基于三维激光路面轮廓调查系统及应用

路面轮廓包含道路质量评定的多种信息，其中路面车辙是衡量路面状况的重要指标。现行人工检测和目前基于点激光或线激光测量设备存在局限性。基于三维激光设备，研究并开发了一种路面轮廓调查系统。设计了一种全新的车载设备布置架构，采用高精度三维数据生成路面轮廓信息并连续计算路面车辙。采用边缘算法对车道区域外数据进行剔除，通过对横断面数据预处理提高数据稳定性，基于移动参考线逼近的方法提取车辙深度信息。将高精度数据进行可视化处理，直观展示路面数据信息。 通过静态实验验证激光精度，测量误差基本小于±0.3 mm。系统在自然行驶的条件下获取路面轮廓数据，以车辙数据为例，并将数据与人工测量数据进行对比。实验表明，测量车辙最大深度与人工检测结果相关系数为0.97，不同车速下系统表现出极高的鲁棒性，产生准确的路面轮廓数据，可作为高速真实三维路面测量工具。

Survey System and Application of Road Surface Profile Based on 3D Laser

The road surface profile contains a variety of information for road quality evaluation. And road rutting is an important indicator to measure the road surface condition. There are limitations of manual detection and current measurement equipment based on point lasers and line lasers. Based on three-dimensional laser equipment, a road surface profile survey system is researched. A new layout architecture of on-board equipment is designed, which uses high-precision three-dimensional data to generate road profile information and calculate road ruts. The edge algorithm is used to eliminate the data outside the lane area. The data stability is improved by preprocessing the cross-sectional data. The rut depth information is extracted based on the method of moving reference line approximation. High-precision data is processed visually, and road data information is displayed intuitively. The laser accuracy was verified through static experiments. The measurement error is basically less than ±0.3 mm. The system obtained road surface profile data under normal driving conditions. Taking rutting data as an example, the data is compared with manual measurement data. Experiments show that the correlation coefficient between the maximum rut depth measurement and the manual detection result is 0.97. The system exhibits extremely high robustness at different vehicle speeds, generates accurate road surface profile data. The system can be used as a high-speed real three-dimensional road measurement tool.