土木学会論文集 E1( 舗装工学 ), Vol.70, No.3( 舗装工学論文集第 19 巻 ),I_41-I_48,2014. モバイルプロフィロメータを利用した 高速道路における絶対プロファイルの推定

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1 土木学会論文集 E1( 舗装工学 ), Vol.70, No.3( 舗装工学論文集第 19 巻 ),I_41-I_48,2014. モバイルプロフィロメータを利用した 高速道路における絶対プロファイルの推定 MPM IRI FFT MPM MPM 20.6%32.7%3.8%12.6% MPMIRI5.8% Key Word: mobile profilometer, true profile, Fat Fourier Tranform, ignal proceing, accelerometer, expreway 1. はじめに IRI International Roughne Index 1)-3) 4) 144 5) IRI 2 IRI 3 True Profile 2 2 IRI MPM (Mobile ProfiloMeter) I_41

2 Meauring Acceleration SprungMa Pre-filtering Denoiing Integration of Acc. Supenion Sytem UnprungMa Accelerometer Back-Calculation of Surface Profile Applying Golden QC IRI Calculation and Diplay in Real Time 2.MPMの概要 MPMIRI1 2 QCIRI MPMIRI (1) QCモデル QC2 6) QC 7) IRIQC km/h Uing Two Accelerometer Reproducing IRI Algorithm Faithfully (2) MPMのラフネス測定原理 MPM 2 IRI 図 -1 40km/h120km/h IRI 23 MPM a) 加速度の測定 2 Meauring Back-calculated Profile X X u b) 事前フィルタ処理 30Hz c) 加速度の積分演算 X X u X X u X X u d) 路面プロファイルの逆解析 QC X p QC m X + c ( X X u )+ k (X X u ) = 0 (7) m u X u + c ( X u X )+ k (X u X )+ k t X u = k t X p (8) e) ゴールデンカーシミュレーション X p Calculation and Diplay of Arbitrary Roughne Index 図 -1MPMIRI m x + c ( x x u )+ k (x x u ) = 0 (9) m u x u + c ( x u x )+ k (x u x )+ k t x u = k t X p (10) X x f) IRI 計算 IRIIRImm/m n I_42

3 (11) IRI (a) (b)psd 図 -2MPM IRI = 1 n x (3) MPM による路面プロファイル測定の問題 n i=1, i u, i MPM IRI MPM 2 IRI 図 -2km/h MPM 1 PSD: Power Spectral Denity PSD 1.5m0.7(1/m)14m u x u 0.07(1/m) 0.7m1.5(1/m) MPM 3.MPMによる絶対プロファイルの推定方法 MPM IRI MPM MPM MPM (1) 解析対象とする路面波長の設定 図 -3 8) Microtexture Macrotexture MegatextureUnevenne Cro-lope5 0.5~50m (2) 復元フィルタの設計 MPM I_43

4 図 -3 8) (Gain) FFTFat Fourier Tranform IFFT FFT MPM a) 事前フィルタ処理 6 0.5~50m b) 測定プロファイルの分割 FFT2 n n=1, 2, 3,..., n FFT PSD FFT 1024= % c) 窓関数による重み付け FFT FFT d) 波長検出特性の算出 MPM FFT FFT MPM PSDPSD MPM MPM PSD P x ( f ) P y ( f ) H ( f ) = P y ( f ) P x ( f ) (12) 50% I_44

5 km/hmpm 図 -4 e) 復元フィルタの算出 MPM 図 -5 図 -4 図 -5MPM Gain (db) Wave Number (1/m) 図 -4MPMkm/h Gain (db) Wave Number (1/m) 図 -5km/h (3) 復元フィルタを用いた絶対プロファイルの推定 MPMFFT a) 測定プロファイルの拡張 FFT 50% b) 測定プロファイルの分割 FFT 1024 c) 窓関数の適用 MPM d) 復元フィルタの適用 1024 FFT e) 絶対プロファイルの推定 1024IFFT 50% 図 -6 図 2 MPM 図 -6 図 -2 MPM 1 4. 絶対プロファイル推定精度の検証 MPM MPM 1,250kgSUV 2,kg 1,550kg I_45

6 SUV (a) (b)psd 図 -6MPM km/h (1) 路面プロファイルの測定概要 MPM1 MPM,, km/h 3400m MPM0.1m 0.2m 0.5~50m 0.1m (2) 路面プロファイル測定値の比較 MPM 図 -7 km/h ±20% km/h ±30% 表 %32.7% km/h 10% km/h 30%MPM (3) IRI 測定値の比較 MPMIRI 表 -2 IRI MPMIRI ±10% 図 -8 km/hmpm5m IRI1m2m IRI MPM IRIkm/h ±5% km/h5.8% 5. まとめ MPM I_46

7 (a)km/h (b)km/h (c)km/h (d)suvkm/h (e)suvkm/h (f)suvkm/h (g)km/h (h)km/h (i)km/h 図 -7 表 -1MPM Abolute Relative Error (%) Vehicle Type Operation Speed (km/h) Back- Recont. Calculation Filter Sedan SUV Van Vehicle Type Sedan SUV Van 表 -2MPMIRI Relative Error (%) Operation Speed (km/h) Back- Calculation Recont. Filter Filter MPM IRI FFT SUVMPM±20% ±30% 20.6%32.7 % 3.8%12.6% IRI ±10% IRI 5.8% I_47

8 運用 図 -8MPM5mIRI 謝辞 JSPS 参考文献 1) IRI Vol.66,V-405,pp.9-810(CD- ROM), ) Vol.66,V-407,pp (CD-ROM), ) Tomiyama, K., Kawamura, A., Nakajima, S., Ihida, T., and Jomoto, M.: A Mobile Data Collection Sytem Uing Accelerometer for Pavement Maintenance and Rehabilitation, Proceeding of 8th International Conference on Managing Pavement Aet, Paper No. 142 (CD-ROM), ) 人 路 率 理 行 易 IRI Vol.46No.6pp ) ) Karamiha, S. M.: Critical Profiler Accuracy Requirement, Univerity of Michigan Tranportation Reearch Intitute, ) Sayer, M. W. and Karamiha, S. M.: The Little Book of Profiling, - Baic Information about Meauring and Interpreting Road Profile, The Univerity of Michigan, ) No.472/V-20pp LONGITUDINAL TRUE PROFILE ESTIMATION BY A MOBILE PROFILOMETER FOR EXPRESSWAYS Kazuya TOMIYAMA, Akira KAWAMURA, and Tomonori OHIRO In recent year, expreway authoritie require an effective method for monitoring and meauring urface characteritic of their pavement. Thi tudy examine an etimation method of a longitudinal true profile by an accelerometer-baed mobile profilometer (MPM) for expre way pavement. One of the advantage of the MPM i to capture the information from profile meaurement. However, ince the meaurement algorithm of the MPM i optimized to compute the IRI in real-time, the back-calculated profile i ditorted by the natural frequencie of upenion component. In thi tudy, we examine an etimation technique of a true profile by developing a recontruction filter to attenuate the ditortion in the patial frequency domain by the Fat Fourier Tranform (FFT) method. A the reult of a validation experiment, the MPM with recontruction filter atifie practical requirement a a profiler that i within 30% error compared with a rod & level urvey. The reult alo indicate that the MPM baically ha a capacity to meaure the IRI in real-time, and the back-calculated profile i appropriate for the purpoe. I_48

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