All-road smoothness detection method, system, equipment, medium and program product

Abstract

The present invention discloses a method, system, device, medium and program product for detecting the smoothness of all road conditions. The method comprises: firstly obtaining a distance pulse signal, a body up and down floating pulse signal and a body up and down floating acceleration data collected by a test vehicle in each preset period; for each preset period, obtaining the forward distance of the test vehicle according to the distance pulse signal, obtaining the first relative displacement between the body and the wheel according to the body up and down floating pulse signal, and obtaining the second relative displacement between the body and the ground by using the body up and down floating acceleration data; obtaining the bump accumulation value of the road section driven by the test vehicle in the preset period by using the forward distance, the first relative displacement and the second relative displacement; performing regression analysis processing by using the bump accumulation value and the international smoothness index to obtain the continuous smoothness data of the road. The present invention effectively improves the efficiency and safety of the detection of the smoothness of all road conditions, and the detection is not affected by the reflection of the road surface.

Description

Technical Field

[0001] The present invention relates to the technical field of road detection, and in particular to a method, system, equipment, medium and program product for detecting the smoothness of all road conditions. Background Art

[0002] Road surface flatness is an important indicator for evaluating driving comfort. The most commonly used method in highway engineering testing is the 3m ruler detection method. The existing method has the disadvantages of requiring a large number of personnel, high labor intensity, slow testing speed, and poor road safety. It is not suitable for the current testing needs of high-traffic sections. Another on-board laser reflection detection method, although the detection speed is fast, is greatly affected by the reflection of the road surface. For example, it cannot be detected on highly reflective roads such as flooded roads, icy roads, and marking lines.

[0003] Therefore, it is urgent to invent a method for detecting the smoothness of all road conditions to solve the problems of low detection efficiency, poor safety and susceptibility to road surface reflection in existing highway smoothness detection technologies. Summary of the invention

[0004] In view of this, embodiments of the present invention provide a method, system, device, medium and program product for detecting the smoothness of all road conditions, which at least partially solve the problems existing in the prior art.

[0005] Other features and advantages of the present invention will become apparent from the following detailed description, or may be learned in part by practice of the present invention.

[0006] In order to achieve the above purpose, the embodiment of the present invention provides the following technical solutions:

[0007] According to a first aspect of an embodiment of the present invention, a method for detecting the flatness of an all-road condition is provided, wherein the method comprises:

[0008] Acquire the road condition data collected by the test vehicle in each preset period, wherein the road condition data includes a distance pulse signal, a vehicle body up and down floating pulse signal, and a vehicle body up and down floating acceleration data;

[0009] For each preset period, the forward distance of the test vehicle is obtained according to the distance pulse signal, and the first relative displacement between the body and the wheel of the test vehicle is obtained according to the body up and down floating pulse signal;

[0010] Using the vehicle body up and down floating acceleration data, a second relative displacement between the vehicle body and the ground is obtained;

[0011] Using the forward distance, the first relative displacement, and the second relative displacement, a bump accumulation value of the test vehicle driving through the road section within a preset period is obtained;

[0012] The bump accumulation value corresponding to each road section and the international roughness index are used for regression analysis to obtain the continuous road roughness data.

[0013] Further, the center of the wheel of the test vehicle is hard-connected to a distance encoder, the distance encoder is stationary relative to the wheel, and the distance encoder is used to generate a distance pulse signal according to the forward distance of the vehicle;

[0014] The wheel center of the test vehicle is rigidly connected to the lower end of the connecting rod, and the connecting rod and the wheel are relatively stationary;

[0015] A displacement encoder and an accelerometer are adsorbed on the side of the test vehicle body, the displacement encoder is used to measure the up and down floating displacement of the connecting rod relative to the test vehicle body when the wheel bumps up and down, and the accelerometer is used to measure the acceleration of the test vehicle body floating up and down;

[0016] A data acquisition card is used to acquire the road condition data generated by the distance encoder, the displacement encoder and the accelerometer.

[0017] Further, the forward distance of the test vehicle is obtained according to the distance pulse signal, and the first relative displacement between the body and the wheel of the test vehicle is obtained according to the body up and down floating pulse signal, including:

[0018] According to a preset ratio of the number of distance pulse signals to the distance traveled, the distance pulse signals are used to obtain the distance traveled by the test vehicle within a preset period;

[0019] According to a preset ratio of the number of body up and down floating pulse signals to the body up and down floating displacement, the body up and down floating pulse signals are used to obtain a first relative displacement of the body and the wheel of the test vehicle within a preset period.

[0020] Further, using the vehicle body up and down floating acceleration data, a second relative displacement between the vehicle body and the ground is obtained, including:

[0021] According to the initial speed of the next cycle of the preset cycle, the initial speed corresponding to the preset cycle is calculated, and the calculation formula is:

[0022]

[0023] in, is the initial speed of the next cycle, is the initial speed of this preset cycle, a is the acceleration data of the vehicle body floating up and down, and t is the movement time of the preset cycle;

[0024] Using the initial speed of the preset cycle, the second relative displacement between the vehicle body and the ground in the preset cycle is calculated. The calculation formula is:

[0025]

[0026] in, is the second relative displacement between the vehicle body and the ground, and a is the acceleration data.

[0027] Furthermore, the forward distance, the first relative displacement, and the second relative displacement are used to obtain a bump accumulation value of the test vehicle driving through the road section within a preset period, including:

[0028] Determine the road section traveled by the test vehicle within a preset period according to the forward distance of the test vehicle;

[0029] The first relative displacement and the second relative displacement are used to obtain the bump accumulation value corresponding to the traveled road section. The bump accumulation value calculation formula is:

[0030]

[0031] in, Accumulate value for bumps, is the first relative displacement, is the second relative displacement.

[0032] Furthermore, the bump accumulation value and the international roughness index corresponding to each road section are used for regression analysis to obtain continuous road roughness data, including:

[0033] A linear regression equation is constructed using the bump accumulation value and the international roughness index. The linear regression equation is:

[0034]

[0035] Where IRI is the International Roughness Index, X is the bump accumulation value, and a and b are regression coefficients;

[0036] Using the bump accumulation value and the international roughness index of each road section traveled by the test vehicle, the linear regression equation is iterated to obtain a regression analysis result;

[0037] According to the regression analysis results, the bump accumulation values ​​of each road section traveled by the test vehicle are converted to obtain the continuous smoothness data of the road.

[0038] According to a second aspect of an embodiment of the present invention, there is provided a system for detecting the smoothness of an all-road condition, the system comprising: a test vehicle, a distance encoder, a displacement encoder, an accelerometer, a data acquisition card and a host computer;

[0039] The test vehicle is equipped with the distance encoder, the displacement encoder and the accelerometer for collecting road condition data during the driving of the test vehicle;

[0040] The data acquisition card is used to upload the collected road condition data to the host computer;

[0041] The host computer is used to execute the steps of the all-road roughness detection method as described above to obtain continuous road roughness data.

[0042] According to a third aspect of an embodiment of the present invention, there is provided a device for detecting the flatness of an all-road condition, the device comprising: a processor and a memory;

[0043] The memory is used to store one or more program instructions;

[0044] The processor is used to run one or more program instructions to execute the steps of a method for detecting the smoothness of an all-road condition as described in any one of the above items.

[0045] According to a fourth aspect of an embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of a method for detecting the smoothness of an all-road condition as described in any one of the above items are implemented.

[0046] According to a fifth aspect of an embodiment of the present invention, a computer program product is provided, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, and when the program instructions are executed by a computer, the computer implements the steps of a method for detecting all-road roughness as described in any one of the above items.

[0047] The method, system, device, medium and program product for detecting the smoothness of all roads provided by the embodiments of the present invention include: firstly obtaining the distance pulse signal, the body up and down floating pulse signal and the body up and down floating acceleration data collected by the test vehicle in each preset period; for each preset period, obtaining the forward distance of the test vehicle according to the distance pulse signal, obtaining the first relative displacement between the body and the wheel according to the body up and down floating pulse signal, and obtaining the second relative displacement between the body and the ground by using the body up and down floating acceleration data; obtaining the bump accumulation value of the road section driven by the test vehicle in the preset period by using the forward distance, the first relative displacement and the second relative displacement; performing regression analysis processing by using the bump accumulation value and the international smoothness index to obtain the continuous smoothness data of the road. The present invention effectively improves the efficiency and safety of the detection of the smoothness of all roads, and the detection is not affected by the reflection of the road surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0049] Figure 1 A schematic flow chart of a method for detecting the flatness of all road conditions provided by an embodiment of the present invention;

[0050] Figure 2 A schematic diagram of the structure of a vehicle flatness detection device provided in an embodiment of the present invention;

[0051] Figure 3 A schematic diagram of the acceleration direction of an uphill section provided by an embodiment of the present invention;

[0052] Figure 4 A schematic diagram of the acceleration direction of a downhill section provided by an embodiment of the present invention.

[0053] Reference numerals:

[0054] 1-Connecting rod; 2-Accelerometer; 3-Displacement encoder; 4-Distance encoder; 5-Test vehicle wheel. DETAILED DESCRIPTION

[0055] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme 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 only 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 ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0056] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily 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 invention described herein can be implemented in orders other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or apparatus that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or apparatus. Figure 1The figure shows a flow chart of a method for detecting all-road roughness according to an embodiment of the present invention.

[0057] Figure 1 The figure shows a schematic flow chart of a method for detecting the flatness of all road conditions provided by an embodiment of the present invention.

[0058] like Figure 1 As shown, the method for detecting the flatness of all road conditions according to an embodiment of the present invention may include step S100, step S200, step S300, step S400 and step S500.

[0059] In step S100, the road condition data collected by the test vehicle in each preset period is obtained, and the road condition data includes a distance pulse signal, a vehicle body up and down floating pulse signal, and a vehicle body up and down floating acceleration data.

[0060] Specifically, the above steps include:

[0061] First, after receiving the start detection signal, the detection mode is performed.

[0062] Then obtain the road condition data collected by the test vehicle in each preset period. The above road condition data includes distance pulse signal, vehicle body up and down floating pulse signal and vehicle body up and down floating acceleration data. The default data collection frequency is not less than 2kHZ.

[0063] Among them, a distance encoder is hard-connected to the center of the wheel of the above-mentioned test vehicle, and the distance encoder is used to generate a distance pulse signal according to the vehicle's forward distance; the wheel center of the test vehicle is also hard-connected to the lower end of the vertical connecting rod, and the distance encoder and the connecting rod are stationary relative to the wheel; a displacement encoder and an accelerometer are adsorbed on the side of the test vehicle body, and the displacement encoder is used to measure the up and down floating displacement of the connecting rod relative to the test vehicle body when the wheel bumps up and down, and the accelerometer is used to measure the up and down floating acceleration of the test vehicle body. Figure 2 The figure shows a schematic diagram of the structure of the flatness detection equipment on the test vehicle.

[0064] The data acquisition card is used to collect the road condition data generated by the distance encoder, displacement encoder and accelerometer.

[0065] Next, in step S200, for each preset period, the forward distance of the test vehicle is obtained according to the distance pulse signal, and the first relative displacement between the body and the wheel of the test vehicle is obtained according to the body up and down floating pulse signal.

[0066] Specifically, the above steps include:

[0067] For each preset period to be calculated, the distance pulse signal is used to obtain the distance the test vehicle has advanced within the preset period according to the preset ratio of the number of distance pulse signals to the distance advanced. For example, every time the distance encoder generates 36654 pulse signals, it means that the test vehicle has advanced 10 meters.

[0068] According to the preset ratio of the number of body up and down floating pulse signals to the body up and down floating displacement, the body up and down floating pulse signals are used to obtain the first relative displacement of the test vehicle body and the wheel within a preset period. For example, every time the displacement encoder generates 4 pulse signals, it means that the body floats up and down by 1 mm relative to the wheel (connecting rod).

[0069] In step S300, the second relative displacement between the vehicle body and the ground is obtained by using the vehicle body up and down floating acceleration data.

[0070] Specifically, the above steps include:

[0071] According to the initial speed of the next cycle of the preset cycle, the initial speed corresponding to the preset cycle is calculated, and the calculation formula is:

[0072]

[0073] in, is the initial speed of the next cycle, is the initial speed of this preset cycle, a is the up and down floating acceleration data of the vehicle body, and t is the movement time of the preset cycle.

[0074] Using the initial speed of the preset cycle, the second relative displacement between the vehicle body and the ground in the preset cycle is calculated. The calculation formula is:

[0075]

[0076] in, is the second relative displacement between the vehicle body and the ground, and a is the acceleration data.

[0077] Figure 3 The figure shows the acceleration direction of the uphill section. Figure 4 The figure shows a schematic diagram of the acceleration direction on a downhill section.

[0078] In step S400, the forward distance, the first relative displacement and the second relative displacement are used to obtain a bump accumulation value of the test vehicle traveling through the road section within a preset period.

[0079] Specifically, the above steps include:

[0080] First, the road section that the test vehicle has traveled through within a preset period is determined based on the forward distance of the test vehicle.

[0081] Then, the first relative displacement and the second relative displacement are used to obtain the bump accumulation value corresponding to the road section traveled by the test vehicle within the preset period. The bump accumulation value calculation formula is:

[0082]

[0083] in, Accumulate value for bumps, is the first relative displacement, is the second relative displacement.

[0084] Finally, in step S500, the bump accumulation value corresponding to each road section and the international roughness index are used to perform regression analysis to obtain continuous road roughness data.

[0085] Specifically, the above steps include:

[0086] The linear regression equation is constructed using the bump accumulation value and the international roughness index to establish a correlation. The linear regression equation is:

[0087]

[0088] Among them, IRI is the international roughness index, X is the bump accumulation value, and a and b are regression coefficients.

[0089] The linear regression equation is iterated using the bump accumulation values ​​of each road section traveled by the test vehicle and the international roughness index, and the regression analysis result is obtained based on the iterative linear regression equation.

[0090] According to the regression analysis results, the bump accumulation values ​​of each road section traveled by the test vehicle are converted, and the bump accumulation values ​​are converted into flatness values ​​to obtain the continuous flatness data of the road.

[0091] Finally, the road continuous smoothness data is reported.

[0092] In addition, an embodiment of the present invention further provides an all-road smoothness detection system, which includes: a test vehicle, a distance encoder, a displacement encoder, an accelerometer, a data acquisition card and a host computer.

[0093] refer to Figure 2 The test vehicle is equipped with a distance encoder, a displacement encoder and an accelerometer to collect road condition data while the test vehicle is driving.

[0094] The data acquisition card is used to upload the collected road condition data to the host computer.

[0095] The host computer is used to execute the steps of the all-road roughness detection method as described above, and analyze and obtain continuous road roughness data.

[0096] In addition, an embodiment of the present invention also provides a full-road smoothness detection device, which includes: a processor and a memory; the memory is used to store one or more program instructions; the processor is used to run one or more program instructions to execute the steps of a full-road smoothness detection method as described above.

[0097] In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the all-road roughness detection method described above are implemented.

[0098] In addition, an embodiment of the present invention further provides a computer program product, which includes computer program instructions. When the computer program instructions are executed by a processor, the steps of the all-road roughness detection method as described above are implemented.

[0099] The method, system, device, medium and program product for detecting the smoothness of all roads provided by the embodiments of the present invention include: firstly obtaining the distance pulse signal, the body up and down floating pulse signal and the body up and down floating acceleration data collected by the test vehicle in each preset period; for each preset period, obtaining the forward distance of the test vehicle according to the distance pulse signal, obtaining the first relative displacement between the body and the wheel according to the body up and down floating pulse signal, and obtaining the second relative displacement between the body and the ground by using the body up and down floating acceleration data; obtaining the bump accumulation value of the road section driven by the test vehicle in the preset period by using the forward distance, the first relative displacement and the second relative displacement; performing regression analysis processing by using the bump accumulation value and the international smoothness index to obtain the continuous smoothness data of the road. The present invention effectively improves the efficiency and safety of the detection of the smoothness of all roads, and the detection is not affected by the reflection of the road surface.

[0100] In the embodiment of the present invention, the processor may be an integrated circuit chip having the ability to process signals. The processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, or discrete hardware components. The methods, steps, and logic block diagrams disclosed in the embodiments of the present invention may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention may be directly embodied as being executed by a hardware decoding processor, or may be executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The processor reads the information in the storage medium and completes the steps of the above method in combination with its hardware. The storage medium may be a memory, for example, a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM) and direct RAM bus random access memory (DRRAM).The storage medium described in the embodiment of the present invention is intended to include but is not limited to these and any other suitable types of memory. Those skilled in the art should be aware that in one or more of the above examples, the functions described in the present invention can be implemented by a combination of hardware and software. When the software is applied, the corresponding function can be stored in a computer-readable medium or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein the communication medium includes any medium that is convenient for transmitting a computer program from one place to another. The storage medium can be any available medium that a general or special-purpose computer can access. Although the present invention has been described in detail above with general descriptions and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to it on the basis of the present invention. Therefore, these modifications or improvements made on the basis of not departing from the spirit of the present invention all belong to the scope of protection claimed in the present invention.

[0101] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Those skilled in the art may make some simple modifications, equivalent changes or modifications using the technical contents disclosed above, which all fall within the protection scope of the present invention.

Claims

1. A method for detecting the smoothness of all road conditions, characterized in that: The method comprises: Acquire the road condition data collected by the test vehicle in each preset period, wherein the road condition data includes a distance pulse signal, a vehicle body up and down floating pulse signal, and a vehicle body up and down floating acceleration data; For each preset period, the forward distance of the test vehicle is obtained according to the distance pulse signal, and the first relative displacement between the body and the wheel of the test vehicle is obtained according to the body up and down floating pulse signal; Using the vehicle body up and down floating acceleration data, a second relative displacement between the vehicle body and the ground is obtained; Using the forward distance, the first relative displacement, and the second relative displacement, a bump accumulation value of the test vehicle driving through the road section within a preset period is obtained; The bump accumulation value corresponding to each road section and the international roughness index are used for regression analysis to obtain the continuous road roughness data.

2. The method for detecting the flatness of all road conditions according to claim 1, characterized in that: The center of the wheel of the test vehicle is hard-connected to a distance encoder, the distance encoder is stationary relative to the wheel, and the distance encoder is used to generate a distance pulse signal according to the forward distance of the vehicle; The wheel center of the test vehicle is rigidly connected to the lower end of the connecting rod, and the connecting rod and the wheel are relatively stationary; A displacement encoder and an accelerometer are adsorbed on the side of the test vehicle body, the displacement encoder is used to measure the up and down floating displacement of the connecting rod relative to the test vehicle body when the wheel bumps up and down, and the accelerometer is used to measure the acceleration of the test vehicle body floating up and down; A data acquisition card is used to acquire the road condition data generated by the distance encoder, the displacement encoder and the accelerometer.

3. The method for detecting the flatness of all road conditions according to claim 1, characterized in that: The method comprises: obtaining a forward distance of the test vehicle according to the distance pulse signal, and obtaining a first relative displacement between the body and the wheel of the test vehicle according to the body up and down floating pulse signal. According to a preset ratio of the number of distance pulse signals to the distance traveled, the distance pulse signals are used to obtain the distance traveled by the test vehicle within a preset period; According to a preset ratio of the number of body up and down floating pulse signals to the body up and down floating displacement, the body up and down floating pulse signals are used to obtain a first relative displacement of the body and the wheel of the test vehicle within a preset period.

4. The method for detecting the flatness of all road conditions according to claim 1, characterized in that: Using the vehicle body up and down floating acceleration data, a second relative displacement between the vehicle body and the ground is obtained, including: According to the initial speed of the next cycle of the preset cycle, the initial speed corresponding to the preset cycle is calculated, and the calculation formula is: in, is the initial speed of the next cycle, is the initial speed of this preset cycle, a is the acceleration data of the vehicle body floating up and down, and t is the movement time of the preset cycle; Using the initial speed of the preset cycle, the second relative displacement between the vehicle body and the ground in the preset cycle is calculated. The calculation formula is: in, is the second relative displacement between the vehicle body and the ground, and a is the acceleration data.

5. The method for detecting the flatness of all road conditions according to claim 1, characterized in that: The forward distance, the first relative displacement, and the second relative displacement are used to obtain a bump accumulation value of the test vehicle driving through the road section within a preset period, including: Determine the road section traveled by the test vehicle within a preset period according to the forward distance of the test vehicle; The first relative displacement and the second relative displacement are used to obtain the bump accumulation value corresponding to the traveled road section. The bump accumulation value calculation formula is: in, Accumulate the value for the bumps, is the first relative displacement, is the second relative displacement.

6. The method for detecting the flatness of all road conditions according to claim 1, characterized in that: The bump accumulation values ​​and international roughness index corresponding to each road section are used for regression analysis to obtain continuous road roughness data, including: A linear regression equation is constructed using the bump accumulation value and the international roughness index. The linear regression equation is: Where IRI is the International Roughness Index, X is the bump accumulation value, and a and b are regression coefficients; Using the bump accumulation value and the international roughness index of each road section traveled by the test vehicle, the linear regression equation is iterated to obtain a regression analysis result; According to the regression analysis results, the bump accumulation values ​​of each road section traveled by the test vehicle are converted to obtain the continuous smoothness data of the road.

7. A full-road smoothness detection system, characterized in that: The system comprises: a test vehicle, a distance encoder, a displacement encoder, an accelerometer, a data acquisition card and a host computer; The test vehicle is equipped with the distance encoder, the displacement encoder and the accelerometer for collecting road condition data during the driving of the test vehicle; The data acquisition card is used to upload the collected road condition data to the host computer; The host computer is used to execute the steps of a full-road roughness detection method as described in any one of claims 1 to 6 to obtain continuous road roughness data.

8. A full-road smoothness detection device, characterized in that: The device comprises: a processor and a memory; The memory is used to store one or more program instructions; The processor is used to run one or more program instructions to execute the steps of a method for detecting the smoothness of an all-road condition as described in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the all-road roughness detection method according to any one of claims 1 to 6 are implemented.

10. A computer program product, characterized in that The computer program product comprises computer program instructions, which, when executed by a processor, implement the steps of a method for detecting the smoothness of an all-road condition as claimed in any one of claims 1 to 6.

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