基于车辆参数估计的振动式路面平整度检测标定方法  

Calibration Method for Vibration-based Road Roughness Detection Based on Vehicle Dynamic Parameters Estimation

作　　者：吴荻非 刘成龙[1] 覃伯豪 杜豫川[1] 李亦舜 WU Di-fei;LIU Cheng-long;QIN Bo-hao;DU Yu-chuan;LI Yi-shun(Key Laboratory of Road and Traffic Engineering of the Ministry of Education,Tongji University,Shanghai 201804,China;Shenzhen Tencent Computer Systems Company Limited,Shenzhen 518054,Guangdong,China)

机构地区：[1]同济大学道路与交通工程教育部重点实验室,上海201804 [2]深圳市腾讯计算机系统有限公司,广东深圳518054

出　　处：《中国公路学报》2025年第1期31-45,共15页China Journal of Highway and Transport

基　　金：国家自然科学基金项目(52108411,52008309)。

摘　　要：振动式平整度检测技术通过测量路面激励所致的车身振动以估计平整度指标,已成为了近年来广泛应用的检测手段。为解决现有振动式平整度检测技术标定繁琐、稳定性不足的问题,提出了一种基于车辆参数估计的振动式路面平整度检测快速标定方法,并开展了车辆振动参数对检测效果的敏感性分析。首先,构建了七自由度整车动力学模型,采用模型更新理念,提出了基于冲击测试的车辆振动参数快速标定方法;随后,建立可模拟不同平整度的车路耦合振动虚拟仿真平台,将传统需要大量工序的标定流程以仿真计算方法替代,获取车辆振动指标、车速与国际平整度指数IRI(International Roughness Index)的多源回归模型;最后,依托标定完成的整车模型,探究车辆悬架参数、车身质量分布波动对IRI检测效果的影响。现场测试结果表明:标定后的车辆平整度检测结果与激光断面检测结果具有较好的吻合性,检测误差与分割长度、检测车速关联显著,在100 m及以上的分割长度、30~60 km·h^(-1)行驶车速条件下,IRI检测误差在0.5 m·km^(-1)以内;车轮等效刚度系数和悬架刚度系数的敏感性最高,表明胎压变化、悬架弹簧磨损对平整度检测影响相比其他参数更为显著。研究结果可为振动式路面平整度检测技术的大规模应用提供方法支撑。The vibration-based road roughness detection technology,which estimates road roughness by measuring vehicle vibrations induced by road profiles,has been of interest in recent years.To address the challenges of labor-intensive calibration and limited stability in existing vibration-based road roughness detection methods,a rapid calibration method based on parameter estimation is proposed,accompanied by a sensitivity analysis of the vehicle vibration parameters'impact on the detection performance.This approach begins by constructing a seven-degree-of-freedom full-vehicle dynamics model and introduces a calibration method based on impact testing,with a model updating approach.Subsequently,a virtual simulation platform is established to simulate various road evenness conditions,replacing the traditional labor-intensive calibration process and obtaining multiple regression models for vehicle vibration indicators,vehicle speed,and international roughness index(IRI).Relying on the calibrated vehicle model,the influences of vehicle suspension parameters and fluctuation in vehicle mass distribution on the IRI detection performance were investigated.Field tests and research results demonstrate that the calibrated vehicles'evenness detection results align well with the laser profiler,with detection errors significantly correlated with the segment length and detection speed.Under conditions with segment lengths of 100 m or larger and vehicle speeds of 30 to 60 km·h^(-1),the IRI detection errors are within 0.5 m·km^(-1).A sensitivity analysis reveals that the tire equivalent stiffness coefficients and suspension stiffness coefficients exhibit the highest sensitivity,which highlights the significant impact of tire pressure variations and suspension spring wear on the evenness detection.This research provides a methodological support to advance the widespread application of the vibration-based road evenness detection technology.

关 键 词：路面工程 路面平整度快速标定 车辆振动参数估计 振动式平整度检测 参数敏感性 车路耦合振动虚拟仿真 

分 类 号：U416.2[交通运输工程—道路与铁道工程]