CN108340922B - Method and device for determining road condition of road surface - Google Patents
Method and device for determining road condition of road surface Download PDFInfo
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- CN108340922B CN108340922B CN201810145214.6A CN201810145214A CN108340922B CN 108340922 B CN108340922 B CN 108340922B CN 201810145214 A CN201810145214 A CN 201810145214A CN 108340922 B CN108340922 B CN 108340922B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
Abstract
The application provides a method and a device for determining road surface conditions, wherein the method comprises the following steps: acquiring a front road detection distance of current automobile driving and offset data of an automobile body relative to a reference direction, wherein the front road detection distance is a distance from a specified detection point on the automobile to a road surface and is detected along a detection direction, and the detection direction is a direction which points to the front of the automobile and forms a specified included angle with a vertical direction; judging whether the automobile accords with a preset running state of running on a bumpy road or not according to the offset data of the automobile body relative to the reference direction; and if the automobile is determined to be in a running state on a bumpy road, determining the road condition of the road section in front of the automobile according to the detected distance of the road in front detected at the current moment. The scheme can conveniently and accurately detect the road surface condition of the front road surface of the current running road surface of the unmanned automobile.
Description
Technical Field
The present application relates to the field of data processing technologies, and in particular, to a method and an apparatus for determining a road surface condition.
Background
With the global rise of intelligent transportation, unmanned vehicles are becoming hot spots for research.
However, although the driveway of the unmanned vehicle can be set, the driveway of the unmanned vehicle is unstable due to uneven road surface and the like during the driveway of the unmanned vehicle. In order to realize the stable driving of the unmanned vehicle, the road condition of the road in front of the current driving position of the vehicle needs to be accurately obtained, for example, the road section in front of the vehicle is a smooth road or jolt, so that the unmanned vehicle can timely avoid the jolt road section in front of the unmanned vehicle. Therefore, how to conveniently and accurately detect the road surface condition of the road surface in front of the current running of the unmanned automobile is a technical problem which needs to be solved urgently by technical personnel in the field.
Disclosure of Invention
In view of the above, the present application provides a method and an apparatus for determining a road surface condition, so as to achieve convenient and accurate detection of a road surface condition of an unmanned vehicle ahead of a current driving road surface.
To achieve the above object, in one aspect, the present application provides a method of determining a road surface condition, comprising:
acquiring a front road surface detection distance and offset data of an automobile body relative to a reference direction during running of an automobile, wherein the front road surface detection distance is a distance from a specified detection point on the automobile to a road surface, and the specified detection point is detected along a detection direction, and the detection direction is a direction which points to the front of the automobile and forms a specified included angle with a vertical direction;
judging whether the automobile conforms to a preset running state of running on a bumpy road or not according to the offset data of the automobile body relative to the reference direction;
and if the automobile is determined to be in a running state of running on a bumpy road, determining the road condition of the road section in front of the automobile at the current moment according to the detected front road detection distance.
Preferably, before determining the road surface condition of the road section ahead of the automobile at the current time according to the detected front road surface detection distance, the method further includes:
acquiring a preset front road surface standard distance, wherein the front road surface standard distance is the distance from the specified detection point to the road surface along the detection direction under the condition of flat road surface;
the determining the road surface condition of the road section in front of the automobile according to the detected front road surface detection distance at the current moment comprises the following steps:
and if the absolute value of the difference value between the front road surface detection distance and the front road surface standard distance is larger than a preset threshold value, determining that the road surface condition of the road section in front of the automobile is a bumpy road surface.
Preferably, the acquiring the preset standard distance of the front road surface includes:
acquiring a preset vertical road surface distance, wherein the vertical road surface distance represents the vertical distance from the specified detection point to the road surface where the automobile is located under the condition of flat road surface;
and calculating a theoretical detection distance from the specified detection point to the road surface along the detection direction according to the vertical road surface distance and the specified included angle, and taking the theoretical detection distance as the standard distance of the front road surface.
Preferably, the determining the road surface condition of the road section ahead of the automobile according to the detected distance of the road surface ahead detected at the current time includes:
acquiring a plurality of historical front road surface detection distances detected within a specified time before the current time;
and determining the road surface condition of the road section in front of the automobile according to the plurality of historical front road surface detection distances and the front road surface detection distance detected at the current moment.
Preferably, the method further includes, while acquiring the current driving direction information of the vehicle and the front road detection distance, the following steps:
acquiring the geographic position information of the automobile running on the road surface at the current moment and the current road surface navigation map data of the automobile;
before analyzing whether the current time of the automobile is in a straight-ahead driving state according to the driving direction information of the current time of the automobile, the method further comprises the following steps:
obtaining historical geographic position information of the automobile before the current moment;
analyzing the running track of the automobile on the road surface according to the geographical position information of the automobile at the current moment and the historical geographical position information;
analyzing whether the automobile is in a preset interference state at the current moment or not according to the driving track and the road navigation map data, wherein the interference state comprises the following steps: the automobile is in one or more of the states of turning, passing through a curve and switching lanes;
and if the automobile is not in a preset interference state at the current moment, executing the operation of judging whether the automobile accords with a preset running state of running on a bumpy road or not according to the offset data of the automobile body relative to the reference direction.
Preferably, the method further includes, while acquiring the current driving direction information of the vehicle and the front road detection distance, the following steps:
acquiring the geographical position information of the automobile on the road surface at the current moment;
after determining the road condition of the road section in front of the automobile according to the detected front road detection distance at the current moment if the automobile is in the straight-ahead driving state at the current moment, the method further comprises the following steps:
and when the road surface of the road section in front of the automobile belongs to the bumpy road surface, sending the geographical position information on the road surface and the information that the road surface is the bumpy road surface to a navigation server so that the navigation server updates the road surface condition at the geographical position information on the road surface.
In another aspect, the present application also provides an apparatus for determining a road surface condition, comprising:
the system comprises a first sensing unit, a second sensing unit and a control unit, wherein the first sensing unit is used for acquiring a front road surface detection distance and offset data of an automobile body relative to a reference direction during the running of the automobile, the front road surface detection distance is a distance from a specified detection point on the automobile to the road surface, and the specified detection point is detected along a detection direction, and the detection direction is a direction which points to the front of the automobile and forms a specified included angle with the vertical direction;
the state estimation unit is used for judging whether the automobile accords with a preset driving state of driving on a bumpy road according to the deviation data of the automobile body relative to the reference direction;
and the road condition determining unit is used for determining the road condition of the road section in front of the automobile at the current moment according to the detected front road detection distance if the automobile is determined to be in the running state of running on a bumpy road.
Preferably, the method further comprises the following steps:
a gauge length obtaining unit, configured to obtain a preset front road standard distance before the road condition determining unit determines the road surface condition of the road section in front of the automobile, where the front road standard distance is a distance from the specified detection point to the road surface along the detection direction under the condition that the road surface is flat;
the road condition determining unit includes:
and the first road condition determining subunit is used for determining the road condition of the road section in front of the automobile as a bumpy road if the absolute value of the difference value between the front road detection distance and the front road standard distance is greater than a preset threshold value.
Preferably, the method further comprises the following steps:
the second sensing unit is used for acquiring the geographical position information of the automobile running on the road surface at the current moment and the current road navigation map data of the automobile while the first sensing unit acquires the running direction information of the current automobile running and the front road detection distance;
the historical position obtaining unit is used for obtaining historical geographic position information of the automobile before the current moment before the state analyzing unit analyzes whether the automobile is in a straight-running state at the current moment;
the track determining unit is used for analyzing the running track of the automobile on the road surface according to the geographical position information of the automobile at the current moment and the historical geographical position information;
the interference elimination unit is used for analyzing whether the automobile is in a preset interference state at the current moment according to the driving track and the road navigation map data; if the automobile is not in a preset interference state at the current moment, executing the operation of the state estimation unit, wherein the interference state comprises the following steps: the automobile is in one or more of turning, passing through a curve and switching lanes.
Preferably, the method further comprises the following steps:
the third sensing unit is used for acquiring the geographical position information of the automobile on the road surface at the current moment while the first sensing unit acquires the front road surface detection distance and the offset data;
and the information uploading unit is used for sending the geographical position information on the road surface and the information that the road surface is the bumpy road surface to the navigation server when the road condition determining unit determines that the road surface of the road section in front of the automobile belongs to the bumpy road surface, so that the navigation server updates the road surface condition at the geographical position information on the road surface.
Therefore, in the embodiment of the application, in the driving process of the automobile, according to the offset data of the automobile body relative to the reference direction, whether the automobile accords with the driving state of driving on a bumpy road surface can be estimated, if the driving state of driving on the bumpy road surface is analyzed, the road surface condition can be analyzed according to the front road surface detection distance from the detection point of the automobile to the road surface along the detection direction, and because the automobile drives on a flat road surface and a bumpy road section, the front road surface detection distance can be greatly changed, therefore, according to the front road surface detection distance and by combining the offset data, the front road surface condition of the automobile can be conveniently and accurately acquired, and the accurate positioning of the bumpy road section is facilitated.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic flow chart diagram illustrating one embodiment of a method of determining a condition of a roadway according to the present application;
FIG. 2 is a schematic flow chart diagram illustrating yet another embodiment of a method of determining a condition of a roadway according to the present application;
fig. 3 is a schematic structural diagram illustrating a composition of an embodiment of the device for acquiring a road surface condition according to the present application.
Detailed Description
The method for determining the road surface condition in the application is applied to the unmanned automobile, and can be applied to electric automobiles and ordinary automobiles.
The method can accurately acquire whether the current running road condition of the automobile belongs to a bumpy road, thereby providing a basis for avoiding the automobiles such as the unmanned automobile and the like from avoiding the bumpy road section of the front road, and being beneficial to realizing the stable running of the unmanned automobile.
It is understood that in the embodiment of the present application, the unmanned vehicle needs to have a sensing device to sense the driving condition information of the unmanned vehicle during driving. For example, the unmanned vehicle may have a gravity sensor for sensing the orientation of the unmanned vehicle, a sensor for detecting a distance, and the like.
With the above generality in mind, referring to fig. 1, which shows a schematic flow chart of an embodiment of the method for determining a road surface condition of the present application, the method of the present embodiment may include:
s101, acquiring the detection distance of the road surface in front of the current automobile running and the offset data of the automobile body relative to the reference direction.
The automobile in the embodiment of the application can be an unmanned automobile, and certainly can also be a common automobile.
The front road surface detection distance is the distance from a specified detection point on the automobile to the road surface, and the specified detection point is detected along the detection direction. The detection direction is a direction pointing to the front of the automobile and forming a specified included angle with the vertical direction. The vertical direction may be considered to be the vertical direction of the specified detection point to the road surface.
The front road distance can be detected by a detector arranged on the automobile, and the detector can be arranged on the automobile chassis or the front end of the automobile. The detector may be a radar or other distance sensor, and correspondingly, the designated detection point may be a position of the detector or a detection starting point of the detector, and the detection direction may be regarded as a detection angle of the detector. For example, taking the detector as an example, a radar may be disposed on the chassis of the vehicle, the radar sends a radar signal to the front end of the vehicle according to the detection angle, the radar signal is returned when encountering the road surface, and the radar may analyze the linear distance from the specified detection point to the road surface along the detection direction according to the time when the radar signal is sent out, the time when the returned radar signal is received, and the propagation speed of the radar signal.
The deviation data of the automobile body relative to the reference direction can reflect the pitching state of the automobile body, such as the degree of shaking of the automobile body and the like. For example, the offset data may include the angle of the vehicle body to a preset reference direction, which may be one or more, such as the base station direction may include four directions, east, west, south and north. The offset data can be sensed by a gravity sensor preset on the vehicle.
S102, judging whether the automobile accords with a preset running state on a bumpy road according to the deviation data of the automobile body relative to the reference direction.
In the present embodiment, a road section where a road surface is uneven and a vehicle bumps is referred to as a bumpy road.
It can be understood that, when driving on a flat road, the offset angle of the body of the automobile relative to a certain reference direction is small; when the road surface on which the automobile runs is uneven, the automobile bumps, so that the offset angle of the automobile body relative to the reference direction is increased. Therefore, based on the offset data, it is possible to analyze whether the vehicle is currently likely to be traveling on a bumpy road surface. For example, the offset range of the vehicle body with respect to the reference direction when the vehicle is running on a smooth road may be set in advance, and if it is determined that the offset angle of the vehicle with respect to the reference direction exceeds the preset offset range based on the acquired offset data, it may be determined that the vehicle is currently in accordance with the running state on a bumpy road.
S103, if the automobile is determined to be in a running state on a bumpy road, determining the road condition of the road section in front of the automobile at the current moment according to the detected distance of the road in front.
It is understood that, based on the deviation data of the vehicle body with respect to the reference direction, it can be determined only that the vehicle has the characteristic of traveling on a bumpy road, which is only one basis for determining the bumpy road. In order to accurately analyze whether the road surface in front of the automobile belongs to a bumpy road section or not so as to obtain the road surface condition of the road section in front of the automobile, the road surface condition needs to be analyzed according to the front road surface detection distance.
It can be understood that, since the front road detection distance is a straight distance from a detection point on the vehicle to the ground along the detection direction, under the condition that the detection point is fixed and the included angle of the detection direction with the vertical direction is not changed, if the road surface is flat, the front road detection distance is detected to be fixed or have a small variation amplitude. That is, when the road surface is flat, the vertical distance from the detection point to the ground is fixed, and the detection direction is a direction forming a predetermined angle with the detection point to the ground, so that the front road surface detection distance is also fixed according to the trigonometric function formula. Accordingly, if the road surface is uneven, the value of the front road surface detection distance may vary greatly. Therefore, the leveling condition of the road surface in front of the automobile at the current moment can be analyzed according to the detected front road surface detection distance.
It is understood that, according to the detected distance of the front road surface, there are various situations in the manner of analyzing the condition of the front road surface of the automobile at the present time:
for example, in one possible case, a preset front road surface standard distance, which is a distance from a specified detection point to the road surface in the detection direction in the case where the road surface is flat, may be acquired. Therefore, the road surface condition of the road section ahead of the automobile is determined according to the front road surface detection distance and the front road surface standard distance. Specifically, if the absolute value of the difference between the detected distance of the front road surface and the standard distance of the front road surface is greater than a preset threshold, the road surface condition of the road section in front of the automobile can be determined as a bumpy road surface.
Wherein the standard distance of the front road surface can be directly set in a control system of the unmanned automobile; or a preset vertical road surface distance, wherein the vertical road surface distance represents the vertical distance from the specified detection point to the road surface where the automobile is located under the condition of flat road surface; correspondingly, the obtaining of the standard distance of the front road surface may be calculating a theoretical detection distance from the specified detection point to the road surface along the detection direction according to the vertical road surface distance and the preset specified included angle, and taking the theoretical detection distance as the standard distance of the front road surface.
As another example, in another possible implementation, the detected front road surface detection distance may include the road surface detection distance acquired at the current time and the historical road surface detection distance acquired before the current time. Correspondingly, the road condition of the front road of the automobile can be analyzed according to a plurality of historical front road detection distances detected within a specified time before the current time and the front road detection distance acquired at the current time.
It can be understood that, under normal conditions, a road section with a flat road surface is larger than an uneven road surface, and therefore, according to trend analysis of historical front road surface detection distances detected within a specified time period before the current time, historical front road surface detection distances corresponding to the flat road surface can be analyzed, so that the front road surface detection distance detected at the current time is compared with the historical front road surface detection distance corresponding to the flat road surface, and if the absolute value of the difference between the currently detected front road surface detection distance and the historical front road surface detection distance corresponding to the flat road surface is smaller than a preset threshold value, the road surface in front of an automobile at the current time is considered to be the flat road surface; otherwise, it is a bumpy road surface.
Of course, the historical front road detection distance detected within a specified time before the current time, or the front road detection distance of the flat road surface analyzed according to the preset vertical road distance before the current time, so that the road condition can be analyzed according to the historical front road detection distance and the front road detection distance detected at the current time.
It can be known from the above description that, in the embodiment of the present application, during the driving process of the vehicle, according to the offset data of the vehicle body relative to the reference direction, it can be estimated whether the vehicle conforms to the driving state of driving on a bumpy road, if it is analyzed that the vehicle has the driving state of driving on the bumpy road, the road condition can be analyzed according to the front road detection distance from the detection point of the vehicle to the road along the detection direction, and because the vehicle drives on a flat road and a bumpy road, the front road detection distance can be greatly changed, therefore, according to the front road detection distance and by combining the offset data, it is beneficial to conveniently and accurately obtain the front road condition of the vehicle, thereby being beneficial to accurately positioning the bumpy road.
Simultaneously, because this application only need acquire two data of skew data and this place ahead road surface detection distance, the quantity of required sensor is less, has also reduced the complexity of surveying the road surface condition of jolting.
It can be understood that if the front road section is determined to be a bumpy road section according to the front road surface detection distance, the automobile can be controlled to change the driving track so as to avoid the bumpy road section; alarm reminders and the like may also be output.
Further, in order to optimize the electronic navigation map to mark a bumpy road segment in the electronic navigation map, when the bumpy road segment is determined, position information of the bumpy road segment on the road surface needs to be transmitted to the electronic navigation map.
For example, referring to fig. 2, which shows a schematic flow chart of another embodiment of the method for determining a road surface condition of the present application, the method of the present embodiment may include:
s201, acquiring offset data of the automobile body relative to a reference direction, a front road detection distance, current geographic position information on the road and current road navigation map data during current automobile driving.
For the front road detection distance and the offset data, reference may be made to the related description of the foregoing embodiments, and details are not described herein.
And when the current geographic position information of the automobile on the road surface is used for representing and acquiring the offset data and the detection distance of the front road surface, the position coordinates of the automobile on the road surface.
The current road navigation map data can reflect whether the road section of the automobile on the road belongs to a turning road section or not, and meanwhile, the driving track of the automobile can be analyzed by combining the road navigation data and the position coordinates of the automobile on the road so as to obtain whether the automobile has the behaviors of turning, lane switching, curve overtaking and the like.
S202, obtaining historical geographic position information of the automobile before the current moment.
In the embodiment of the present application, the geographical location information of the automobile before the current time is referred to as historical geographical location information.
For example, the geographical location information of the vehicle at different times, which is located by a positioning means such as GPS, can be stored.
And S203, analyzing the running track of the automobile on the road surface according to the geographical position information of the automobile at the current moment and the historical geographical position information.
For example, according to the geographic position information of the automobile at the current time and the historical geographic position information within a specified time period before the current time, the driving track of the automobile within the specified time period can be determined.
And S204, analyzing whether the automobile is in a preset interference state at the current moment according to the driving track and the road navigation map data.
Wherein the interference state comprises: the automobile is in one or more of turning, passing through a curve and switching lanes.
It can be understood that whether the automobile has behaviors of turning, passing through a curve, switching lanes and the like can be analyzed according to the driving track of the automobile and by combining with the road navigation map data.
It can be understood that when the above interference state exists during the driving of the automobile, the body of the automobile may also deviate from the reference direction, and therefore, if the automobile is in the interference state, the body of the automobile may also deviate from the reference direction, so that the acquired deviation data cannot represent whether the automobile is likely to be on a bumpy road surface, and therefore, the deviation data of the interference state needs to be eliminated.
S205, if the automobile is not in the preset interference state at the current moment, judging whether the automobile accords with the preset running state on the bumpy road according to the deviation data of the automobile body relative to the reference direction.
And S206, acquiring a preset front road surface standard distance.
Wherein the front road surface standard distance is a distance from the specified detection point to the road surface along the detection direction in the case of a flat road surface.
And S207, if the difference between the absolute value of the front road detection distance of the automobile at the current moment and the absolute value of the standard road distance is greater than a preset threshold value, determining that the road condition of the road section in front of the automobile is a bumpy road.
Step S206 and step S207 are one way of determining the road surface condition, and the same applies to the present embodiment for the other ways mentioned above.
And S208, when the road surface of the road section in front of the automobile is determined to belong to a bumpy road surface, sending the geographic position information of the automobile on the road surface and the information that the road surface is the bumpy road surface to the navigation server, so that the navigation server updates the road surface condition at the geographic position information on the road surface.
In another aspect, the present application further provides an apparatus for determining a condition of a road surface.
For example, referring to fig. 3, which shows a schematic structural diagram of an embodiment of the apparatus for determining a road surface condition according to the present application, the apparatus may be applied to an unmanned vehicle, and the apparatus of the present embodiment may include:
the first sensing unit 301 is configured to obtain a front road detection distance and offset data of an automobile body relative to a reference direction during driving of the automobile, where the front road detection distance is a distance from a specified detection point on the automobile to a road surface and is detected along a detection direction, and the detection direction is a direction pointing to the front of the automobile and forming a specified included angle with a vertical direction;
a state estimation unit 302, configured to determine whether the vehicle conforms to a preset driving state on a bumpy road according to the deviation data of the vehicle body relative to the reference direction;
a road condition determining unit 303, configured to determine a road condition of the road section ahead of the vehicle at the current moment according to the detected front road detection distance if it is determined that the vehicle is in a driving state on a bumpy road.
In one possible implementation, the apparatus may further include:
a gauge length obtaining unit, configured to obtain a preset front road standard distance before the road condition determining unit determines the road surface condition of the road section in front of the automobile, where the front road standard distance is a distance from the specified detection point to the road surface along the detection direction under the condition that the road surface is flat;
the road condition determining unit includes:
and the first road condition determining subunit is used for determining the road condition of the road section in front of the automobile according to the front road detection distance and the front road standard distance.
In another possible implementation manner, the road condition determining unit includes:
the second distance sensing unit is used for acquiring a preset vertical road surface distance, and the vertical road surface distance represents the vertical distance from the specified detection point to the road surface where the automobile is located under the condition of flat road surface;
a theoretical distance obtaining unit, configured to calculate a theoretical detection distance from the specified detection point to the road surface along the detection direction according to the vertical road surface distance and the specified included angle;
and the second road condition determining subunit is used for determining the road condition of the road section in front of the automobile according to the theoretical detection distance and the front road detection distance.
In another possible implementation manner, the road condition determining unit includes:
the system comprises a historical distance acquisition unit, a road surface detection unit and a road surface detection unit, wherein the historical distance acquisition unit is used for acquiring a plurality of historical front road surface detection distances detected within a specified time before the current time;
and the third road condition determining subunit is used for determining the road condition of the road section in front of the automobile according to the plurality of historical front road detection distances and the front road detection distance detected at the current moment.
In one implementation, the apparatus further comprises:
the second sensing unit is used for acquiring the geographical position information of the automobile running on the road surface at the current moment and the current road navigation map data of the automobile while the first sensing unit acquires the running direction information of the current automobile running and the front road detection distance;
the historical position obtaining unit is used for obtaining historical geographic position information of the automobile before the current moment before the state analyzing unit analyzes whether the automobile is in a straight-running state at the current moment;
the track determining unit is used for analyzing the running track of the automobile on the road surface according to the geographical position information of the automobile at the current moment and the historical geographical position information;
the interference elimination unit is used for analyzing whether the automobile is in a preset interference state at the current moment according to the driving track and the road navigation map data; if the automobile is not in a preset interference state at the current moment, executing the operation of analyzing whether the automobile is in a straight-ahead driving state at the current moment or not according to the driving direction information of the automobile at the current moment, wherein the operation of analyzing whether the automobile is in the straight-ahead driving state at the current moment comprises the following steps: the automobile is in one or more of turning, passing through a curve and switching lanes.
In yet another implementation, the apparatus may further include:
the third sensing unit is used for acquiring the geographical position information of the automobile on the road surface at the current moment while the first sensing unit acquires the detection distance and the offset data of the road surface in front of the current running automobile;
and the information uploading unit is used for sending the geographical position information on the road surface and the information that the road surface is the bumpy road surface to the navigation server when the road condition determining unit determines that the road surface of the road section in front of the automobile belongs to the bumpy road surface, so that the navigation server updates the road surface condition at the geographical position information on the road surface.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. For the device-like embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, reference may be made to the partial description of the method embodiment.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.
Claims (10)
1. A method of determining a condition of a road surface, comprising:
acquiring a front road surface detection distance and offset data of an automobile body relative to a reference direction during running of an automobile, wherein the front road surface detection distance is a distance from a specified detection point on the automobile to a road surface, and the specified detection point is detected along a detection direction, and the detection direction is a direction which points to the front of the automobile and forms a specified included angle with a vertical direction;
judging whether the automobile conforms to a preset running state of running on a bumpy road or not according to the offset data of the automobile body relative to the reference direction;
and if the automobile is determined to be in a running state of running on a bumpy road, determining the road condition of the road section in front of the automobile at the current moment according to the detected front road detection distance.
2. The method for determining a road surface condition according to claim 1, further comprising, before said determining a road surface condition of a road section ahead of said automobile at a present time based on said detected road surface detection distance ahead:
acquiring a preset front road surface standard distance, wherein the front road surface standard distance is the distance from the specified detection point to the road surface along the detection direction under the condition of flat road surface;
the determining the road surface condition of the road section in front of the automobile according to the detected front road surface detection distance at the current moment comprises the following steps:
and if the absolute value of the difference value between the front road surface detection distance and the front road surface standard distance is larger than a preset threshold value, determining that the road surface condition of the road section in front of the automobile is a bumpy road surface.
3. The method of determining a road surface condition according to claim 2, wherein said obtaining a preset standard distance of the front road surface comprises:
acquiring a preset vertical road surface distance, wherein the vertical road surface distance represents the vertical distance from the specified detection point to the road surface where the automobile is located under the condition of flat road surface;
and calculating a theoretical detection distance from the specified detection point to the road surface along the detection direction according to the vertical road surface distance and the specified included angle, and taking the theoretical detection distance as the standard distance of the front road surface.
4. The method for determining a road surface condition according to claim 1, wherein said determining a road surface condition of a section ahead of a vehicle based on the road surface detection distance ahead detected at the present time comprises:
acquiring a plurality of historical front road surface detection distances detected within a specified time before the current time;
and determining the road surface condition of the road section in front of the automobile according to the plurality of historical front road surface detection distances and the front road surface detection distance detected at the current moment.
5. The method for determining a road surface condition according to any one of claims 1 to 4, further comprising, while said acquiring the traveling direction information of the current vehicle traveling and the front road surface detection distance:
acquiring the geographic position information of the automobile running on the road surface at the current moment and the current road surface navigation map data of the automobile;
before analyzing whether the current time of the automobile is in a straight-ahead driving state according to the driving direction information of the current time of the automobile, the method further comprises the following steps:
obtaining historical geographic position information of the automobile before the current moment;
analyzing the running track of the automobile on the road surface according to the geographical position information of the automobile at the current moment and the historical geographical position information;
analyzing whether the automobile is in a preset interference state at the current moment or not according to the driving track and the road navigation map data, wherein the interference state comprises the following steps: the automobile is in one or more of the states of turning, passing through a curve and switching lanes;
and if the automobile is not in a preset interference state at the current moment, executing the operation of judging whether the automobile accords with a preset running state of running on a bumpy road or not according to the offset data of the automobile body relative to the reference direction.
6. The method for determining a road surface condition according to any one of claims 1 to 4, further comprising, while said acquiring the traveling direction information of the current vehicle traveling and the front road surface detection distance:
acquiring the geographical position information of the automobile on the road surface at the current moment;
after determining the road condition of the road section in front of the automobile according to the detected front road detection distance at the current moment if the automobile is in the straight-ahead driving state at the current moment, the method further comprises the following steps:
and when the road surface of the road section in front of the automobile belongs to the bumpy road surface, sending the geographical position information on the road surface and the information that the road surface is the bumpy road surface to a navigation server so that the navigation server updates the road surface condition at the geographical position information on the road surface.
7. An apparatus for determining a condition of a road surface, comprising:
the system comprises a first sensing unit, a second sensing unit and a control unit, wherein the first sensing unit is used for acquiring a front road surface detection distance and offset data of an automobile body relative to a reference direction during the running of the automobile, the front road surface detection distance is a distance from a specified detection point on the automobile to the road surface, and the specified detection point is detected along a detection direction, and the detection direction is a direction which points to the front of the automobile and forms a specified included angle with the vertical direction;
the state estimation unit is used for judging whether the automobile accords with a preset driving state of driving on a bumpy road according to the deviation data of the automobile body relative to the reference direction;
and the road condition determining unit is used for determining the road condition of the road section in front of the automobile at the current moment according to the detected front road detection distance if the automobile is determined to be in the running state of running on a bumpy road.
8. The apparatus for determining a road surface condition according to claim 7, further comprising:
a gauge length obtaining unit, configured to obtain a preset standard distance of a front road surface before the road condition determining unit determines the road surface condition of the road section in front of the automobile, where the standard distance of the front road surface is a distance from the specified detection point to the road surface along the detection direction under the condition that the road surface is flat;
the road condition determining unit includes:
and the first road condition determining subunit is used for determining the road condition of the road section in front of the automobile as a bumpy road if the absolute value of the difference value between the front road detection distance and the front road standard distance is greater than a preset threshold value.
9. The apparatus for determining a road surface condition according to claim 7 or 8, characterized by further comprising:
the second sensing unit is used for acquiring the geographical position information of the automobile running on the road surface at the current moment and the current road navigation map data of the automobile while the first sensing unit acquires the running direction information of the current automobile running and the front road detection distance;
the historical position obtaining unit is used for obtaining historical geographic position information of the automobile before the current moment before the state analyzing unit analyzes whether the automobile is in a straight-running state at the current moment;
the track determining unit is used for analyzing the running track of the automobile on the road surface according to the geographical position information of the automobile at the current moment and the historical geographical position information;
the interference elimination unit is used for analyzing whether the automobile is in a preset interference state at the current moment according to the driving track and the road navigation map data; if the automobile is not in a preset interference state at the current moment, executing the operation of the state estimation unit, wherein the interference state comprises the following steps: the automobile is in one or more of turning, passing through a curve and switching lanes.
10. The apparatus for determining a road surface condition according to claim 7 or 8, characterized by further comprising:
the third sensing unit is used for acquiring the geographical position information of the automobile on the road surface at the current moment while the first sensing unit acquires the front road surface detection distance and the offset data;
and the information uploading unit is used for sending the geographical position information on the road surface and the information that the road surface is the bumpy road surface to the navigation server when the road condition determining unit determines that the road surface of the road section in front of the automobile belongs to the bumpy road surface, so that the navigation server updates the road surface condition at the geographical position information on the road surface.
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| CN110967023B (en) * | 2018-09-30 | 2023-11-10 | 华为技术有限公司 | Automobile positioning method and automobile positioning device |
| CN111016909B (en) * | 2018-10-08 | 2021-04-16 | 上海汽车集团股份有限公司 | Road bump information prompting method and device |
| CN109532379A (en) * | 2018-11-12 | 2019-03-29 | 重庆科技学院 | Adaptive adjustment balancing transporter and its intelligence control system and method |
| FR3093305B1 (en) * | 2019-02-28 | 2021-01-29 | Psa Automobiles Sa | REGULATING THE SPEED OF A VEHICLE WHEN OTHING IN A CORNER |
| CN111619543B (en) * | 2020-06-09 | 2021-08-24 | 三一重机有限公司 | Travel control method and travel control system for wheel excavator, and wheel excavator |
| CN111959501A (en) * | 2020-08-19 | 2020-11-20 | 河南联合力达新能源科技有限公司 | Unmanned automobile road surface induction device |
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| DE102010013339A1 (en) * | 2010-03-30 | 2011-01-05 | Daimler Ag | Device for controlling active/semi-active engine mounting for passenger car, has evaluation unit determining unevenness in course of road surface, where adjustment of operating parameter of engine mounting is taken place based on unevenness |
| CN202209948U (en) * | 2011-09-20 | 2012-05-02 | 武汉大学 | Vehicle-mounted road ride comfort measurement system |
| DE102013207147A1 (en) * | 2012-05-03 | 2013-11-07 | Ifm Electronic Gmbh | Road surface profile detecting system for motor car, has time-of-flight cameras which detect road surface profile and determine distance and dimension of irregularities in overlapping monitored areas of cameras |
| BR112016003450B1 (en) * | 2014-06-09 | 2022-04-26 | Nira Dynamics Ab | Method and system for detecting a short-term irregularity of a road surface under a driving vehicle having at least one first wheel and computer readable storage medium |
| JP6450170B2 (en) * | 2014-12-05 | 2019-01-09 | 株式会社ブリヂストン | Road surface condition determination method |
| DE102015200748A1 (en) * | 2015-01-20 | 2016-07-21 | Volkswagen Aktiengesellschaft | Motor vehicle with at least one driver assistance system to support a night drive |
| CN105182342B (en) * | 2015-09-29 | 2018-11-09 | 长安大学 | The follow-up mechanism and method for tracing of a kind of bumpy road Radar for vehicle target location |
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| CN107415807B (en) * | 2017-06-19 | 2024-02-02 | 华域视觉科技(上海)有限公司 | Automobile dimming system and method for detecting road surface bump condition based on laser radar |
| CN107345792A (en) * | 2017-08-23 | 2017-11-14 | 南京火眼猴信息科技有限公司 | A kind of vcehicular tunnel surface and internal detection car |
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