Road surface quality assessment method and device based on vehicle inertial measurement unit

An inertial measurement unit and quality evaluation technology, applied in the field of navigation, can solve the problems of inability to meet the real-time requirements of navigation and control of autonomous vehicles, and inaccurate hysteresis, so as to meet the real-time requirements and improve the driving experience.

Active Publication Date: 2022-04-12
ZHIDAO NETWORK TECH (BEIJING) CO LTD
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  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In the related technology, the road surface quality obtained by the autonomous vehicle during the navigation process is completed through the previous map collection, which has lag and inaccuracy, and cannot meet the real-time requirements of the navigation and control of the autonomous vehicle.

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  • Road surface quality assessment method and device based on vehicle inertial measurement unit
  • Road surface quality assessment method and device based on vehicle inertial measurement unit
  • Road surface quality assessment method and device based on vehicle inertial measurement unit

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Embodiment Construction

[0043] Embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this application will be thorough and complete, and will fully convey the scope of this application to those skilled in the art.

[0044] The terminology used in this application is for the purpose of describing particular embodiments only, and is not intended to limit the application. As used in this application and the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any and all possible ...

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Abstract

The present application relates to a road surface quality evaluation method and device based on a vehicle inertial measurement unit. The method includes: obtaining a plurality of accelerations and a plurality of angular velocities output by at least one axis of a vehicle-mounted inertial measurement unit in a sampling period; calculating respectively vibration frequencies and a plurality of accelerations output by the at least one axis in the one sampling period The vibration frequency of the angular velocity; respectively calculate the variance of the multiple accelerations and the variance of the multiple angular velocities output by the at least one axis in the one sampling period; according to the vibration frequency and variance of the multiple accelerations, and the multiple angular velocities Vibration frequency and variance of the vibration frequency, and calculate the road surface quality value of the road that the vehicle passes through in the one sampling period. The solution provided by this application can meet the real-time requirements for navigation and control of autonomous vehicles.

Description

technical field [0001] The present application relates to the field of navigation technology, in particular to a method and device for evaluating road surface quality based on a vehicle-mounted inertial measurement unit. Background technique [0002] IMU (Inertial Measurement Unit, Inertial Measurement Unit) includes a three-axis (X, Y, Z axis) accelerometer and a three-axis (X, Y, Z axis) gyroscope, which can be used to measure the angular velocity and acceleration of an object in inertial space . [0003] The automatic driving system of the self-driving vehicle uses various on-board sensors and decision-making planning control algorithms to realize the behavior of vehicles such as changing lanes, merging, overtaking, and following vehicles. A good ride experience must be considered during the automatic driving process of an autonomous vehicle. Factors that affect the ride experience include vehicle speed control, trajectory control, and road surface quality. [0004] The...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C21/26G05D1/02G01N33/42E01C23/01
CPCG01C21/26G05D1/021G01N33/42E01C23/01
Inventor 邹李兵张海强李成军
Owner ZHIDAO NETWORK TECH (BEIJING) CO LTD
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