectors based on a first power exponent and a second power exponent, respectively, and taking the ratio of the exponentiation results as the flatness.

[0016] The present invention can improve the calculation accuracy and reliability of flatness by integrating the generalized gradient vectors of multiple road surface measurement points, and avoid the error caused by a single measurement.

[0017] In a second aspect, the present invention provides a device for calculating road surface flatness, which is used to execute the method for calculating road surface flatness of the first aspect or any corresponding embodiment thereof, and the device comprises:

[0018] An angle information acquisition module, used to acquire the pitch angle and roll angle of the vehicle when the vehicle is located at any one of a plurality of road surface measurement points within the plot to be measured;

[0019] A generalized gradient vector calculation module is used to calculate the generalized gradient vector of any road surface measurement point based on the pitch angle and the roll angle;

[0020] The flatness calculation module is used to calculate the flatness of the plot to be measured based on the generalized gradient vectors corresponding to multiple road surface measurement points.

[0021] In a third aspect, the present invention provides a computer device, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the method for calculating the road surface flatness of the above-mentioned first aspect or any corresponding embodiment thereof by executing the computer instructions.

[0022] In a fourth aspect, the present invention provides a computer-readable storage medium having computer instructions stored thereon, the computer instructions being used to enable a computer to execute the method for calculating the road surface flatness of the above-mentioned first aspect or any corresponding embodiment thereof.

[0023] In a fifth aspect, the present invention provides a computer program product, comprising computer instructions for causing a computer to execute the method for calculating the road surface flatness of the first aspect or any corresponding embodiment thereof.

[0024] In a sixth aspect, the present invention provides a car, comprising a controller and an inertial sensor; the inertial sensor is used to collect the pitch angle and roll angle of the car; the controller is used to execute the method for calculating the road surface flatness of the above-mentioned first aspect or any corresponding embodiment thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 is a flow chart of a method for calculating road surface flatness according to an embodiment of the present invention;

[0027] Figure 2is a schematic diagram of the structure of a land vehicle according to a method for calculating road surface flatness according to an embodiment of the present invention;

[0028] Figure 3 is a schematic diagram of a pitch angle of a method for calculating road surface flatness according to an embodiment of the present invention;

[0029] Figure 4 is a schematic diagram of the tilt angle of the method for calculating the road surface flatness according to an embodiment of the present invention;

[0030] Figure 5 is a flow chart of another method for calculating road surface flatness according to an embodiment of the present invention;

[0031] Figure 6 is a schematic diagram of road surface measurement points according to another method for calculating road surface flatness according to an embodiment of the present invention;

[0032] Figure 7 is a flow chart of another method for calculating road surface flatness according to an embodiment of the present invention;

[0033] Figure 8 is a schematic diagram of the geometric structure of another method for calculating road surface flatness according to an embodiment of the present invention;

[0034] Fig. 9 is a structural block diagram of a device for calculating road surface flatness according to an embodiment of the present invention;

[0035] Fig.10 It is a schematic diagram of the hardware structure of a computer device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0037] The embodiment of the present invention is applicable to the scenario where the car measures the road surface flatness of the plot in which it is located when it is quasi-static, and the scenario where the land car and the aircraft of the split flying car are separated or combined is taken as an example. The flying car is divided into two parts: the land car and the aircraft. Among them, the land car adopts a three-axle six-wheel design, which can realize 6×6 all-wheel drive and rear-wheel steering, and has good load-bearing capacity and off-road capability. The user can realize the automatic separation and combination of the land car and the aircraft with one-key operation. After separation, the aircraft unfolds the six arms and rotors of the aircraft, and low-altitude flight can be started. After the aircraft lands, the six arms and rotors are folded, and the precise docking and combination with the aircraft are realized through the automatic driving function and automatic separation and combination mechanism of the land car. In order to ensure the precise docking and combination of the land car and the aircraft, it must be ensured that the land car is on a flat road before separation or combination. Therefore, the embodiment of the present invention provides a method for calculating the flatness of the road surface, which achieves the effect of accurately measuring the flatness of the road surface by calculating the generalized gradient vectors of multiple road surface measurement points.

[0038] According to an embodiment of the present invention, an embodiment of a method for calculating road surface flatness is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0039] In this embodiment, a method for calculating the flatness of a road surface is provided, which can be used for the above-mentioned flying car. Figure 1 is a flow chart of a method for calculating road surface flatness according to an embodiment of the present invention. Figure 1 As shown, the process includes the following steps:

[0040] Step S101, when the vehicle is located at any one of a plurality of road surface measuring points in the plot to be measured, the pitch angle and roll angle of the vehicle are obtained.

[0041] Specifically, in the embodiment of the present invention, when the user is driving the flying car, the land vehicle and the flying vehicle can be automatically separated and combined by one-key operation. However, in order to ensure the accurate docking and combination of the land vehicle and the flying vehicle, the separation and combination of the flying vehicle must be achieved on a flat road. Figure 2As shown, taking the flying car and the land car as a three-axle six-wheel structure as an example, spring devices are installed at the six wheels of the land car. When the road surface is flat, the extension length of each spring device in the land car is the same, that is, h1=h2=h3=h4=h5=h6, and the land car is in a parallel state at this time. If the road surface is uneven, the spring will extend or compress according to the inclination of the road surface, thereby causing the extension length of the six spring devices to change, and the land car is in a tilted state at this time. The embodiment of the present invention can calculate the pitch angle α and roll angle β of the vehicle body in real time by deploying an inertial measurement unit (IMU) sensor on the road body, and the pitch angle α and the roll angle β can accurately reflect the degree of inclination of the vehicle body. The pitch angle α is the angle between the vector parallel to the vehicle body axis and pointing to the front of the vehicle body and the ground, and the roll angle β is the angle between the vector perpendicular to the vehicle body axis and pointing to one side of the vehicle body and the ground, as shown respectively. Figure 3 and Figure 4 As shown, the larger the angle, the greater the tilt of the car body, and the more uneven the road surface.

[0042] In some optional implementations, the embodiments of the present invention use the road surface within a certain range of the position of the land vehicle as the plot to be measured, and in order to improve the calculation accuracy of the flatness, multiple road surface measurement points are selected in the plot to be measured, and when the land vehicle is at any road surface measurement point, the pitch angle α and roll angle β of the land vehicle at this time are obtained.

[0043] Step S102, calculating a generalized gradient vector of any road surface measurement point according to the pitch angle and the roll angle.

[0044] Specifically, in the embodiment of the present invention, based on the pitch angle α and the roll angle β measured at any road surface measurement point, a certain geometric structure is formed between the plane formed by the land vehicle body and the ground, and the generalized gradient vector of the land vehicle at the current road surface measurement point is calculated through the relationship between the angle and the line in the geometric structure. Among them, the generalized gradient vector represents the maximum value of the directional derivative of the ground height function at this point along the direction, the direction of the generalized gradient vector is the projection of the point on the horizontal plane, and the gradient value is represented by the angle between the body plane and the horizontal plane.

[0045] Step S103, calculating the flatness of the plot to be measured according to the generalized gradient vectors corresponding to the plurality of road surface measurement points.

[0046] Specifically, in the embodiment of the present invention, the land vehicle moves to different road surface measurement points, and the generalized gradient vector of each road surface measurement point is calculated according to the pitch angle α and the roll angle β measured at different road surface measurement points, which is equivalent to finding the steepest road surface in different areas of the ground to be measured. In order to improve the accuracy of the flatness, the embodiment of the present invention performs a comprehensive calculation based on the generalized gradient vectors of multiple road surface measurement points to obtain the flatness of the ground to be measured. If the flatness here is good, it can meet the requirements for the separation or combination of the land vehicle and the aircraft, thereby completing the separation or combination of the land vehicle and the aircraft.

[0047] The method for calculating the road surface flatness provided by the embodiment of the present invention obtains the pitch angle and roll angle of the car at multiple road surface measuring points in the plot to be measured, calculates the generalized gradient vector of the road surface measuring point according to the pitch angle and roll angle, and calculates the flatness of the plot to be measured according to the multiple generalized gradient vectors. The present invention can quickly and accurately detect the road surface flatness without additional equipment, is simple and convenient to operate, and is suitable for static application scenarios such as the separation and combination of split-type flying cars, providing reliable road conditions for cars.

[0048] In this embodiment, a method for calculating the flatness of a road surface is provided, which can be used for the above-mentioned flying car. Figure 5 is a flow chart of a method for calculating road surface flatness according to an embodiment of the present invention. Figure 5 As shown, the process includes the following steps:

[0049] Step S501, selecting at least one road surface measuring point in the plot to be measured, and controlling the vehicle to move to the road surface measuring point.

[0050] Specifically, in the embodiment of the present invention, the land vehicle selects n road surface measurement points in the plot to be measured. The more road surface measurement points are selected, the more accurate the flatness calculation result will be, but at the same time, the amount of calculation will increase accordingly. The number of road surface measurement points selected can also be determined by the user. Figure 6 , 5 road surface measurement points are selected, which is only used as an example and is not limited thereto. The land vehicle moves to each road surface measurement point in turn to measure the generalized gradient vector, for example, according to the following Figure 6 The test positions 1-5 shown are performed sequentially, and the specific control instructions can be generated by the land vehicle itself or by user operation, which is not limited here.

[0051] Step S502: When the car is located at any one of the multiple road surface measurement points in the plot to be measured, the pitch angle and roll angle of the car are obtained. Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0052] Step S503, calculate the generalized gradient vector of any road surface measurement point according to the pitch angle and the roll angle. Figure 1Step S102 of the illustrated embodiment will not be described in detail here.

[0053] Step S504: Calculate the flatness of the plot to be measured based on the generalized gradient vectors corresponding to the multiple road surface measurement points. Figure 1 Step S103 of the illustrated embodiment will not be described in detail here.

[0054] The present invention can quickly and accurately detect the flatness of the road surface without the need for additional equipment. The operation is simple and convenient. It is suitable for static application scenarios such as the separation and combination of split flying cars, and provides reliable road conditions for the car.

[0055] In this embodiment, a method for calculating the flatness of a road surface is provided, which can be used for the above-mentioned split-type flying car. Figure 7 is a flow chart of a method for calculating road surface flatness according to an embodiment of the present invention. Figure 7 As shown, the process includes the following steps:

[0056] Step S701: When the vehicle is located at any one of the multiple road surface measurement points in the plot to be measured, the pitch angle and roll angle of the vehicle are obtained. Figure 1 Step S101 of the illustrated embodiment will not be described in detail here.

[0057] Step S702: Calculate the generalized gradient vector of any road surface measurement point according to the pitch angle and the roll angle.

[0058] Specifically, the above step S702 includes:

[0059] Step S7021, obtaining first coordinate information of a preset position point of the vehicle in the ground coordinate system.

[0060] Specifically, in the embodiment of the present invention, at a certain road measurement point, the vehicle body tilts due to the uneven ground, so that the vehicle body plane is not parallel to the ground, and a certain geometric structure is formed between the vehicle body plane and the ground. Figure 8 As shown, O-xyz is a ground coordinate system, such as a geodetic coordinate system, in which the xy plane is the ground; Ox′y′z′ is a vehicle coordinate system, in which the x′y′ plane is the vehicle body plane, and C is the geometric center of the vehicle body, which is located in the vehicle body plane and also in the ground coordinate system, and the corresponding coordinate is (x i ,y i ,z i ).

[0061] In some optional embodiments, the geometric center C is the geometric center of the vehicle, which is only a reference point selected for subsequent generalized gradient vector calculations, but is not limited to this. Other reference points on the vehicle, such as the center of mass, may also be selected.

[0062] Step S7022, determining the projection point of the ground corresponding to the preset position point in the ground coordinate system, and obtaining the vertical distance interval between the preset position point and the projection point.

[0063] Specifically, in the embodiment of the present invention, Figure 8 As shown, the projection point of the geometric center C of the vehicle body on the ground is C′, and the coordinates of C′ are (x i ,y i ,0). According to the coordinates of the geometric center C and the projection point C′, the vertical distance between the two can be determined CC′=z i .

[0064] Step S7023, determining the intersection line between the vehicle body plane corresponding to the preset position point in the vehicle coordinate system and the ground, and determining the vertical intersection point corresponding to the preset position on the intersection line, and calculating the plane distance interval between the projection point and the vertical intersection point according to the pitch angle, the roll angle and the vertical distance interval;

[0065] Specifically, in the embodiment of the present invention, the body of the land vehicle is tilted, the body plane is not parallel to the ground, and the two planes intersect at Figure 8 The intersection line shown, A, B and D are three points on the intersection line, where C'A is parallel to the y-axis, C'B is parallel to the x-axis, and CD is perpendicular to AB, that is, the vertical intersection point corresponding to the geometric center C on the intersection line is D, and the corresponding C'D is perpendicular to AB. Further, according to the physical meaning of the pitch angle α and the roll angle β, ∠CAC'=α, ∠CBC'=β, so according to the positional relationship between the angle and the straight line and the corresponding trigonometric function, the following five formulas are constructed:

[0066] CC′=z i

[0067]

[0068] C′D=C′A·sin∠C′AB

[0069] By combining the above five formulas, the plane distance interval C′D between the projection point C′ and the vertical intersection point D can be calculated according to the pitch angle α, the roll angle β and the vertical distance interval CC′.

[0070] Step S7024, calculating the generalized gradient vector of the road surface measurement point according to the vertical distance interval and the plane distance interval.

[0071] Specifically, the above step S7024 includes:

[0072] Step a1, determining the second coordinate information of the projection point according to the first coordinate information, and calculating the third coordinate information of the vertical intersection according to the second coordinate information and the plane distance interval.

[0073] Step a2, determining the direction vector formed by the projection point and the vertical intersection on the ground according to the second coordinate information and the third coordinate information, and determining a unit direction vector parallel to the direction vector.

[0074] Step a3, calculating the inclination angle of the road surface measuring point according to the vertical distance interval and the plane distance interval, and expressing the generalized gradient vector as the product of the unit direction vector and the inclination angle.

[0075] Specifically, in the embodiment of the present invention, Figure 8 As shown, the coordinates (x i ,y i ,0) and the plane distance interval C′D, the coordinates of the vertical intersection point D can be determined, and then the direction vector formed by the projection point and the vertical intersection point on the ground can be determined according to the coordinates of the projection point C′ and the coordinates of the vertical intersection point D And determine the direction vector Parallel unit direction vector At the same time, the inclination angle ∠CDC′ of the road surface measuring point is calculated according to the vertical distance interval CC′ and the plane distance interval C′D. The calculation formula is as follows:

[0076]

[0077] The generalized gradient vector Represented as a unit direction vector The product of the tilt angle ∠CDC′ is expressed as follows:

[0078]

[0079] In some optional embodiments, the tilt angle ∠CDC′ is the generalized gradient vector In practice, the correlation function of the tilt angle ∠CDC′ can also be used as the generalized gradient vector The modulus value, such as sin∠CDC′, tan∠CDC′, etc.

[0080] Step S703: Calculate the flatness of the plot to be measured according to the generalized gradient vectors corresponding to the plurality of road surface measurement points.

[0081] Specifically, the above step S703 includes:

[0082] Step S7031, calculating the absolute value of the sum of multiple generalized gradient vectors and the sum of the absolute values ​​of multiple generalized gradient vectors.

[0083] Specifically, in the embodiment of the present invention, by controlling the land vehicle to stop and calculate at different road measuring points, the generalized gradient vector of each road measuring point can be obtained. Thus, the flatness of the road block to be tested is calculated comprehensively according to multiple generalized gradient vectors, that is, the absolute value of the sum of multiple generalized gradient vectors is calculated respectively. The sum of the absolute values ​​of multiple generalized gradient vectors

[0084] Step S7032: performing exponentiation operations on the absolute value of the sum of the plurality of generalized gradient vectors and the sum of the absolute values ​​of the plurality of generalized gradient vectors based on the first power exponent and the second power exponent, respectively, and taking the ratio of the exponentiation results as the flatness.

[0085] Specifically, in the embodiment of the present invention, according to the actual operation, a suitable power index is selected to perform power operations on the absolute value of the sum of the multiple generalized gradient vectors and the sum of the absolute values ​​of the multiple generalized gradient vectors obtained above, and the corresponding flatness index value range will change accordingly. For example, the first power index k and the second power index m are both selected as 1, and the corresponding flatness calculation formula is as follows:

[0086]

[0087] At this time, the road surface flatness index value range is (0,1]. The closer the calculation result is to 1, the better the ground flatness is, and the closer it is to 0, the worse the ground flatness is. This is just an example and is not limited to this.

[0088] The method for calculating the road surface flatness provided by the embodiment of the present invention obtains the pitch angle and roll angle of the car at multiple road surface measuring points in the plot to be measured, and calculates the generalized gradient vector of the road surface measuring point according to the pitch angle and the roll angle, and calculates the flatness of the plot to be measured according to the multiple generalized gradient vectors. The present invention can calculate the road surface flatness parameters using only the on-board IMU sensor, without the need for additional equipment, and is automatically calculated by software. The operation is simple and convenient, and the measurement results are not affected by the experience of the measurement personnel. It is suitable for static application scenarios such as the separation and combination of split-type flying cars, and provides reliable road conditions for cars.

[0089] In this embodiment, a device for calculating the road surface flatness is also provided, which is used to implement the above-mentioned embodiments and preferred implementation modes, and the descriptions that have been made will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0090] This embodiment provides a device for calculating road surface flatness. Fig. 9 As shown, including:

[0091] The angle information acquisition module 901 is used to acquire the pitch angle and roll angle of the vehicle when the vehicle is located at any one of a plurality of road surface measurement points in the plot to be measured.

[0092] The generalized gradient vector calculation module 902 is used to calculate the generalized gradient vector of any road surface measurement point according to the pitch angle and the roll angle.

[0093] The flatness calculation module 903 is used to calculate the flatness of the plot to be measured according to the generalized gradient vectors corresponding to multiple road surface measurement points.

[0094] In some optional implementations, the device further includes: a measuring point switching module, which is used to select at least one road surface measuring point in the plot to be measured and control the vehicle to move to the road surface measuring point.

[0095] In some optional implementations, the generalized gradient vector calculation module 902 includes:

[0096] The coordinate information acquisition unit is used to acquire first coordinate information of a preset position point of the vehicle in the ground coordinate system.

[0097] The first interval determination unit is used to determine the projection point of the ground corresponding to the preset position point in the ground coordinate system, and obtain the vertical distance interval between the preset position point and the projection point.

[0098] The second interval determination unit is used to determine the intersection line between the vehicle body plane corresponding to the preset position point in the vehicle coordinate system and the ground, and to determine the vertical intersection point corresponding to the preset position on the intersection line, and to calculate the plane distance interval between the projection point and the vertical intersection point according to the pitch angle, roll angle and vertical distance interval.

[0099] The generalized gradient vector calculation unit is used to calculate the generalized gradient vector of the road surface measuring point according to the vertical distance interval and the plane distance interval.

[0100] In some optional implementations, the generalized gradient vector calculation unit includes:

[0101] The coordinate information acquisition subunit is used to determine the second coordinate information of the projection point according to the first coordinate information, and calculate the third coordinate information of the vertical intersection according to the second coordinate information and the plane distance interval.

[0102] The direction vector determining subunit is used to determine the direction vector formed by the projection point and the vertical intersection on the ground according to the second coordinate information and the third coordinate information, and to determine a unit direction vector parallel to the direction vector.

[0103] The generalized gradient vector representation subunit is used to calculate the inclination angle of the road surface measurement point according to the vertical distance interval and the plane distance interval, and to represent the generalized gradient vector as the product of the unit direction vector and the inclination angle.

[0104] In some optional implementations, the flatness calculation module 903 includes:

[0105] The vector synthesis calculation unit is used to calculate the absolute value of the sum of multiple generalized gradient vectors and the sum of the absolute values ​​of multiple generalized gradient vectors.

[0106] The exponentiation operation unit is used to perform exponentiation operations on the absolute value of the sum of multiple generalized gradient vectors and the sum of the absolute values ​​of multiple generalized gradient vectors based on the first power index and the second power index, and use the ratio of the exponentiation results as the flatness.

[0107] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0108] The road surface smoothness calculation device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0109] The embodiment of the present invention also provides a computer device having the above Fig. 9 The device for calculating the road surface flatness is shown.

[0110] See also Fig.10 , Fig.10 is a schematic diagram of the structure of a computer device provided by an optional embodiment of the present invention, such as Fig.10 As shown, the computer device includes: one or more processors 10, a memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components are connected to each other using different buses for communication, and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Similarly, multiple computer devices can be connected, and each device provides some necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Fig.10 A processor 10 is taken as an example.

[0111] The processor 10 may be a central processing unit, a network processor or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be a dedicated integrated circuit, a programmable logic device or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic or any combination thereof.

[0112] The memory 20 stores instructions executable by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0113] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely arranged relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0114] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid state drive; the memory 20 may also include a combination of the above types of memory.

[0115] The computer device further comprises a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0116] The embodiment of the present invention also provides a computer-readable storage medium. The method according to the embodiment of the present invention can be implemented in hardware, firmware, or can be implemented as a computer code that can be recorded in a storage medium, or can be implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and will be stored in a local storage medium through a network download, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state hard disk, etc.; further, the storage medium can also include a combination of the above types of memories. It can be understood that a computer, a processor, a microprocessor controller, or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor, or hardware, the method shown in the above embodiment is implemented.

[0117] A part of the present invention may be applied as a computer program product, such as a computer program instruction, which, when executed by a computer, can call or provide the method and / or technical solution according to the present invention through the operation of the computer. Those skilled in the art should understand that the existence of the computer program instruction in a computer-readable medium includes, but is not limited to, a source file, an executable file, an installation package file, etc., and accordingly, the way in which the computer program instruction is executed by the computer includes, but is not limited to: the computer directly executes the instruction, or the computer compiles the instruction and then executes the corresponding compiled program, or the computer reads and executes the instruction, or the computer reads and installs the instruction and then executes the corresponding installed program. Here, the computer-readable medium may be any available computer-readable storage medium or communication medium accessible to the computer.

[0118] The embodiment of the present invention also provides a flying car, comprising: a controller and an inertial sensor; the inertial sensor is used to collect the pitch angle and roll angle of the car; the controller is used to execute the above Figure 1 , Figure 5 or Figure 7 The calculation method of road surface roughness is shown.

[0119] Although the embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A method for calculating road surface flatness, characterized in that: The method comprises: When the vehicle is located at any one of a plurality of road surface measuring points in the plot to be measured, obtaining the pitch angle and roll angle of the vehicle; Calculate the generalized gradient vector of any one of the road surface measurement points according to the pitch angle and the roll angle; The flatness of the plot to be measured is calculated according to the generalized gradient vectors corresponding to the multiple road surface measurement points.

2. The method according to claim 1, characterized in that When the vehicle is located at any one of a plurality of road surface measuring points in the plot to be measured, before obtaining the pitch angle and the roll angle of the vehicle, the method further includes: At least one road surface measuring point is selected in the plot to be measured, and the vehicle is controlled to move to the road surface measuring point.

3. The method according to claim 1, characterized in that The step of calculating the generalized gradient vector of any one of the road surface measurement points according to the pitch angle and the roll angle comprises: Acquire first coordinate information of a preset position point of the vehicle in a ground coordinate system; Determine the projection point of the ground corresponding to the preset position point in the ground coordinate system, and obtain the vertical distance interval between the preset position point and the projection point; Determine an intersection line between a vehicle body plane corresponding to the preset position point in the vehicle coordinate system and the ground, determine a vertical intersection point corresponding to the preset position on the intersection line, and calculate a plane distance interval between the projection point and the vertical intersection point according to the pitch angle, the roll angle and the vertical distance interval; The generalized gradient vector of the road surface measurement point is calculated according to the vertical distance interval and the plane distance interval.

4. The method according to claim 3, characterized in that The step of calculating the generalized gradient vector of the road surface measuring point according to the vertical distance interval and the plane distance interval includes: Determine the second coordinate information of the projection point according to the first coordinate information, and calculate the third coordinate information of the vertical intersection according to the second coordinate information and the plane distance interval; Determine a direction vector formed by the projection point and the vertical intersection on the ground according to the second coordinate information and the third coordinate information, and determine a unit direction vector parallel to the direction vector; The inclination angle of the road surface measuring point is calculated according to the vertical distance interval and the plane distance interval, and the generalized gradient vector is expressed as the product of the unit direction vector and the inclination angle.

5. The method according to claim 1, characterized in that The calculating the flatness of the plot to be measured according to the generalized gradient vectors corresponding to the plurality of road surface measuring points comprises: Calculating an absolute value of a sum of a plurality of said generalized gradient vectors and a sum of absolute values ​​of a plurality of said generalized gradient vectors; Based on the first power exponent and the second power exponent, the absolute value of the sum of the plurality of generalized gradient vectors and the sum of the absolute values ​​of the plurality of generalized gradient vectors are respectively exponentiated, and the ratio of the exponentiation results is used as the flatness.

6. A device for calculating road surface flatness, characterized in that: The device is used to perform the method for calculating the road surface flatness according to any one of claims 1 to 5, comprising: An angle information acquisition module, used for acquiring the pitch angle and roll angle of the vehicle when the vehicle is located at any one of a plurality of road surface measurement points in the plot to be measured; A generalized gradient vector calculation module, used for calculating the generalized gradient vector of any one of the road surface measurement points according to the pitch angle and the roll angle; The flatness calculation module is used to calculate the flatness of the plot to be measured according to the generalized gradient vectors corresponding to the multiple road surface measurement points.

7. A computer device, characterized in that: include: A memory and a processor, wherein the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the method for calculating the road surface flatness according to any one of claims 1 to 5 by executing the computer instructions.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the method for calculating the road surface flatness according to any one of claims 1 to 5.

9. A computer program product, characterized in that The method comprises computer instructions for causing a computer to execute the method for calculating the road surface flatness according to any one of claims 1 to 5.

10. An automobile, characterized in that: include: Controllers and inertial sensors; The inertial sensor is used to collect the pitch angle and roll angle of the vehicle; The controller is used to execute the method for calculating the road surface flatness according to any one of claims 1 to 5.

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