Pavement rutting is caused by grooves formed by vehicle traffic, affecting driving comfort, safety, and service life. Rutting detection methods have evolved from manual and automated approaches to intelligent detection for smart cities and maintenance. However, lightweight intelligent detection still faces challenges such as insufficient accuracy and technical complexity, and a mature system has yet to be established. This study aims to develop a portable intelligent terminal for pavement rut detection, which can address the challenges associated with traditional pavement rut detection while providing accuracy and reliability. In this study, rutting detection experiments were performed on a full-scale accelerated loading track to collect data on vibration acceleration, angular velocity, and attitude angles. Comparative experiments were carried out between traditional and lightweight detection methods. Subsequently, GRU-CNN, LSTM–Transformer, GRU, and LSTM models were developed to analyze and compare their performance in predicting rutting depth. The results show that the terminal operates stably, offering convenient usability and reliable data acquisition. Furthermore, vehicle angular velocity and roll angle emerge as critical indicators reflecting rutting impacts on driving states and prove suitable for pavement rut depth detection. The proposed GRU-CNN model achieves superior accuracy and overall performance relative to widely used models. Under synchronous detection conditions, the lightweight method yields a mean absolute error (MAE) of 1.22 mm, achieving performance improvements of 17.32%, 8.74%, and 10.08% over the LSTM–Transformer, GRU, and LSTM models, respectively. Additionally, the method yields a mean absolute percentage error of approximately 10.6%, representing error reductions of 15.87%, 19.08%, and 23.74% compared to the aforementioned baseline models, which meets application requirements. Innovation lies in the development of a lightweight intelligent terminal and GRU-CNN hybrid model that integrates vehicle dynamic parameters for large-scale pavement rutting detection. This study presents a lightweight, real-time pavement rutting detection method based on vehicle operation data for the construction and maintenance of smart cities and intelligent transportation infrastructure, combining the features of high cost effectiveness, high accuracy, and ease of large-scale application.
Zhang et al. (Sat,) studied this question.