JP2016057861A - Road surface state control device and road surface state control program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a road surface state control device and a road surface state control program that can grasp a road surface state accurately using a low-cost measurement device not high in accuracy.SOLUTION: When an information acquisition part 28 acquires information for road surface state analysis, a section association part 30 associates the information for road surface state analysis with a plurality of sections set for each predetermined distance. The information for road surface state analysis associated with each of the section is stored for each section in a storage region for each section set in a storage part 40 by the information accumulation part 32 and accumulated as daily data. An information selection part 34 selects information to be used for analysis from among a plural pieces of information for road surface state analysis accumulated for each section. An information analysis part 36 analyzes the information for road surface state analysis selected by the information selection part 34 and calculates a representative value of each piece of information on a result of road surface state analysis for each section.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a road surface state management device and a road surface state management program.

  Conventionally, road surface management has been performed by mounting high-precision and expensive equipment on a dedicated measuring vehicle. For example, the following Patent Document 1 includes a laser profiler that measures the distance between each point on the road surface and itself, and a coordinate generation means that is configured by a GPS receiver or the like and gives three-dimensional geographic coordinates. A technique is disclosed in which three-dimensional geographic coordinates are combined with three-dimensional geographic coordinates, and data relating to road surface unevenness is generated by associating the three-dimensional geographic coordinates for each point on the road surface.

  Patent Document 2 below discloses a technique for re-investigating road surface deterioration, and grasps road surface properties with a sensor of a patrol vehicle equipped with a plurality of sensors. For example, the vertical G, sound and image 3 This is a technology that detects pavement anomalies and re-investigates the location where the anomaly was detected.

  Patent Document 3 below describes a technique for detecting road surface deterioration at an early stage using a photographed road image and a G sensor.

  Patent Document 4 below describes a technique for improving the detection accuracy of road surface deterioration.

  In the conventional technology described above, in the case of a laser profiler used for measuring road surface unevenness (wad digging and road surface flatness), a laser profiler with an accuracy of about 1 mm is used at a measurement frequency of 1000 times / second. It had been. Moreover, the camera which image | photographs a road surface normally has a resolution of about 1 mm. All of these measuring devices are high precision and high precision and expensive.

JP 2004-294152 A JP 2013-139671 A JP 2013-139672 A JP 2013-140448 A

  However, in the above-mentioned conventional technology, in order to increase the measurement accuracy, a high-precision road surface state measuring device is often used, and advanced knowledge is necessary for adjustment and maintenance management, and there is a problem that the apparatus cost increases. there were.

  An object of the present invention is to provide a road surface state management device and a road surface state management program that can easily and reliably grasp the road surface state even when using inexpensive and high-precision measuring equipment. Furthermore, it aims at providing the road surface state management apparatus and road surface state management program which can grasp | ascertain a road surface state on a daily basis without leaving a period.

  In order to achieve the above object, an embodiment of the present invention is a road surface state management device that acquires road surface state analysis information that is acquired by an acquisition unit mounted on a vehicle and that analyzes a road surface state. Road surface state analysis information acquisition means, section surface association means for associating the road surface state analysis information with a plurality of sections set for each predetermined distance, and road surface state associated with each of the plurality of sections A road surface state analysis information storage unit that stores a plurality of pieces of analysis information for each section, and a plurality of road surface state analysis information stored in the road surface state analysis information storage unit are analyzed, and each road surface state of each section is analyzed. And information analysis means for obtaining representative values of the analysis result information and each road surface analysis result information of one or a plurality of sections.

  The information analysis means further includes an information selection means for selecting information that can be used for analysis from a plurality of road surface state analysis information stored in the road surface state analysis information storage means before the analysis processing of the information analysis means, The analysis unit is preferably configured to analyze the selected information.

  The information selection unit may select information based on a selection condition input in advance, and the information analysis unit may obtain a representative value based on a representative value determination condition included in the selection condition.

  The road surface state analysis information includes a road surface image, rutting, and acceleration, and the information selection unit selects information for obtaining road surface state analysis result information from the road surface state analysis information. In the case of the road surface image, an image in which no shadow is reflected or the road surface is not wet is selected, and in the case of rutting, the maximum value of rutting is a predetermined range of a predetermined probability distribution. In the case of acceleration, it is preferable to select a value acquired by an accelerometer other than the time of acceleration / deceleration of the vehicle equipped with the acquisition means.

  The road surface image included in the road surface condition analysis information is acquired with a visible light camera with an accuracy of 2 to 5 mm (3 mm), and rutting is a laser with an accuracy of 3 to 8 mm (5 mm) and a measurement frequency of about 15 times / second. It is preferable that the acceleration is acquired by a scanner and the acceleration is acquired by an accelerometer.

  The section association means associates with each section based on the coordinate information of the acquisition position associated with the road surface condition analysis information acquired as a result of the first measurement and the travel distance of the vehicle, and performs the second and subsequent measurement. The road surface condition analysis information obtained as a result is determined in advance based on the coordinate information and the travel distance of the vehicle, and then the front image included in the first and second road surface condition analysis information. , Road surface image, rutting, acceleration, and when a common part as data is detected, the common part belongs to the same section, and the road surface condition analysis information for the second and subsequent times is the distance axis direction And the information is associated with the same section as the road surface condition analysis information including the first common part.

  The information analyzing means obtains each road surface analysis result information of each section and a representative value of each road surface analysis result information for each predetermined period, and the determination value calculated using the representative value or the representative value is obtained in advance. An alarm signal is preferably generated when a predetermined threshold is exceeded.

  The vehicle on which the acquisition means is mounted is preferably a business vehicle or a regular operation vehicle.

  Another embodiment of the present invention is a road surface state management program, wherein a road surface state is acquired by an acquisition unit mounted on a vehicle and acquires road surface state analysis information for analyzing the road surface state. Analysis information acquisition means, section association means for associating the road surface state analysis information with a plurality of sections set for each predetermined distance, road surface state analysis information associated with each of the plurality of sections A plurality of road surface state analysis information storage means for storing each road section, a plurality of road surface state analysis information stored in the road surface analysis information storage means, and each road surface state analysis result information of each section and 1 Or it is made to function as an information analysis means which calculates | requires the representative value of each road surface state analysis result information of a several area.

  According to the present invention, it is possible to grasp the road surface state with high accuracy by using a measuring device that is inexpensive and does not have high accuracy. In addition, the latest road surface condition can be grasped whenever necessary.

It is a figure which shows the example of the hardware constitutions of the road surface state management apparatus concerning embodiment. It is a functional block diagram of the information processor included in the road surface state management device according to the embodiment. It is a conceptual diagram of the representative value of the road surface state analysis information, road surface state analysis result information, and each road surface state analysis result information associated with each section. It is a flowchart of the operation example of the process which associates the road surface state analysis information by the section correlation part concerning embodiment with a section. It is explanatory drawing of the selection process of a rutting as an example of the information selection process by the information selection part concerning embodiment. It is explanatory drawing of the process which calculates | requires a road surface profile from the acceleration which the accelerometer concerning embodiment measured. It is explanatory drawing of the selection process of a road surface image as an example of the selection process of the information by the information selection part concerning embodiment. It is a flowchart of the example of operation | movement of the information processing apparatus concerning embodiment. It is a conceptual diagram of the acquisition condition of the road surface state analysis information by the road surface state management device according to the embodiment.

  Hereinafter, modes for carrying out the present invention (hereinafter referred to as embodiments) will be described with reference to the drawings.

  FIG. 1 shows an example of a hardware configuration of a road surface state management device according to the embodiment. In FIG. 1, the road surface state management device includes a front photographing device 10, a road photographing device 12, a laser scanner 14, an accelerometer 16, a coordinate measuring device 18, a travel distance measuring device 20, a control device 22, a communication device 24, and an information processing device. 26. The road surface state management device according to this embodiment is configured to check the road surface state of a road to be managed by the front photographing device 10, the road surface photographing device 12, the laser scanner 14, the accelerometer 16, the coordinate measuring device 18, the mileage measuring device 20, and the like. Information for road surface state analysis for analysis is acquired, and the road surface state analysis process is executed by the information processing device 26. Details of the road surface state analysis processing will be described later. Note that the road surface state analysis information measuring device is not limited to the front photographing device 10, the road photographing device 12, the laser scanner 14, and the accelerometer 16.

  Of the above configuration, it is preferable to install the vehicle other than the information processing device 26 in a business vehicle or a regular operation vehicle. Here, a business vehicle refers to a vehicle that operates on an arbitrary road for business purposes, such as a taxi, a truck, a delivery service for a courier, or a postal delivery vehicle, and a regular operation vehicle refers to, for example, a route bus A vehicle, such as a road patrol vehicle, whose traveling route and / or traveling time is predetermined. The above measuring devices, that is, the front photographing device 10, the road surface photographing device 12, the laser scanner 14, the accelerometer 16, the coordinate measuring device 18, the mileage measuring device 20, the control device 22, etc. The road surface state information of a wide range of roads can be managed by acquiring information for road surface state analysis and observing the road surface state.

  The front image capturing device 10 captures an image in front of the mounted vehicle, that is, an image in the traveling direction of the vehicle (hereinafter referred to as a front image). As the front photographing apparatus 10, for example, a digital camera such as a CCD camera can be used, and either a color camera or a monochrome camera may be used. The front image is preferably a set of still images taken at arbitrarily set time intervals. The control device 22 calculates the travel distance of the vehicle from the measurement output (vehicle speed pulse) of the travel distance measurement device 20, outputs an instruction signal to the front photographing device 10 for every fixed travel distance, and synchronizes with this instruction signal. Thus, the distance information can be associated with the image information photographed by the front photographing apparatus 10.

  The road surface photographing device 12 photographs an image of the road surface Rs on which the mounted vehicle travels (hereinafter referred to as a road surface image). The road surface photographing device 12 can be a digital camera such as a CCD camera, and may be a monochrome camera. The road surface image is also preferably a set of still images taken at arbitrarily set time intervals. In addition, it can be set as the structure which links | relates distance information with a road surface image for every fixed driving distance of a vehicle similarly to the case of the front imaging device 10. FIG. As a camera which comprises the road surface imaging device 12 of this embodiment, a camera with a resolution of about 2 to 3 mm can be used.

  The laser scanner 14 measures the distance (height from the road surface) between the road surface and itself by irradiating the road surface on which the mounted vehicle travels with laser light and receiving the reflected light. Thereby, the height of each point on the road surface can be measured. By carrying out this measurement in the width direction, rutting (road surface unevenness in the width direction) can be measured. In addition, it can be set as the structure which links | relates distance information with the measurement result of rutting, as well as the case of the front imaging | photography apparatus 10, for every fixed driving distance of a vehicle. As the laser scanner 14 of the present embodiment, a laser scanner having an accuracy of about 5 mm can be used with a measurement frequency of about 15 times / second. Further, the laser scanner 14 performs smoothing and distortion correction as a primary process of the acquired data. It is possible to remove noise from data acquired by performing smoothing using a band-pass filter that takes into account the characteristics of the laser scanner 14, and to remove distortion of the measured value by distortion correction. Alternatively, the width of the road may be acquired by detecting white lines (for example, two lines) drawn on both ends in the width direction of the road from the reflection intensity of the laser light at the time of measurement by the laser scanner 14. Thereby, the rutting of the road can be measured within the range of the road width, that is, inside the two detected white lines.

  Two sets of accelerometers 16 are set on each of the right side and the left side of the mounted vehicle. One of the sets of accelerometers 16 is provided on the upper side of a spring (suspension spring) installed between the vehicle wheel and the body, and the other is provided on the lower side of the spring. With this configuration, vibration, that is, acceleration during traveling of the vehicle is continuously measured above and below the spring while the vehicle is traveling. A road profile can be obtained from the difference between the measured accelerations (left and right and left and right accelerations of the vehicle) of the spring, and a flatness value or an IRI (International Roughness Index) value can be calculated from the road profile. The procedure for calculating the flatness value or the IRI value will be described later. It should be noted that, similarly to the case of the front imaging apparatus 10, the acceleration measurement result can also be configured to associate distance information for each fixed travel distance of the vehicle. In the present embodiment, the flatness value of the road surface can be obtained without using an expensive device such as a laser profiler.

  The coordinate measuring device 18 measures position information (coordinate information) of the mounted vehicle. The coordinate measuring device 18 can be configured by a GPS receiver, for example. Further, an IMU (Inertial Measurement Device) may be combined with the GPS receiver. The measurement of the position information is also carried out for every fixed travel distance of the vehicle. Thereby, the coordinate information of the acquisition position of the road surface state analysis information by each of the measuring devices can be acquired. The fixed travel distance is the same as that in the case of the front photographing device 10, and the coordinate measuring device 18 measures position information in synchronization with an instruction signal from the control device 22 (configuration that associates distance information with position information). ). The coordinate measuring device 18 tracks the change in the measurement data of the coordinate value over time, and when an abnormal value (a value in which the deviation from the previous and subsequent coordinate values exceeds a certain threshold value) is detected, this abnormality is detected. A configuration in which a value is deleted, and a value obtained by interpolation processing from previous and subsequent coordinate values is employed as position information is preferable.

  The travel distance measuring device 20 counts the number of rotations of the wheels of the mounted vehicle and generates a vehicle speed pulse. The controller 22 calculates the travel distance of the vehicle based on the vehicle speed pulse. The travel distance measuring device 20 is not limited to the configuration for calculating the travel distance from the vehicle speed pulse, and may be a configuration using a non-contact distance meter such as a spatial filter method, for example.

  The control device 22 is configured by an appropriate computer, and the information measured by the front photographing device 10, the road surface photographing device 12, the laser scanner 14, the accelerometer 16, the coordinate measuring device 18, and the mileage measuring device 20 is used for road surface state analysis. The information is acquired as information, and processing such as calculation of the constant travel distance, storage of the road surface state analysis information, and transmission of the road surface state analysis information to the information processing device 26 via the communication device 24 is executed.

  The communication device 24 transmits the road surface state analysis information stored in the control device 22 to the information processing device 26 in accordance with an instruction from the control device 22. The communication device 24 is preferably configured to communicate with the information processing device 26 by wireless communication using WiFi (Wireless Fidelity) or other wireless LAN. For example, data may be accumulated until a predetermined spot such as a wireless LAN is found, and the data may be transmitted when it is found. Alternatively, a method of transmitting data by wire when returning to the office or the like may be used. The communication device 24 may be formed on a computer constituting the control device 22 as an appropriate communication interface.

  The information processing device 26 is configured by an appropriate computer. Details will be described later.

  FIG. 2 is a functional block diagram of the information processing apparatus 26 included in the road surface state management apparatus according to the embodiment. In FIG. 2, the information processing apparatus 26 includes an information acquisition unit 28, a section association unit 30, an information storage unit 32, an information selection unit 34, an information analysis unit 36, a communication unit 38, a storage unit 40, and a CPU 42. ing. The information processing apparatus 26 includes a CPU 42, a ROM, a RAM, a nonvolatile memory, an I / O, a communication interface, and the like, and is configured as a computer that controls the entire apparatus and performs various calculations. And a program for controlling the processing operation of the CPU.

  The information acquisition unit 28 acquires road surface state analysis information for analyzing the road surface state transmitted from the control device 22 via the communication unit 38 and stores the information in the storage unit 40. At this time, for example, the weather information (for example, information on clear, cloudy, rain, snow, temperature, etc.) of the area from which the road surface condition analysis information is acquired, which is announced by a public institution, is transmitted from an appropriate external device to the communication unit. It is good also as a structure acquired through 38, and making it memorize | store in the memory | storage part 40 in association with each road surface state analysis information.

  The section association unit 30 reads the road surface state analysis information from the storage unit 40, and sets a plurality of distances set for each predetermined distance based on the travel distance and coordinate information of the vehicle at the point where the information is acquired. Is associated with the interval. Here, the above-mentioned section divides a management target road (analysis target route) scheduled to be analyzed in advance into arbitrary units (distances) on, for example, GIS (geographic information system), and the lanes, vertical lines, etc. A division is also provided and set. Further, when the GIS cannot be used, the section division process may be executed and set for each arbitrary length using the distance measured by the travel distance measuring device 20. Corresponding to the sections described above, the storage unit 40 is set with a storage area for storing road surface state analysis information for each section. The road surface state management apparatus according to the present embodiment manages road surface state analysis information for each set section, analyzes the road surface state for each section, and obtains road surface state analysis result information. Details of the association process will be described later.

  The information accumulating unit 32 accumulates a plurality of road surface state analysis information associated with each of the plurality of sections for each section. In other words, the section association unit 30 stores the road surface state analysis information associated with each section as daily data in the storage area set for each section in the storage unit 40 and accumulates it. Here, the daily data is data that is regularly acquired (every mileage) with the operation of the vehicle by each measuring device mounted on a business vehicle or a regularly operating vehicle, and is managed. A plurality of data (information for road surface condition analysis) is acquired per day for the target road. As a result, when the road surface state analysis information is acquired and accumulated for a certain period, for example, for one month, the road surface state analysis information is accumulated in a superimposed manner for the same section. The predetermined period is determined in advance. In this case, the “certain period” does not always have to be the same period (for example, always one month). For example, different periods may be set sequentially such as one month → two months → two weeks.

  The information selection unit 34 reads a plurality of road surface state analysis information accumulated in the storage unit 40 in a superimposed manner by the information storage unit 32 from the storage unit 40 for each section, and uses the read road surface state analysis information for analysis. Select possible information. Details of the selection process will be described later.

  The information analysis unit 36 reads and analyzes a plurality of road surface state analysis information accumulated in the storage unit 40 by the information storage unit 32 from the storage unit 40 for each section, and analyzes each road surface state analysis result of each section. Information and representative values (for example, representative values such as crack rate, rutting amount, flatness value, IRI value, number of potholes, etc.) of each road surface state analysis result information of one or a plurality of sections are obtained. At this time, the road surface condition analysis information to be analyzed is preferably information selected by the information selection unit 34. Note that the representative value of the road surface condition analysis result information is a value calculated in advance by setting an arbitrary evaluation section (for example, 50 m, 100 m) and using a section average, maximum value, minimum value, etc. as a representative value in the section. It is. Regarding such representative value determination conditions, section extension (the length of an arbitrary evaluation section) and calculation conditions (for example, section average, maximum value, minimum value, etc.) are set in advance and stored in the storage unit 40. When the road surface state analysis information accumulated in a superimposed manner as described above is analyzed by the information analysis unit 36 and a representative value is obtained, even if the accuracy of each road surface state analysis information is low, this is accumulated in a superimposed manner. Since it is a representative value of the information, the information can be highly reliable. As a result, the road surface state can be grasped with high reliability. The calculated representative value is stored in the storage unit 40.

  The communication unit 38 includes a USB (Universal Serial Bus) port, a network port, and other appropriate interfaces, and is used by the CPU 42 to exchange data (information for road surface condition analysis) with an external device, particularly the control device 22. .

  The storage unit 40 is composed of a non-volatile memory such as a hard disk device, a solid state drive (SSD), etc., and the road surface state analysis result information, each road surface state analysis result information obtained by the information analysis unit 36, its representative value, etc. Information necessary for each process performed by the information processing apparatus 26 such as an operation program of the CPU 42 is stored. As the storage unit 40, a digital versatile disk (DVD), a compact disk (CD), a magneto-optical disk (MO), a flexible disk (FD), a magnetic tape, an electrically erasable and rewritable read-only memory ( EEPROM), flash memory or the like may be used. In addition, the storage unit 40 includes a random access memory (RAM) that mainly functions as a work area of the CPU 42 and a read-only memory (ROM) that stores control programs such as BIOS and other data used by the CPU 42. Is preferred.

  FIG. 3 shows a conceptual diagram of road surface state analysis information, each road surface state analysis result information, and representative values of each road surface state analysis result information associated with each section. In the example of FIG. 3, sections are set every 5 m, and the road surface state analysis information includes a front image, a road surface image, rutting, and acceleration (left and right upper and right upper and lower). The road surface state analysis information is obtained by measuring each of the measurement devices such as the front photographing device 10, the road photographing device 12, the laser scanner 14, the accelerometer 16, the coordinate measuring device 18, the mileage measuring device 20, and the like. This is raw data (unprocessed data), and the information analysis unit 36 analyzes these data to obtain road surface state analysis result information. Further, position information (coordinate information) of the measurement position associated with each road surface state analysis information is also included. These pieces of information are stored in the storage area set for each section in the storage unit 40 as described above. In addition, it is preferable that each road surface state analysis information for each section is stored separately for each predetermined period, for example, every month. The length of the section is not limited to 5 m, and the road surface condition analysis information is not limited to the above information.

  Further, as the road surface state analysis result information obtained by the information analysis unit 36, a crack rate, a rutting amount, a flatness value, an IRI value, the number of potholes, and the like are illustrated, but not limited thereto. . Further, as described above, the information analysis unit 36 determines the representative value of each road surface state analysis result information based on the representative value determination condition. For example, if the crack rate is a crack rate, the maximum value is exemplified. it can.

  FIG. 4 shows an explanatory diagram of the process of associating the road surface state analysis information by the section association unit 30 with the section. FIG. 4 shows an example in which the road surface state analysis information is measured twice (first and second times) for the analysis target route, and the content of the information is the portion of the road surface state analysis information shown in FIG. Is the same. Note that the number of times of measurement of road surface condition analysis information is not limited to two times, and can be implemented any number of times.

  In FIG. 4, first, road surface state analysis information acquired as a result of the first measurement includes the coordinate information of the acquisition position of the road surface state analysis information measured by the coordinate measuring device 18 and the vehicle speed pulse generated by the travel distance measuring device 20. Based on the travel distance of the vehicle calculated by the control device 22 from the above, the section association unit 30 associates with each section.

  Next, in the road surface state analysis information acquired as a result of the second measurement, the section association unit 30 preliminarily determines which section the road surface state analysis information belongs to based on the coordinate information and the travel distance of the vehicle. Then, when a common part as data is detected by comparing the forward image, road image, rutting, and acceleration included in the first and second road surface condition analysis information (for example, determined to be the same) Assuming that the forward image or road surface image, rutting or acceleration having a common pattern in the data), the common part belongs to the same section, the second road surface state analysis information is represented as a distance axis (distance information It is compressed or expanded in the direction of the axis) set in the direction of changing the numerical value, and sorted into the same section as the road surface condition analysis information including the first common part. In the data acquired on the time axis such as acceleration and rutting, a constant coefficient is calculated from the relationship between the numerical value of the distance information and the distance information to be associated with the count number of the vehicle speed pulse from the mileage measuring device 20. A method of calculating and selecting again may be used.

  For example, in the example of FIG. 4, the acceleration belonging to the first 0 to 5 m section, the acceleration belonging to the second 0 to 5 m section, and the road surface image belonging to the first 5 to 10 m section and the second time A road surface image belonging to a section of 5 to 10 m is determined to belong to the same section because there is a common pattern in the data, but the section association unit 30 preliminarily prepares for the second road surface state analysis information. Since the determined section is the same as the section of the first road surface condition analysis information, the section association unit 30 adopts the preliminary determined section as it is.

  Next, the acceleration belonging to the first 15 to 20 m section, the acceleration belonging to the second 20 to 25 m section, the front image belonging to the first 20 to 25 m section, and the second 25 to 30 m section When it is determined that the front image belongs to the same section and that it belongs to the same section, the section association unit 30 compresses the second distance axis in the direction of arrow A, and the second 20 to 25 m and 25 to 25 The road surface state analysis information belonging to the 30 m section is associated with the section as road surface state analysis information belonging to the 15 to 20 m and 20 to 25 m sections. In this case, except the 0-5 m section and the 5-10 m section where the above processing has been completed, the second 10-15 m section, the 15-20 m section are similarly compressed, and each 10-15 m section. Road surface condition analysis information corresponding to sections of 15 to 20 m is selected and associated with each section. Then, a representative value of each road surface state analysis result information of one or a plurality of sections of the first measurement is obtained.

  Similarly, the road surface image belonging to the second 45 to 50 m section is determined to be the same as the first road surface image belonging to the 40 to 45 m section, and is related to the section by the same distance axis compression processing as described above. Is done.

  The third and subsequent road surface state analysis information is also associated with each section in the same manner as the second road surface state analysis information.

  The reason why the first measurement section is used as a reference is that the registration work is performed while confirming the alignment between the distance information and the actual local position information after the first measurement. For this reason, the first measurement interval is used as a reference here. However, the present invention is not limited to this, and if the distance information and the actual position information are confirmed in the second and subsequent measurement intervals, It may be used as a reference.

  FIG. 5 is an explanatory diagram of rutting selection processing as an example of information selection processing by the information selection unit 34. General rutting is calculated by measuring the shape in the lane (inside the lane mark). In the example of FIG. 5, the maximum value of rutting measured in a certain section has a normal distribution. This distribution is an example in which the information selection unit 34 reads and generates the maximum value of rutting acquired during a month for a certain section from the storage unit 40. In addition, the acquisition (accumulation) period of rutting is not limited to one month, and can be an arbitrary period. Next, the information selection unit 34 selects data in an appropriate range from the normal distribution, for example, data in the range of +/− σ. Thereby, the noise by the laser scanner 14 measuring a person on the road, a curb on the shoulder, or the like can be removed.

  In addition, when the maximum value of rutting is not a normal distribution, the information selection unit 34 sets a rutting threshold in advance as a process for removing the noise, and those that do not fall within the range are not used for calculation. Alternatively, compared with the previous data, the variation rate is compared with a set value (for example, 20 mm in the plus direction), it is determined whether the data is equal to or greater than the set value, and processing is performed that does not select data greater than the set value.

  The information analysis unit 36 performs an averaging process of arithmetically averaging, for example, one month of data for each section with respect to the selected maximum value of rutting, and the calculated average value is calculated for the section and an arbitrary period (for example, one (Month) rudder digging amount is stored in the storage unit 40 as a representative value. The representative value of the maximum rutting value obtained as described above is preferably read from the storage unit 40 and displayed by an appropriate display means.

  Further, when the road surface state analysis information is acceleration, the information selection unit 34 reads the acceleration (the vehicle's left / up / down and right / up / down accelerations) stored in the storage unit 40 and is acquired at the time of acceleration / deceleration of the vehicle. The acceleration acquired by the accelerometer 16 is selected except for the time of acceleration / deceleration by excluding data. This is because noise is likely to enter the measured value of the accelerometer 16 during acceleration / deceleration of the vehicle. Whether the vehicle is accelerating or decelerating is determined by the information selecting unit 34 based on the vehicle speed pulse output from the travel distance measuring device 20.

  FIG. 6 shows an explanatory diagram of a process for obtaining a road surface profile from the acceleration measured by the accelerometer 16. In FIG. 6, the information analysis unit 36 calculates the vertical acceleration of the spring measured on the left and right sides of the vehicle (in FIG. 6, the acceleration on the spring and the acceleration on the spring respectively) for each section and each month. A road surface profile is created by calculating the difference between the acceleration on the spring and the acceleration on the unspring basis for the acceleration that is read from the storage unit 40 and acquired at the same timing as the travel distance calculated by the control device 22. In order to determine acceleration data having the same timing measured by the accelerometer 16, the acceleration measurement time may be associated with the acceleration data. The acceleration acquisition (accumulation) period is not limited to one month, as in the case of rutting. The created road surface profile data is stored in the plurality of storage units 40 for each section.

  Next, the information analysis unit 36 reads the road surface profile, which is the road surface state analysis information shown in FIG. 6, from the storage unit 40, and the road surface IRI value or flatness which is the road surface state analysis result information by the following calculation processing. Calculate the value.

  The IRI value is calculated by a quarter car simulation using, for example, a road profile (longitudinal direction). Also in the calculation of the flatness value, the flatness value is calculated using, for example, a 3 m profilometer model. Regarding such a calculation method, numerical values are calculated using methods described in the pavement survey / test method manual and other known documents.

  In such a method of obtaining a numerical value by simulation using a road surface profile, it is important how accurately the profile can be created. For this reason, in general, it is necessary to calculate information such as acceleration and deceleration as accurate numerical values using an expensive sensor (IMU: Inertial Measurement Device) or the like. However, in the present invention, since expensive sensors are not used, speed information or the like is used, and the information selection unit 34 selects data maintained at a constant speed (data other than during acceleration / deceleration). Thereby, stable data can be used preferentially. The IRI value and the flatness value data are also used a plurality of times, but the representative value is selected using the same selection method (FIG. 5) as the rutting amount.

  The data of the IRI value or flatness value obtained as described above is preferably stored in the storage unit 40, read out later, and displayed by an appropriate display means.

  FIGS. 7A, 7 </ b> B, and 7 </ b> C are explanatory diagrams of road surface image selection processing as an example of information selection processing by the information selection unit 34. The information selection unit 34 reads the road surface image from the storage unit 40 and performs selection processing for each section and each month. However, since the road image acquisition (accumulation) period is not limited to one month, as in the case of rutting, the selection process can be performed every arbitrary period. As described above, since the road surface image is associated with the distance information for each fixed travel distance of the vehicle, as shown in FIGS. 7A, 7B, and 7C, the road surface image is displayed for each fixed distance. The images can be read from the storage unit 40 in a state where images are continuously arranged.

  The quality of the road surface image is affected by the weather, the position of the sun (the position of the resulting shadow), and the like. For example, in FIG. 7A, a shadow of a vehicle on which the road surface photographing device 12 is mounted is reflected, and in FIG. 7C, a shadow of a tree or a building is reflected. For this reason, since there is a possibility that normal analysis becomes difficult, the information selection unit 34 can select a road surface image as shown in FIG. 7B in which these shadows are not reflected. Selection of an image without a shadow can be realized by, for example, detecting an image with a shadow and selecting an image other than the detected image. To detect an image with shadows, set a mesh large enough to fit in the shadow area and divide the target road surface image into meshes. Find the difference in brightness or brightness from the bright part). Next, an image in which the contrast of a part of meshes is larger than a contrast value of other meshes by a certain value or more (low contrast uniformity) is detected as an image in which a shadow is reflected. In addition, before the process of dividing into meshes, it is preferable to perform preprocessing such as clipping of a road surface portion from a road surface image and masking of a light area such as a white line.

  In addition to the above-mentioned shadow, if the road surface is wet with rain or the like, it may be difficult to detect cracks, so the information selection unit 34 may select other than the road image of the wet road surface. .

  Whether or not the road surface is wet can be determined based on, for example, weather information associated with the road surface image, operation information of a vehicle wiper, or the like.

  The information analysis unit 36 detects the crack rate of the road surface, the number of pot holes, and the like from the image included in the road surface state analysis information as shown in FIG. For example, a process for removing low-frequency components using wavelet transform in “Structure surface crack detection method” disclosed in Japanese Patent Application Laid-Open No. 2006-162477, or disclosed in Japanese Patent Application Laid-Open No. 2011-179874. Using the process of automatically constructing an image filter for crack selection from various types of images by selecting and adopting the filter construction training data in `` Parallel image filter automatic generation system by genetic programming '', The position and shape of the crack can be detected.

  Japanese Patent Laid-Open No. 2009-52907 detects a relatively moving part in an image before and after a road surface image taken while moving as a moving object, and is included in a predetermined reference size range. Is disclosed as a pothole.

  The crack rate detected by the information analysis unit 36 may be, for example, the maximum value, the minimum value, or the like of the crack rate, but is not limited thereto. Here, the crack rate is obtained by dividing the road surface with meshes of an appropriate size, and the ratio of the number of meshes with cracks in each mesh to the total number of meshes (number of meshes with cracks / total number of meshes). calculate. In addition, it is good also as a structure which totals the extension distance of the crack in a mesh, and / or the number of the cracks for every section of a road, and determines a representative value.

  In the case of the number of potholes detected by the information analysis unit 36, the representative value can be determined by integrating the number and / or area of potholes for each section of the road over a certain period (for example, one month). .

  In the example described with reference to FIGS. 5, 6, 7 (a), 7 (b), and 7 (c), the information analysis unit 36 is set in advance and is based on the representative value determination conditions stored in the storage unit 40. To obtain a representative value.

  Furthermore, the information selection part 34 is good also as a structure which selects information based on the selection conditions previously input by the user with a keyboard or other appropriate means. For example, when the selection condition “road image on a rainy day” is input, the weather image associated with each road condition analysis information is referred to, and the road image acquired on a rainy day is displayed. Select. Further, when the selection condition of “road surface image with puddles” or “road surface image with cracks” is input, a road surface image showing puddles or cracks is selected. Here, the detection of the puddle uses, for example, the weather information associated with the road surface condition analysis information to divide the road surface image determined to have been taken in the rainy time zone with a mesh of an appropriate size, The region closer to the spatial frequency distribution of the landscape than the road surface is determined as a puddle region. The detection of cracks is as described above.

  The selection conditions preferably include a condition for determining a representative value from the selected road surface state analysis information (representative value determination condition). For example, if the above-mentioned “road surface image on a rainy day”, the image has the highest contrast, or if it is a “road surface image with a puddle”, the image has the largest area of the detected puddle. If it is “a certain road surface image”, it can be an image having the largest cracking rate, but the present invention is not limited thereto, and the representative value can be determined under any condition.

  The information analysis unit 36 obtains a representative value based on the representative value determination condition included in the selection condition.

  FIG. 8 shows a flow of an operation example of the information processing apparatus 26 according to the embodiment. In FIG. 8, the information acquisition part 28 acquires the road surface state analysis information transmitted from the control device 22 via the communication device 24 (S1). The acquired road surface state analysis information is stored in the storage unit 40.

  Next, the section association unit 30 reads the road surface state analysis information acquired by the information acquisition unit 28 from the storage unit 40 and associates it with a plurality of sections set based on a predetermined distance (S2). The road surface condition analysis information associated with each section is stored for each section in the storage area for each section set in the storage unit 40 by the information storage unit 32, and is accumulated as daily data (S3).

  The information selection unit 34 reads a plurality of road surface state analysis information accumulated by the information storage unit 32 in the storage unit 40 for each section from the storage unit 40, and analyzes the read road surface state analysis information as described above. Information to be used is selected (S4). The selected road surface state analysis information is stored in the storage unit 40.

  The information analysis unit 36 reads and analyzes the road surface state analysis information selected by the information selection unit 34 from the storage unit 40, and accumulates the data in the storage unit 40 as the road surface state analysis result information (S5).

  Arbitrarily specified conditions are set in advance by calculating the median value, average value, etc. from a plurality of road surface state analysis result information, and a representative value of each road surface state analysis result information of each section (one or a plurality of sections) is calculated. (S6). Each calculated representative value is preferably stored in the storage unit 40 and transmitted to an external device via the communication unit 38 or displayed on an appropriate display device (display) or the like. .

  The above-described program for executing each step of FIG. 8 can be stored in a recording medium, and the program may be provided by communication means. In that case, for example, the above-described program may be regarded as an invention of a “computer-readable recording medium recording a program” or an invention of a “data signal”.

  FIG. 9 is a conceptual diagram of an acquisition state of road surface state analysis information by the road surface state management device according to the embodiment. As shown in FIG. 9, road surface condition analysis information is acquired every day by a measurement device mounted on a business vehicle or a regular operation vehicle, and is accumulated in the storage unit 40 in a superimposed manner for each section. Therefore, for example, on the second day, even if it is not selected by the information selection unit 34 as road surface condition analysis information used for detection of cracks due to rainy weather in the case of a road surface image, for example, the days before and after that Alternatively, information acquired at the acquisition timing before and after that day may be selected as information used for analysis. For this reason, a plurality of road surface state analysis information that can be selected by the information selection unit 34 is accumulated in a superimposed manner, for example, by measuring for a period of one month. In FIG. 9, the data coverage ratio being described as 100% or more means that there is one or more road surface condition analysis information accumulated for each section.

  The information analysis unit 36 can analyze the plurality of road surface condition analysis information selected in this way and determine a representative value for each item. At this time, when the judgment value calculated by linear combination or the like using the representative value or the representative value of each item exceeds a predetermined threshold value and a road surface condition (for example, a large pothole) having a high degree of urgency. It is preferable that the information analysis unit 36 generates an alarm signal when it occurs. When an alarm signal is output from the information analysis unit 36, an alarm can be output from an appropriate display or audio output device.

DESCRIPTION OF SYMBOLS 10 Front imaging device, 12 Road surface imaging device, 14 Laser scanner, 16 Accelerometer, 18 Coordinate measuring device, 20 Travel distance measuring device, 22 Control device, 24 Communication device, 26 Information processing device, 28 Information acquisition part, 30 Section related Appendix, 32 Information storage unit, 34 Information selection unit, 36 Information analysis unit, 38 Communication unit, 40 Storage unit, 42 CPU.

Claims (8)

Road surface state analysis information acquisition means for acquiring road surface state analysis information acquired by an acquisition unit mounted on the vehicle and analyzing the road surface state;
Section association means for associating the road surface state analysis information with a plurality of sections set for each analysis target route based on a predetermined distance;
Road surface state analysis information storage means for storing a plurality of road surface state analysis information associated with each of the plurality of sections for each section;
A plurality of road surface state analysis information stored in the road surface state analysis information storage means is analyzed to obtain representative values of each road surface state analysis result information for each section and each road surface state analysis result information for one or a plurality of sections. Information analysis means;
A road surface state management device comprising:   Prior to the analysis processing of the information analysis means, the information analysis means further comprises information selection means for selecting information to be used for analysis from a plurality of road surface state analysis information stored in the road surface state analysis information storage means, The road surface state management device according to claim 1, wherein the selected information is analyzed.   3. The information selection unit according to claim 2, wherein the information selection unit selects information based on a selection condition input in advance, and the information analysis unit calculates a representative value based on a representative value determination condition included in the selection condition. Road surface management device.   The road surface condition analysis information includes a road surface image, rutting and acceleration, and in the case of the road surface image, the information selection means selects an image in which no shadow is reflected or the road surface is not wet, In the case of rutting, select the rutting within the predetermined range of the probability distribution where the maximum value of rutting is selected, and in the case of acceleration, except during acceleration / deceleration of the vehicle equipped with the acquisition means The road surface state management device according to claim 2, wherein a value acquired by an accelerometer is selected.   The section association means associates with each section based on the coordinate information of the acquisition position associated with the road surface condition analysis information acquired as a result of the first measurement and the travel distance of the vehicle, and performs the second and subsequent measurements. The road surface condition analysis information obtained as a result is determined in advance based on the coordinate information and the travel distance of the vehicle, and then the front image included in the first and second road surface condition analysis information. , Road surface image, rutting, acceleration, and when a common part as data is detected, the common part belongs to the same section, and the road surface condition analysis information for the second and subsequent times is the distance axis direction The road surface state management device according to any one of claims 1 to 4, wherein the road surface state management device is associated with the same section as the road surface state analysis information including the first common part after being compressed or expanded to a first time.   The information analysis means obtains each road surface analysis result information of each section and a representative value of each road surface analysis result information for each predetermined period, and the determination value calculated using the representative value or the representative value is obtained in advance. The road surface state management device according to any one of claims 1 to 5, wherein an alarm signal is generated when a predetermined threshold value is exceeded.   The road surface state management device according to any one of claims 1 to 6, wherein the vehicle on which the acquisition unit is mounted is a business vehicle or a regular operation vehicle. Computer
Road surface state analysis information acquisition means for acquiring road surface state analysis information acquired by an acquisition unit mounted on the vehicle and analyzing the road surface state;
Section association means for associating the road surface state analysis information with a plurality of sections set for each analysis target route based on a predetermined distance,
Road surface state analysis information storage means for storing a plurality of road surface state analysis information associated with each of the plurality of sections for each of the sections;
A plurality of road surface state analysis information stored in the road surface state analysis information storage means is analyzed to obtain representative values of each road surface state analysis result information for each section and each road surface state analysis result information for one or a plurality of sections. Information analysis means,
A road surface condition management program characterized by functioning as

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