Pavement skid resistance detection system based on multi-feature fusion

Abstract

The invention relates to the technical field of pavement detection, and provides a pavement skid resistance detection system based on multi-feature fusion. The system comprises a pavement texture sensing module used for obtaining precise three-dimensional point cloud data of a pavement to be measured and obtaining construction depth data based on the precise three-dimensional point cloud data; the friction coefficient sensing module is used for acquiring the horizontal friction resistance and the vertical load when the measuring wheel advances; the friction coefficient calculation module is used for calculating the pavement friction coefficient based on the horizontal friction resistance and the vertical load; and the anti-skid performance detection module is used for obtaining an anti-skid performance detection value of the to-be-detected pavement based on the structure depth data and the pavement friction coefficient. According to the method, the structure depth data is derived from the precise three-dimensional point cloud data and has relatively high data accuracy for the structure depth of any size, and the road surface friction coefficient and the structure depth data are combined to jointly obtain the anti-skid performance detection value, so that the detection value accurately reflects the real anti-skid performance of the road surface of any size and structure depth.

Description

Technical Field

[0001] The present application relates to the technical field of road surface detection, and in particular to a road surface anti-skid performance detection system based on multi-feature fusion. Background Art

[0002] The anti-skid performance of a road surface refers to the braking performance and anti-skid performance of a car when driving on the road under certain conditions such as speed and humidity, usually expressed as the friction coefficient or roughness of the road surface. Insufficient anti-skid performance of the road surface can easily cause accidents such as vehicle skidding, rollover, and rear-end collision. Therefore, the anti-skid performance of the road surface is a crucial factor affecting road driving safety.

[0003] At present, dragging tires or rubber pads on roads or samples is still the main method for measuring the anti-skid performance of pavement. This type of measurement method uses direct measurement and is usually suitable for scenes with a smaller road structure depth. For roads with a larger structure depth, since the test tires are smooth tires and the vertical load applied by the test wheels to the road surface is smaller, the contact area between the test wheels and the road surface with a larger structure depth is smaller, resulting in the measurement results of the anti-skid performance of the road surface being unable to reflect the actual anti-skid performance of the road surface. Summary of the invention

[0004] An embodiment of the present application provides a road surface anti-skid performance detection system based on multi-feature fusion, which is used to solve the technical problem that when using a direct measurement method to detect a road surface with a large structural depth, the contact area between the test wheel and the road surface with a large structural depth is small, resulting in the measurement result of the road surface anti-skid performance being unable to reflect the actual anti-skid performance of the road surface.

[0005] The present application embodiment provides a road surface anti-skid performance detection system based on multi-feature fusion, including: Road surface texture perception module, friction coefficient perception module, friction coefficient calculation module and anti-skid performance detection module; The road surface texture perception module is used to obtain precise three-dimensional point cloud data of the road surface to be tested, and obtain structural depth data of the road surface to be tested based on the precise three-dimensional point cloud data; The friction coefficient sensing module is used to obtain the horizontal friction resistance and vertical load when the measuring wheel moves forward; The friction coefficient calculation module is used to calculate the road friction coefficient of the road to be tested based on the horizontal friction resistance and the vertical load; The anti-skid performance detection module is used to obtain the anti-skid performance detection value of the road surface to be tested based on the structural depth data of the road surface to be tested and the road surface friction coefficient of the road surface to be tested.

[0006] In one embodiment, it further includes: a vehicle loading platform; The vehicle platform includes a measuring vehicle, and the measuring vehicle includes the measuring wheels; The friction coefficient sensing module includes a resistance testing unit and a vertical load adjustment unit; The resistance testing unit is used to apply additional resistance to the measuring wheel and obtain the horizontal friction resistance of the measuring wheel when it moves along the driving direction in a target state on the road surface to be tested; the target state is a state in which slip occurs during rolling; The vertical load adjustment unit is used to obtain the vertical load of the measuring wheel when it moves along the driving direction in the target state on the road surface to be measured.

[0007] In one embodiment, the vertical load adjustment unit is further used to: Inputting the structural depth data of a plurality of measuring points on the road surface to be measured into the vertical load adjustment target model to obtain the vertical load adjustment target of the measuring wheel; Obtaining a vertical load adjustment amount of the measuring wheel based on a vertical load adjustment target of the measuring wheel and a current vertical load of the measuring wheel; adjusting the current vertical load of the measuring wheel based on the vertical load adjustment amount of the measuring wheel; The vertical load adjustment target model is determined based on the relationship between the historical structural depths of multiple measuring points on the experimental road surface and the historical vertical loads of the measuring wheels under the constraint of the road surface friction coefficient.

[0008] In one embodiment, the vertical load adjustment unit is further used to: Screen out a variety of typical historical structural depth data from the historical structural depth data of multiple measuring points on multiple experimental road surfaces; Based on the multiple typical historical structural depth data, multiple regional historical measurement data on the road surfaces at multiple typical structural depths with a road friction coefficient change rate less than a change rate threshold are screened out; Determining the historical vertical loads of the measuring wheel in the historical measurement data of the plurality of regions as a plurality of historical vertical load adjustment targets of the measuring wheel; The plurality of typical historical structural depth data and the plurality of historical vertical load adjustment targets are fitted to obtain the vertical load adjustment target model.

[0009] In one embodiment, the anti-skid performance test value of the road surface to be tested is obtained based on the structural depth data of the road surface to be tested and the road surface friction coefficient of the road surface to be tested, including: Inputting the structural depth data of the road surface to be tested and the road friction coefficient of the road surface to be tested into an anti-skid performance detection model to obtain an anti-skid performance detection value of the road surface to be tested; The anti-skid performance detection model is determined based on the relationship between the construction depth data of the typical construction depth road surface, the road surface friction coefficient of the typical construction depth road surface and the anti-skid performance reference value of the typical construction depth road surface.

[0010] In one embodiment, the anti-skid performance detection module is further used to: Obtaining construction depth data of various typical construction depth roads, road friction coefficients of various typical construction depth roads, and anti-skid performance reference values ​​of various typical construction depth roads; The anti-skid performance detection model is obtained by fitting the construction depth data of the various typical construction depth roads, the road friction coefficients of the various typical construction depth roads and the anti-skid performance reference values ​​of the various typical construction depth roads.

[0011] In one embodiment, the anti-skid performance reference value includes a braking distance of the measuring wheel under preset standard conditions and an ideal friction coefficient of the measuring wheel under uniform deceleration converted from the braking distance.

[0012] In one embodiment, the ideal friction coefficient is calculated based on the ideal horizontal friction resistance of the measuring wheel under uniform deceleration converted from the braking distance and a preset standard vertical load of the measuring wheel.

[0013] In one embodiment, the resistance testing unit includes a braking device and a transmission device; The braking device applies additional resistance to the measuring wheel through the transmission device, so that the measuring wheel moves forward in the target state.

[0014] In one embodiment, the vehicle-carrying platform further comprises a control unit; The control unit is used to control the vertical load adjustment unit in the friction coefficient perception module based on the structural depth data of the road surface to be tested obtained by the road surface texture perception module.

[0015] The multi-feature fusion road anti-skid performance detection system provided by the present application includes: a road texture perception module, a friction coefficient perception module, a friction coefficient calculation module and an anti-skid performance detection module, wherein the road texture perception module is used to obtain the precise three-dimensional point cloud data of the road surface to be tested, and obtain the structural depth data of the road surface to be tested based on the precise three-dimensional point cloud data, the friction coefficient perception module is used to obtain the horizontal friction resistance and vertical load when the measuring wheel moves forward, the friction coefficient calculation module is used to calculate the road friction coefficient of the road surface to be tested based on the horizontal friction resistance and the vertical load, and the anti-skid performance detection module is used to obtain the anti-skid performance detection value of the road surface to be tested based on the structural depth data of the road surface to be tested and the road friction coefficient of the road surface to be tested. The present application obtains the anti-skid performance detection value based on the structural depth data and the road friction coefficient of the road surface to be tested, and since the structural depth data is derived from the precise three-dimensional point cloud data, it has high data accuracy for any size of structural depth, and the road friction coefficient is combined with the high-accuracy structural depth data to obtain the anti-skid performance detection value, so that the detection value can accurately reflect the true anti-skid performance of the road surface with any size of structural depth. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0017] Figure 1 It is a structural schematic diagram of a road surface anti-skid performance detection system based on multi-feature fusion provided in an embodiment of the present application; Figure 2 This is one of the detection flow charts of the road surface anti-skid performance detection system based on multi-feature fusion provided in the embodiment of the present application; Figure 3 This is the second detection flow chart of the road surface anti-skid performance detection system based on multi-feature fusion provided in the embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] It should be noted that in the description of the embodiments of the present application, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements. The orientation or position relationship indicated by the terms "upper", "lower" and the like is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0020] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0021] Figure 1 Schematic diagram of the structure of the road anti-skid performance detection system based on multi-feature fusion provided in the embodiment of the present application. Figure 1 , the embodiment of the present application provides a road surface anti-skid performance detection system based on multi-feature fusion, which may include: a road surface texture perception module, a friction coefficient perception module, a friction coefficient calculation module and an anti-skid performance detection module; A road surface texture perception module is used to obtain precise three-dimensional point cloud data of the road surface to be tested, and obtain structural depth data of the road surface to be tested based on the precise three-dimensional point cloud data; The friction coefficient sensing module is used to obtain the horizontal friction resistance and vertical load when the measuring wheel moves forward; A friction coefficient calculation module, used for calculating the road friction coefficient of the road to be tested based on the horizontal friction resistance and the vertical load; The anti-skid performance detection module is used to obtain the anti-skid performance detection value of the road surface to be tested based on the structural depth data of the road surface to be tested and the road surface friction coefficient of the road surface to be tested.

[0022] Among them, the road texture perception module includes a line scanning three-dimensional measurement sensor, which can be used to obtain precise three-dimensional point cloud data of the road surface to be tested; the road friction coefficient of the road surface to be tested calculated by the friction coefficient calculation module is the longitudinal friction coefficient of the road surface to be tested along the driving direction.

[0023] The multi-feature fusion road anti-skid performance detection system provided in this embodiment includes: a road texture perception module, a friction coefficient perception module, a friction coefficient calculation module and an anti-skid performance detection module, the road texture perception module is used to obtain the precise three-dimensional point cloud data of the road surface to be tested, and obtain the structural depth data of the road surface to be tested based on the precise three-dimensional point cloud data, the friction coefficient perception module is used to obtain the horizontal friction resistance and vertical load when the measuring wheel moves forward, the friction coefficient calculation module is used to calculate the road friction coefficient of the road surface to be tested based on the horizontal friction resistance and the vertical load, and the anti-skid performance detection module is used to obtain the anti-skid performance detection value of the road surface to be tested based on the structural depth data of the road surface to be tested and the road friction coefficient of the road surface to be tested. In this embodiment, the anti-skid performance detection value is obtained based on the structural depth data and the road friction coefficient of the road surface to be tested. Since the structural depth data is derived from the precise three-dimensional point cloud data, it has high data accuracy for any size of structural depth. The road friction coefficient is combined with the high-accuracy structural depth data to obtain the anti-skid performance detection value, which can make the detection value accurately reflect the real anti-skid performance of the road surface with any size of structural depth.

[0024] Reference Figure 1 ,In one embodiment, the system further comprises: a vehicle loading platform; The vehicle platform includes a measuring vehicle, and the measuring vehicle includes measuring wheels; The friction coefficient sensing module includes a resistance test unit and a vertical load adjustment unit; The resistance test unit is used to apply additional resistance to the measuring wheel and obtain the horizontal friction resistance of the measuring wheel when it moves along the driving direction in a target state on the road surface to be tested; the target state is a state of slippage during rolling; wherein the additional resistance is the longitudinal friction resistance along the driving direction; The horizontal friction resistance refers to the friction resistance parallel to the horizontal plane, and does not distinguish between the horizontal and vertical directions of the friction resistance on the horizontal plane.

[0025] The resistance test unit comprises a braking device and a transmission device, wherein the braking device applies additional resistance to the measuring wheel through the transmission device so that the measuring wheel moves forward in a target state.

[0026] The braking device can be a controllable electromagnetic brake, which is connected to the measuring wheel through a transmission device and brakes the measuring wheel based on a preset slip rate. The braking force generated by the brake causes the measuring wheel to produce a preset slip through the transmission device; the forward direction of the measuring wheel is consistent with the forward direction of the vehicle platform, and the sideslip angle and camber angle of the test wheel must meet the preset angle requirements. For example, the sideslip angle is 0 degrees and the camber angle is ±2 degrees.

[0027] The vertical load adjustment unit is used to obtain the vertical load of the measuring wheel when it moves along the driving direction in the target state on the road surface to be tested.

[0028] The vertical load adjustment unit includes a load loading device, such as a hydraulic press, an air compressor, etc., which is used to adjust the size of the vertical load applied to the measuring wheel. At this time, the vertical load of the measuring wheel is the combined force of the measuring wheel's own weight and the vertical load applied to the measuring wheel by the load loading device.

[0029] Among them, the friction coefficient sensing module also includes a tension sensor, a torque sensor, a temperature sensor, a distance test unit and an inertial measurement unit; The tension sensor is installed at the tire center of the measuring wheel to obtain the pressure applied by the measuring wheel to the road surface; The torque sensor is installed on the rotating shaft of the measuring wheel and is used to obtain the longitudinal friction resistance when the measuring wheel moves forward in the target state; The temperature sensor may be a non-contact infrared temperature sensor, which is used to obtain the road surface temperature of the road to be tested; The distance test unit includes a first distance sensor, such as an encoder, for recording the rotation speed of the measuring wheel, and obtaining the slip rate of the measuring wheel in combination with the driving speed and the radius of the measuring wheel; The inertial measurement unit is installed on the non-rotating part of the measuring wheel tire structure, including a three-axis accelerometer and a three-axis gyroscope, which are used to obtain the acceleration of the measuring wheel in the driving direction, the vibration acceleration of the measuring wheel in the direction perpendicular to the road surface, and the angular velocity of the measuring wheel. Using these data combined with horizontal friction resistance and vertical load, the sliding speed of the measuring wheel and the friction with the road surface can also be calculated.

[0030] In this embodiment, through the cooperation of various modules, the measuring wheel rolls and slides relative to the road surface when moving forward, so that the horizontal friction resistance of the combined rolling friction and sliding friction can be obtained, and a more accurate road friction coefficient can be obtained in combination with the vertical load.

[0031] Figure 2This is one of the detection flow charts of the road surface anti-skid performance detection system based on multi-feature fusion provided in the embodiment of the present application. Figure 2 In one embodiment, the vertical load adjustment unit can also be used to: 201. Inputting structural depth data of a plurality of measuring points on the road surface to be measured into a vertical load adjustment target model to obtain a vertical load adjustment target of the measuring wheel; 202. Obtaining a vertical load adjustment amount of the measuring wheel based on the vertical load adjustment target of the measuring wheel and the current vertical load of the measuring wheel; 203. Adjust the current vertical load of the measuring wheel based on the vertical load adjustment amount of the measuring wheel.

[0032] Since the vertical load adjustment target model is determined under the constraint of the road friction coefficient based on the relationship between the historical structural depths of multiple measuring points on the experimental road surface and the historical vertical loads of the measuring wheel, the vertical load adjustment target model can characterize the one-to-one mapping relationship between the structural depth and the vertical load, and the one-to-one mapping relationship satisfies the specific road friction coefficient constraint. By inputting the structural depth data of the road surface to be tested into the vertical load adjustment target model, the vertical load that satisfies the road friction coefficient constraint can be obtained. This is used as the adjustment target, and the gap with the current vertical load is measured to obtain the required adjustment amount. Then, the current vertical load can be adjusted according to the adjustment amount to make the current vertical load as close to the adjustment target as possible, so that the current road friction coefficient can meet the road friction coefficient constraint as much as possible.

[0033] This embodiment uses a vertical load adjustment target model to obtain a vertical load adjustment target under a specific road surface friction coefficient constraint based on the structural depth data of the road surface to be measured, thereby calculating the vertical load adjustment amount required for the current measuring wheel, and adjusting the current vertical load according to the adjustment amount. While the current vertical load is close to the vertical load adjustment target, the current road surface friction coefficient is made to meet the road surface friction coefficient constraint as much as possible. Under the method of this embodiment, the road surface friction coefficient under a preset state can be obtained efficiently and accurately.

[0034] Figure 3 This is the second detection flow chart of the road surface anti-skid performance detection system based on multi-feature fusion provided in the embodiment of the present application. Figure 3 In one embodiment, the vertical load adjustment unit can also be used to: 301. Filter out a variety of typical historical structural depth data from the historical structural depth data of multiple measuring points on multiple experimental road surfaces; 302. Based on multiple typical historical structural depth data, multiple regional historical measurement data on the road surfaces with multiple typical structural depths having a road friction coefficient change rate less than a change rate threshold are selected; 303. Determine the historical vertical loads of the measuring wheel in the historical measurement data of the plurality of regions as the plurality of historical vertical load adjustment targets of the measuring wheel; 304. A vertical load adjustment target model is obtained by fitting a variety of typical historical structural depth data and a plurality of historical vertical load adjustment targets.

[0035] In step 301, the road surface texture perception module can be used to obtain precise three-dimensional point cloud data on the experimental road surface, and the historical structure depth data can be obtained based on the precise three-dimensional point cloud data.

[0036] Among them, typical historical structural depth data are representative, have obvious characteristics, and can be used as historical structural depth data of a certain category, a certain geological period, and a certain test condition.

[0037] In step 302, for the same road surface area, under different vertical loads, the measuring wheel will produce different slip rates. Under certain slip rate conditions, the friction coefficient of the road surface to be measured calculated by horizontal friction resistance and vertical load has poor stability. Similarly, under the same vertical load, for different road surface areas, the measuring wheel will produce different slip rates. Under certain slip rate conditions, the friction coefficient of the road surface to be measured calculated by horizontal friction resistance and vertical load has poor stability. Therefore, for a road surface with a specific structural depth, this embodiment screens out historical measurement data of a region with a relatively stable road surface friction coefficient by analyzing the relationship between the above vertical load and the road surface friction coefficient.

[0038] In step 303, under the stability constraint of the road friction coefficient, the historical vertical loads mapped one-to-one with the historical structural depth data at different structural depths are obtained and used as the historical vertical load adjustment target.

[0039] In step 304, any fitting method can be used to fit the historical structural depth data and the historical vertical load adjustment target, which is not limited here. In this embodiment, the least squares method can be used to fit the historical structural depth data and the historical vertical load adjustment target to obtain a vertical load adjustment target model.

[0040] This embodiment obtains a vertical load adjustment target model by fitting the historical construction depth data that meets the conventional constraints of the road friction coefficient and the historical vertical load adjustment target. This enables the vertical load adjustment target subsequently obtained based on the vertical load adjustment target model to also be a stability adjustment target for the road friction coefficient, which helps to obtain a stable road friction coefficient for anti-skid performance testing and improve the accuracy of anti-skid performance testing.

[0041] In one embodiment, obtaining the anti-skid performance test value of the road surface to be tested based on the structural depth data of the road surface to be tested and the road surface friction coefficient of the road surface to be tested may include: Inputting the structural depth data of the road surface to be tested and the road friction coefficient of the road surface to be tested into the anti-skid performance detection model to obtain the anti-skid performance detection value of the road surface to be tested; The anti-skid performance detection model is determined based on the relationship between the construction depth data of the typical construction depth road surface, the road friction coefficient of the typical construction depth road surface and the anti-skid performance reference value of the typical construction depth road surface. Specifically: The anti-skid performance detection module is also used for: Obtaining construction depth data of various typical construction depth roads, road friction coefficients of various typical construction depth roads, and anti-skid performance reference values ​​of various typical construction depth roads; The construction depth data of various typical construction depth roads, the road friction coefficients of various typical construction depth roads and the anti-skid performance reference values ​​of various typical construction depth roads are fitted to obtain an anti-skid performance detection model. The fitting method can adopt the least squares method or other methods, which are not limited here.

[0042] The anti-skid performance reference value includes the braking distance of the measuring wheel under preset standard conditions and the ideal friction coefficient of the measuring wheel under uniform deceleration converted from the braking distance.

[0043] The preset standard condition may be a preset standard vehicle model, a preset standard tire, a preset standard load, a preset standard speed, etc.; The ideal friction coefficient can be calculated based on the ideal horizontal friction resistance of the measuring wheel under uniform deceleration converted based on the braking distance and the preset standard vertical load of the measuring wheel. For example, the ratio of the ideal horizontal friction resistance to the preset standard vertical load is used as the ideal friction coefficient.

[0044] In this embodiment, the anti-skid performance detection model is obtained by fitting the construction depth data of multiple typical construction depth roads and the road friction coefficients of multiple typical construction depth roads with various standard reference values ​​or ideal reference values. Therefore, after obtaining the accurate construction depth data and stable road friction coefficient of the road surface to be tested, the anti-skid performance detection model can be combined to obtain the standard or ideal anti-skid performance detection value of the road surface to be tested, thereby improving the accuracy of the anti-skid performance detection.

[0045] Reference Figure 1 ,In one embodiment, the vehicle-carrying platform further comprises a control unit; The control unit is used to control the vertical load adjustment unit in the friction coefficient perception module based on the structural depth data of the road surface to be tested obtained by the road surface texture perception module, so as to adjust the current vertical load.

[0046] In the forward direction of the measuring vehicle, the road surface texture sensing module can be installed in front of the friction coefficient sensing module based on a preset distance. The preset distance needs to be greater than the maximum moving distance of the measuring vehicle within the vertical load adjustment response time, so that the control unit can receive the construction depth data of the road surface texture sensing module within the vertical load adjustment response time and adjust and control the friction coefficient sensing module.

[0047] Furthermore, the vehicle platform also includes a power supply unit, a water spray unit and a positioning unit, and the control unit, the power supply unit, the water spray unit and the positioning unit are all installed on the measurement vehicle.

[0048] The power supply unit is responsible for supplying power to all devices in the system except the measurement vehicle chassis; The control unit is responsible for the motion control related to the mechanical structure in the system, data acquisition and storage control, and the coordinated control between the sensors in the road texture sensing module and the friction coefficient sensing module; The watering unit includes a water storage tank, an ultrasonic liquid level sensor, a small water pump, a sprinkler nozzle, etc., wherein the ultrasonic liquid level sensor is used to detect the water storage amount in the water storage tank; The watering unit is used to adjust the watering amount to be sprayed on the road surface to be tested by automatically controlling the water pump according to the preset road friction coefficient detection requirements, the watering width, the watering flow rate and the driving speed of the measuring vehicle; The positioning unit records and measures the mileage of the vehicle through a second distance sensor, such as an encoder, GPS, etc., so that the control unit can perform data collection control.

[0049] In this embodiment, the power supply unit in the vehicle platform can ensure the power supply of the detection system, the water spraying unit can spray water on the road surface to be tested to ensure the detection requirements of the road friction coefficient, the positioning unit can record the mileage of the measured vehicle so that the control unit can perform data acquisition control, and the control unit can ensure the motion control, data acquisition and storage control of the detection system and the coordinated control of various components. These units work together to enable the detection system to work stably.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A road skid resistance detection system based on multi-feature fusion, characterized in that: include: Road surface texture perception module, friction coefficient perception module, friction coefficient calculation module and anti-skid performance detection module; The road surface texture perception module is used to obtain precise three-dimensional point cloud data of the road surface to be tested, and obtain structural depth data of the road surface to be tested based on the precise three-dimensional point cloud data; The friction coefficient sensing module is used to obtain the horizontal friction resistance and vertical load when the measuring wheel moves forward; The friction coefficient calculation module is used to calculate the road friction coefficient of the road to be tested based on the horizontal friction resistance and the vertical load; The anti-skid performance detection module is used to obtain the anti-skid performance detection value of the road surface to be tested based on the structural depth data of the road surface to be tested and the road surface friction coefficient of the road surface to be tested.

2. The road surface anti-skid performance detection system based on multi-feature fusion according to claim 1 is characterized in that: Also includes: Car loading platform; The vehicle platform includes a measuring vehicle, and the measuring vehicle includes the measuring wheels; The friction coefficient sensing module includes a resistance testing unit and a vertical load adjustment unit; The resistance testing unit is used to apply additional resistance to the measuring wheel and obtain the horizontal friction resistance of the measuring wheel when it moves along the driving direction in a target state on the road surface to be tested; The target state is a state in which slippage occurs during rolling; The vertical load adjustment unit is used to obtain the vertical load of the measuring wheel when it moves along the driving direction in the target state on the road surface to be measured.

3. The road surface anti-skid performance detection system based on multi-feature fusion according to claim 2 is characterized in that: The vertical load adjustment unit is also used for: Inputting the structural depth data of a plurality of measuring points on the road surface to be measured into the vertical load adjustment target model to obtain the vertical load adjustment target of the measuring wheel; Obtaining a vertical load adjustment amount of the measuring wheel based on a vertical load adjustment target of the measuring wheel and a current vertical load of the measuring wheel; adjusting the current vertical load of the measuring wheel based on the vertical load adjustment amount of the measuring wheel; The vertical load adjustment target model is determined based on the relationship between the historical structural depths of multiple measuring points on the experimental road surface and the historical vertical loads of the measuring wheels under the constraint of the road surface friction coefficient.

4. The road surface anti-skid performance detection system based on multi-feature fusion according to claim 3 is characterized in that: The vertical load adjustment unit is also used for: Screen out a variety of typical historical structural depth data from the historical structural depth data of multiple measuring points on multiple experimental road surfaces; Based on the multiple typical historical structural depth data, multiple regional historical measurement data on the road surfaces at multiple typical structural depths with a road friction coefficient change rate less than a change rate threshold are screened out; Determining the historical vertical loads of the measuring wheel in the historical measurement data of the plurality of regions as a plurality of historical vertical load adjustment targets of the measuring wheel; The plurality of typical historical structural depth data and the plurality of historical vertical load adjustment targets are fitted to obtain the vertical load adjustment target model.

5. The road surface anti-skid performance detection system based on multi-feature fusion according to claim 1 is characterized in that: The step of obtaining the anti-skid performance test value of the road surface to be tested based on the structural depth data of the road surface to be tested and the road surface friction coefficient of the road surface to be tested comprises: Inputting the structural depth data of the road surface to be tested and the road friction coefficient of the road surface to be tested into an anti-skid performance detection model to obtain an anti-skid performance detection value of the road surface to be tested; The anti-skid performance detection model is determined based on the relationship between the construction depth data of the typical construction depth road surface, the road surface friction coefficient of the typical construction depth road surface and the anti-skid performance reference value of the typical construction depth road surface.

6. The road surface anti-skid performance detection system based on multi-feature fusion according to claim 5 is characterized in that: The anti-skid performance detection module is also used for: Obtaining construction depth data of various typical construction depth roads, road friction coefficients of various typical construction depth roads, and anti-skid performance reference values ​​of various typical construction depth roads; The anti-skid performance detection model is obtained by fitting the construction depth data of the various typical construction depth roads, the road friction coefficients of the various typical construction depth roads and the anti-skid performance reference values ​​of the various typical construction depth roads.

7. The road surface anti-skid performance detection system based on multi-feature fusion according to claim 5 is characterized in that: The anti-skid performance reference value includes a braking distance of the measuring wheel under preset standard conditions and an ideal friction coefficient of the measuring wheel under uniform deceleration converted from the braking distance.

8. The road surface anti-skid performance detection system based on multi-feature fusion according to claim 7 is characterized in that: The ideal friction coefficient is calculated based on the ideal horizontal friction resistance of the measuring wheel under uniform deceleration converted from the braking distance and the preset standard vertical load of the measuring wheel.

9. The road surface anti-skid performance detection system based on multi-feature fusion according to claim 2 is characterized in that: The resistance testing unit includes a braking device and a transmission device; The braking device applies additional resistance to the measuring wheel through the transmission device, so that the measuring wheel moves forward in the target state.

10. The road surface anti-skid performance detection system based on multi-feature fusion according to claim 2, characterized in that: The vehicle-carrying platform further includes a control unit; The control unit is used to control the vertical load adjustment unit in the friction coefficient perception module based on the structural depth data of the road surface to be tested obtained by the road surface texture perception module.

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