CN110182213A - A kind of road condition detection method and corresponding system - Google Patents
A kind of road condition detection method and corresponding system Download PDFInfo
- Publication number
- CN110182213A CN110182213A CN201910449038.XA CN201910449038A CN110182213A CN 110182213 A CN110182213 A CN 110182213A CN 201910449038 A CN201910449038 A CN 201910449038A CN 110182213 A CN110182213 A CN 110182213A
- Authority
- CN
- China
- Prior art keywords
- information
- current
- data group
- cloud platform
- information data
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 52
- 230000002159 abnormal effect Effects 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 claims description 21
- 238000004891 communication Methods 0.000 claims description 20
- 238000012545 processing Methods 0.000 claims description 18
- 230000002123 temporal effect Effects 0.000 claims description 17
- 238000000605 extraction Methods 0.000 claims 3
- 230000001133 acceleration Effects 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 7
- 238000003384 imaging method Methods 0.000 description 7
- 238000010276 construction Methods 0.000 description 5
- 241000283070 Equus zebra Species 0.000 description 4
- 238000002955 isolation Methods 0.000 description 4
- 238000001931 thermography Methods 0.000 description 4
- 238000013528 artificial neural network Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000007689 inspection Methods 0.000 description 2
- 230000009897 systematic effect Effects 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 238000013527 convolutional neural network Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
- B60W40/04—Traffic conditions
-
- 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
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/582—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of traffic signs
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/143—Alarm means
Abstract
The present invention relates to a kind of road condition detection methods comprising following steps: (1) obtaining present road image information, present vehicle information, current time information, current geographic position information and current weather information；(2) above- mentioned information are combined into current information data group and by the current information burst data transmission to cloud platform；(3) the history reference information data group corresponding with the current information data group stored in the platform of cloud is extracted；(4) present road image information is compared with the history reference road image information in corresponding history reference information data group；(5) judge whether present road state is abnormal, if it is, (6) are entered step, if it is not, then entering step (7)；(6) it sends a warning；And (7) update the history information data stored in the platform of cloud.Correspondingly, the invention further relates to a kind of road condition detection systems.
Description
Technical field
The present invention relates in vehicular field, especially Vehicular automatic driving field, especially Vehicular automatic driving to road
The intelligent measurement field of state.Specifically, the present invention relates to a kind of road condition detection method and corresponding systems.To this
For the technical staff of field, it is obvious that the present invention is equally applicable for other fields.
Background technique
May exist abnormal because of road condition along specific drive route traveling and lead to security risk.Cause to pacify
The road condition of full hidden danger includes that pavement state is abnormal and roadside abnormal state, such as road snow, surface gathered water, deposits on road surface
There is damage or missing etc. in barrier, roadside fence, hard shoulder or greenbelt.If these exceptions can be detected in time
Situation, driver can avoid this potential danger by taking corresponding means.
In the prior art, common DAS (Driver Assistant System) generally use the image recognition technology based on embedded device come
Carry out road condition detection.Described image identification technology collects the environment number inside and outside vehicle using the sensor installed on vehicle
According to, the static identification with dynamic object of implementation, and combine and the technologies such as detect and track, so as to allow driver to discover possibility
The danger of generation.But the precision that road abnormality is detected based on the image recognition technology of embedded device
Not high enough, timeliness is poor, and the historical information and cost of non-reference road state are excessively high, thus is difficult to carry out road condition
Quickly, accurate and inexpensive detection and early warning.
Therefore, in this context, driver need a kind of quick, accurate and inexpensive road condition detection method and
Corresponding system.
Summary of the invention
For disadvantages mentioned above in the prior art, the present invention provides a kind of road condition detection method and corresponding system
System.The road condition detection method and corresponding system can be quick, accurate and judge present road shape at low cost
Whether state abnormal, i.e., judge that current driving road whether there is abnormal conditions, for example, road surface whether accumulated snow, road surface whether ponding,
With the presence or absence of whether there are obstacles on the situation of repairing the roads, road surface, whether roadside greenbelt is damaged or lacked, whether roadside fence damages
It ruins or lacks, whether road intermediate isolating band is damaged or lacked, whether hard shoulder is damaged or lacked, etc..
Road condition detection method according to the present invention and corresponding system are able to solve simple dependence in the prior art
Precision is not good enough, cost is excessively high caused by road image analytical technology progress Road Detection based on embedded device asks
Topic.Compared with carrying out Road Detection using image recognition technology based on embedded device, road condition inspection according to the present invention
Survey method and road condition detection system improve the precision of road condition detection, reduce the cost of road condition detection.
In one embodiment of the invention, substantially thinking of the invention is to construct a kind of road condition comprehensive assessment
System, it combines the historical information of road condition with road image analytical technology, the letter that two kinds of technological means are obtained
Breath is merged, to provide a kind of more fine accurately road surface and roadside abnormal state detection scheme.
In a kind of specific embodiment of the invention, road condition detection method according to the present invention includes following step
It is rapid: (1) to obtain present road image information, present vehicle information, current time information, current geographic position information and work as the day before yesterday
Gas information；(2) by present road image information, present vehicle information, current time information, current geographic position information and current
Weather information is combined into current information data group and by the current information burst data transmission to cloud platform；(3) institute is extracted
State the history reference information data group corresponding with the current information data group stored in the platform of cloud；It (4) will be described current
Road image information is compared with the history reference road image information in the corresponding history reference information data group；
(5) judge whether present road state is abnormal, if it is, (6) are entered step, if it is not, then entering step (7)；(6) it issues
Warning information；And (7) update the history information data stored in the cloud platform.
In another specific embodiment of the invention, road condition detection system according to the present invention includes: information
Acquiring unit, the information acquisition unit for obtain present road image information, present vehicle information, current time information,
Current geographic position information and current weather information；Processing unit, the processing unit for handle present road image information,
Present vehicle information, current time information, current geographic position information and current weather information, and present road image is believed
Breath, present vehicle information, current time information, current geographic position information and current weather information are combined into current information data
Group；Wireless communication unit, the wireless communication unit are used for the current information burst data transmission to cloud platform；Cloud is flat
Platform, the cloud platform is for extracting the history reference corresponding with the current information data group stored in the cloud platform
Information data group, by the present road image information and the history reference road in the corresponding history reference information data group
Road image information is compared, judges whether present road state is abnormal, sends warning information and update in the cloud platform
The history information data of storage；Memory, the memory be at least used to store the current information data group and with it is described
Processing unit two-way communication link；And alarm unit, the alarm unit is for sending a warning.
Compared with prior art, road condition detection method according to the present invention and corresponding system or equipment be at least
It has the advantage that
(1) road condition detection method according to the present invention and corresponding system or equipment utilization cloud platform
Historical data information carries out assistant analysis, and current detection data are compared with history detection data, are further improved
The precision of line state detection, reduces the cost of road condition detection.
(2) when road condition occurs abnormal, road condition detection method according to the present invention and corresponding system or
Person's equipment can issue in advance prompt messages in conjunction with information of vehicles, be conducive to the reasonable driving road of driver's selection in this way
Line is reduced flurried degree when driving, is effectively increased the safety of driving, reduce traffic using the drive speed of safety
The probability that accident occurs.
Specifically, some aspects of the invention can be described below:
1. a kind of road condition detection method, detection method includes the following steps for the road condition:
(1) present road image information, present vehicle information, current time information, current geographic position information and current are obtained
Weather information；
(2) by present road image information, present vehicle information, current time information, current geographic position information and worked as the day before yesterday
Gas information is combined into current information data group and by the current information burst data transmission to cloud platform；
(3) the history reference information data group corresponding with the current information data group stored in the cloud platform is extracted；
(4) by the present road image information and the history reference mileage chart in the corresponding history reference information data group
As information is compared；
(5) judge whether present road state is abnormal, if it is, (6) are entered step, if it is not, then entering step (7)；
(6) it sends a warning；And
(7) history information data stored in the cloud platform is updated.
2. according to method described in clause 1, which is characterized in that the step (3) extract stored in the cloud platform with institute
Stating the corresponding history reference information data group of current information data group includes: the geographical location extracted and stored in the cloud platform
The information history reference information data group same or similar with the current geographic position information.
3. according to method described in clause 1, which is characterized in that the step (3) extract stored in the cloud platform with institute
Stating the corresponding history reference information data group of current information data group includes: the geographical location extracted and stored in the cloud platform
Information is same or similar with the current geographic position and temporal information and the current time information are at least partly identical
History reference information data group.
4. according to method described in clause 1, which is characterized in that the step (3) extract stored in the cloud platform with institute
Stating the corresponding history reference information data group of current information data group includes: the geographical location extracted and stored in the cloud platform
Information is same or similar with the current geographic position, temporal information is at least partly identical as the current time information and day
The gas information history reference information data group same or similar with the current weather information.
5. the method according to one of clause 1 to 4, which is characterized in that the present road image information and/or described current
Weather information is obtained by camera.
6. the method according to one of clause 1 to 4, which is characterized in that the present road image information and/or described current
Weather information is obtained by imaging sensor.
7. the method according to one of clause 1 to 4, which is characterized in that the present vehicle information passes through collecting vehicle information
Device obtains.
8. the method according to one of clause 1 to 4, which is characterized in that the current time information and/or the current geographic
Location information is obtained by GPS.
9. according to method described in clause 8, which is characterized in that the current geographic position information further passes through the current road
The structured features that include in the image information of road determine.
10. according to method described in clause 9, which is characterized in that the current geographic position information, which further passes through, utilizes convolution
Neural network come to the structured features for including in the present road image information carry out detection and with the history reference
Corresponding construction feature in road image information compares to determine.
11. the method according to clause 9 or 10, which is characterized in that the structured features include sign board and/or significant
Object.
12. the method according to clause 9 or 10, which is characterized in that the structured features include lane line, zebra stripes, every
From one or more in column, isolation strip, lane boundary line, road rank, fence, light pole, guideboard, traffic signboard.
13. the method according to one of clause 1 to 4, which is characterized in that the current weather information passes through the current time
Information and the current geographic position information obtain.
14. the method according to one of clause 1 to 4, which is characterized in that the present vehicle information includes current vehicle traveling
Speed, current vehicle traveling acceleration, current vehicle mark, one in current vehicle posture and current vehicle steering rate or
It is multiple.
15. the method according to one of clause 1 to 4, which is characterized in that whether the present road state includes at least extremely
One of following situations is a variety of: road surface whether accumulated snow, road surface whether ponding, with the presence or absence of on the situation of repairing the roads, road surface whether
Whether there are barrier, roadside greenbelts to damage or lack, whether roadside fence is damaged or lacked, whether road intermediate isolating band damages
It ruins or lacks, whether hard shoulder is damaged or lacked.
16. according to method described in clause 7, which is characterized in that the vehicle information collecting device includes wheel speed sensors, gyro
In instrument, acceleration transducer, imaging sensor, radar sensor, thermal imaging sensor, laser sensor and ultrasonic sensor
One or more.
17. a kind of road condition detection system, the road condition detection system include:
Information acquisition unit (201), the information acquisition unit (201) is for obtaining present road image information, current vehicle
Information, current time information, current geographic position information and current weather information；
Processing unit (202), the processing unit (202) is for handling present road image information, present vehicle information, current
Temporal information, current geographic position information and current weather information, and by present road image information, present vehicle information,
Current time information, current geographic position information and current weather information are combined into current information data group；
Wireless communication unit (203), the wireless communication unit (203) are used for the current information burst data transmission to cloud
Platform；
Cloud platform (204), the cloud platform (204) storing with the current information for extracting in the cloud platform
The corresponding history reference information data group of data group, by the present road image information and the corresponding history reference information
History reference road image information in data group is compared, judges whether present road state is abnormal, sends warning information
With the history information data stored in the update cloud platform；
Memory (205), the memory (205) at least for store the current information data group and with the processing singly
First (202) two-way communication link；And alarm unit (206), the alarm unit (206) is for sending a warning.18. piece
According to system described in clause 17, which is characterized in that it is described extract it is storing with the current information data in the cloud platform
The corresponding history reference information data group of group includes: to extract the geographical location information stored in the cloud platform and described current
The same or similar history reference information data group of geographical location information.
19. according to system described in clause 17, which is characterized in that it is described extract stored in the cloud platform with it is described current
The corresponding history reference information data group of information data group include: extract the geographical location information that is stored in the cloud platform with
The current geographic position is same or similar and at least partly identical history of temporal information and the current time information is joined
Examine information data group.
20. according to system described in clause 17, which is characterized in that it is described extract stored in the cloud platform with it is described current
The corresponding history reference information data group of information data group include: extract the geographical location information that is stored in the cloud platform with
The current geographic position is same or similar, temporal information is at least partly identical as the current time information and Weather information
The history reference information data group same or similar with the current weather information.
21. the system according to one of clause 17 to 20, which is characterized in that the information acquisition unit (201) includes camera shooting
Head, the camera is for obtaining the present road image information and/or the current weather information.
22. the system according to one of clause 17 to 20, which is characterized in that the information acquisition unit (201) includes image
Sensor, described image sensor is for obtaining the present road image information and/or the current weather information.
23. the system according to one of clause 17 to 20, which is characterized in that the information acquisition unit (201) includes vehicle
Information collecting device, the vehicle information collecting device is for obtaining the present vehicle information.
24. the system according to one of clause 17 to 20, which is characterized in that the information acquisition unit (201) includes GPS,
The GPS is for obtaining the current time information and/or the current geographic position information.
25. according to system described in clause 24, which is characterized in that the current geographic position information further passes through described current
The structured features that include in road image information determine.
26. according to system described in clause 25, which is characterized in that the current geographic position information, which further passes through, utilizes convolution
Neural network come to the structured features for including in the present road image information carry out detection and with the history reference
Corresponding construction feature in road image information compares to determine.
27. the system according to clause 25 or 26, which is characterized in that the structured features include sign board and/or mark
Property object.
28. the system according to clause 25 or 26, which is characterized in that the structured features include lane line, zebra stripes, every
From one or more in column, isolation strip, lane boundary line, road rank, fence, light pole, guideboard, traffic signboard.
29. the system according to one of clause 17 to 20, which is characterized in that when the current weather information passes through described current
Between information and the current geographic position information obtain.
30. the system according to one of clause 17 to 20, which is characterized in that the present vehicle information includes current vehicle row
Sail speed, current vehicle traveling acceleration, current vehicle mark, one in current vehicle posture and current vehicle steering rate or
Person is multiple.
31. the system according to one of clause 17 to 20, which is characterized in that whether the present road state is abnormal at least to be wrapped
Include one of following situations or a variety of:
Road surface whether accumulated snow, road surface whether ponding, with the presence or absence of whether there are obstacles on the situation of repairing the roads, road surface, roadside afforest
Whether band is damaged or is lacked, whether roadside fence is damaged or lacked, whether road intermediate isolating band is damaged or lacked, hard shoulder whether
Damage or missing.
32. according to system described in clause 23, which is characterized in that the vehicle information collecting device includes wheel speed sensors, top
Spiral shell instrument, acceleration transducer, imaging sensor, radar sensor, thermal imaging sensor, laser sensor and ultrasonic sensor
One or more of.
33. the system according to one of clause 17 to 20, which is characterized in that the wireless communication unit (203) respectively with institute
State processing unit (202) and the cloud platform (204) two-way communication link.
Detailed description of the invention
Below with reference to the accompanying drawings (but it is not limited to this) illustrates the present invention by way of example, in which:
Fig. 1 illustrates a kind of flow chart of road condition detection method according to the present invention.
Fig. 2 illustrates a kind of schematic structure schematic diagram of road condition detection system according to the present invention.
Fig. 3 illustrates a kind of road condition detection method according to the present invention and corresponding systematic difference shows
Example.
Specific embodiment
Embodiment shown in referring now to the drawings carrys out detailed description of the present invention embodiment.In following specification
In, many details are all that specific embodiment is understood completely for providing.But for a person skilled in the art
It is readily apparent that the embodiment can be implemented in a manner of without some or all details.In other implementations
In example, known step and/or structure are not described in detail, and are difficult to manage in order to avoid unnecessarily establishing specific embodiment
Solution.Skilled artisans will appreciate that this discusses that only the description to illustrative embodiments, purpose do not exist
In the wider range that the limitation present invention is embodied in illustrative steps and/or structure.
Fig. 1 illustrates a kind of flow chart of road condition detection method according to the present invention.Road shown in Fig. 1
Condition detection method can be improved the precision of road condition detection, and reduce the cost of road condition detection.
As shown in Figure 1, in a kind of embodiment according to the present invention, the road condition detection method 100 include with
Lower step:
(1) obtain present road image information, present vehicle information, current time information, current geographic position information and
Current weather information, as shown in figure 1 shown in step 101.In one embodiment in accordance with the invention, the present road image letter
Breath and/or the current weather information can be obtained by camera, such as the camera by installing on vehicle can be straight
The photo or video for taking the photograph present road are agreed to play, current weather information, such as fine day, rainy day or broken sky can also be taken
Gas.In one embodiment in accordance with the invention, the present road image information and/or the current weather information can also be with
It is obtained by imaging sensor.In one embodiment in accordance with the invention, present vehicle information passes through collecting vehicle information
Device obtains.The vehicle information collecting device include wheel speed sensors, gyroscope, acceleration transducer, imaging sensor,
One or more of radar sensor, thermal imaging sensor, laser sensor and ultrasonic sensor.
In one embodiment in accordance with the invention, the current time information and/or the current geographic position information
It can be obtained by GPS.In one embodiment in accordance with the invention, the current geographic position information can further lead to
The structured features that include in the present road image information are crossed to determine, to further increase positioning accuracy, i.e., more
Accurately determine the current geographic position information.The structured features are for example including sign board and/or significant object.?
According to an embodiment of the present, the structured features are for example including lane line, zebra stripes, insulated column, isolation strip, road
Roadside boundary line, road rank, fence, light pole, guideboard, one or more in traffic signboard.The structured features are not only
Help to distinguish strong jamming target, and location estimation can be made more accurate.In one embodiment in accordance with the invention, institute
Stating current weather information can also be obtained by the current time information and the current geographic position information.According to this
Invention a kind of embodiment in, the present vehicle information include current vehicle travel speed, current vehicle traveling acceleration, when
One or more in vehicle in front mark, current vehicle posture and current vehicle steering rate.
(2) by present road image information, present vehicle information, current time information, current geographic position information and work as
Preceding Weather information is combined into current information data group and by the current information burst data transmission to cloud platform, as shown in figure 1
Shown in step 102.
(3) the history reference information data corresponding with the current information data group stored in the cloud platform is extracted
Group, as shown in figure 1 shown in step 103.
In one embodiment in accordance with the invention, the step 103 extract stored in the cloud platform with it is described
The corresponding history reference information data group of current information data group includes: the geographical location letter for extracting and storing in the cloud platform
Cease the history reference information data group same or similar with the current geographic position information.
In another embodiment according to the present invention, the step 103 extract stored in the cloud platform with institute
Stating the corresponding history reference information data group of current information data group includes: the geographical location extracted and stored in the cloud platform
Information is same or similar with the current geographic position and temporal information and the current time information are at least partly identical
History reference information data group.
In another embodiment according to the present invention, the step 103 extract stored in the cloud platform with institute
Stating the corresponding history reference information data group of current information data group includes: the geographical location extracted and stored in the cloud platform
Information is same or similar with the current geographic position, temporal information is at least partly identical as the current time information and day
The gas information history reference information data group same or similar with the current weather information.
(4) by the present road image information and the history reference road in the corresponding history reference information data group
Road image information is compared, as shown in figure 1 shown in step 104.
In another embodiment according to the present invention, the current geographic position information can be further by utilizing volume
Neural network is accumulated to carry out detection to the structured features for including in the present road image information and join with the history
The corresponding construction feature examined in road image information compares to determine.In such an embodiment, by utilizing convolution mind
The structured features are detected through network and compare the corresponding construction in the history reference road image information
Feature can determine the current geographic position information more accurately, so as to more accurately judge present road shape
Whether state is abnormal.
(5) it is whether abnormal (as shown in figure 1 shown in step 105) to judge present road state, if it is, 106 are entered step,
If it is not, then entering step 107.In one embodiment in accordance with the invention, whether the present road state is abnormal at least
Including one of following situations or a variety of: road surface whether accumulated snow, road surface whether ponding, with the presence or absence of on the situation of repairing the roads, road surface
Whether there are obstacles, whether roadside greenbelt is damaged or lacked, whether roadside fence is damaged or lacked, road intermediate isolating band is
Whether no damage or missing, hard shoulder are damaged or are lacked.
(6) it sends a warning, as shown in figure 1 shown in step 106.
(7) history information data stored in the cloud platform is updated, as shown in figure 1 shown in step 107.
Fig. 2 illustrates a kind of schematic structure schematic diagram of road condition detection system according to the present invention.According to this
The road condition detection system of invention can accurately, be achieved at low cost detection and monitoring to road condition.As Fig. 2 illustrates
Property shown in, the road condition detection system 200 includes at least: information acquisition unit 201, and the information acquisition unit 201 is used
Believe in obtaining present road image information, present vehicle information, current time information, current geographic position information and current weather
Breath；Processing unit 202, the processing unit 202 is for handling present road image information, present vehicle information, current time
Information, current geographic position information and current weather information, and by present road image information, present vehicle information, current
Temporal information, current geographic position information and current weather information are combined into current information data group；Wireless communication unit 203,
The wireless communication unit 203 is used for the current information burst data transmission to cloud platform；Cloud platform 204, the cloud
End platform 204 is for extracting the history reference Information Number corresponding with the current information data group stored in the cloud platform
According to group, by the present road image information and the history reference road image in the corresponding history reference information data group
Information is compared, whether judge present road state abnormal, sends warning information and updates and stores in the cloud platform
History information data；Memory 205, the memory 205 at least for store the current information data group and with it is described
202 two-way communication link of processing unit；And alarm unit 206, the alarm unit 206 is for sending a warning.
In one embodiment in accordance with the invention, it is described extract it is storing with the current information in the cloud platform
The corresponding history reference information data group of data group include: extract the geographical location information that is stored in the cloud platform with it is described
The same or similar history reference information data group of current geographic position information.
In another embodiment according to the present invention, it is described extract it is storing with the current letter in the cloud platform
The corresponding history reference information data group of breath data group includes: to extract the geographical location information stored in the cloud platform and institute
State that current geographic position is same or similar and temporal information and at least partly identical history reference of the current time information
Information data group.
In another embodiment according to the present invention, it is described extract it is storing with the current letter in the cloud platform
The corresponding history reference information data group of breath data group includes: to extract the geographical location information stored in the cloud platform and institute
State current geographic position is same or similar, temporal information and the current time information is at least partly identical and Weather information with
The same or similar history reference information data group of the current weather information.
In one embodiment in accordance with the invention, the information acquisition unit 201 includes camera, and the camera is used
In the acquisition present road image information and/or the current weather information.
In one embodiment in accordance with the invention, the information acquisition unit 201 includes imaging sensor, described image
Sensor is for obtaining the present road image information and/or the current weather information.
In one embodiment in accordance with the invention, the information acquisition unit 201 includes vehicle information collecting device, institute
Vehicle information collecting device is stated for obtaining the present vehicle information.The vehicle information collecting device includes wheel speed sensing
Device, gyroscope, acceleration transducer, imaging sensor, radar sensor, thermal imaging sensor, laser sensor and ultrasonic wave
One or more of sensor.
In one embodiment in accordance with the invention, the information acquisition unit 201 includes GPS, and the GPS is for obtaining
The current time information and/or the current geographic position information.
In one embodiment in accordance with the invention, the current geographic position information further passes through the present road
The structured features that include in image information determine.
In one embodiment in accordance with the invention, the current geographic position information, which further passes through, utilizes convolutional Neural
Network come to the structured features for including in the present road image information carry out detection and with the history reference road
Corresponding construction feature in image information compares to determine.In one embodiment in accordance with the invention, the structure
Changing feature includes sign board and/or significant object.In one embodiment in accordance with the invention, the structured features include
Lane line, zebra stripes, insulated column, isolation strip, lane boundary line, road rank, fence, light pole, guideboard, one in traffic signboard
It is a or multiple.
In one embodiment in accordance with the invention, the current weather information passes through the current time information and described
Current geographic position information obtains.
In one embodiment in accordance with the invention, the present vehicle information include current vehicle travel speed, it is current
Vehicle driving acceleration, current vehicle mark, one or more in current vehicle posture and current vehicle steering rate.
In one embodiment in accordance with the invention, whether the present road state includes at least in following situations extremely
It is one or more: road surface whether accumulated snow, road surface whether ponding, with the presence or absence of whether there are obstacles on the situation of repairing the roads, road surface,
Whether roadside greenbelt is damaged or is lacked, whether roadside fence is damaged or lacked, whether road intermediate isolating band is damaged or lacked, every
Whether damage or lack from pier.
In one embodiment in accordance with the invention, the wireless communication unit 203 respectively with the processing unit 202 and
204 two-way communication link of cloud platform.
Fig. 3 illustrates a kind of road condition detection method according to the present invention and corresponding systematic difference shows
Example.
09 driver's first is divided to exist when being 15 days 09 January in 2019 as shown in figure 3, left figure 301 is, for example, current time information
Current geographic position information be A place obtain present road image information 301, current weather information be, for example, subzero 5 to
Subzero 1 degree Celsius, it is cloudy, 6 grades of northerly.Road condition inspection according to the present invention is mounted on the vehicle that driver's first is driven
Examining system, processing unit in the road condition detection system by above-mentioned all information (including present vehicle information, it is described to work as
Vehicle in front information is not described in detail herein) it is combined into current information data group, and unit will be described by wireless communication
Current information burst data transmission is to cloud platform, wherein the wireless communication unit respectively with the processing unit and the cloud
Hold platform two-way communication link.
Next, the cloud platform be extracted stored in the cloud platform it is corresponding with the current information data group
History reference information data group.The geographical location information for including in the corresponding history reference information data group is worked as with described
Preceding geographical location information is identical, is A.History reference road included in the corresponding history reference information data group
Road image information is, for example, right figure 302.Temporal information included in the corresponding history reference information data group is, for example,
09 divides at 2018 2 months 19 days 09.It can be seen that corresponding to current geographic position information corresponding to left figure 301 and right figure 302
Geographical location information it is identical, temporal information corresponding to the two is that part is identical, such as only moment point (when i.e. 09
09 point) it is identical.
In the cloud platform, by the way that the present road image information 301 is believed with the corresponding history reference
History reference road image information 302 in breath data group is compared, it can be determined that present road state are as follows: the current road
Road surface is contained in road image information 301, and there are accumulated snow, road left side greenbelt and hard shoulders to exist on the right of damage and road
Greenbelt, which exists, lacks these three abnormal conditions.Show that the present road state is deposited in an exceptional case in judgement, it is described
Cloud platform generates warning information, and the warning information is transmitted to the processing unit, institute by unit by wireless communication
It states processing unit and controls alarm unit then to send a warning, driver is reminded to drive with caution.
It will be apparent to persons skilled in the art that can be realized for embodiment as described herein big
The improvement project and deformation scheme of amount, and they do not leave the spirit and scope of claimed theme.Therefore, this specification
Be intended, cover the improvement project and deformation scheme of different embodiments as described herein, as long as the improvement project
It is within the scope of appended claims and their equivalent scheme with deformation scheme.
Claims (10)
1. a kind of road condition detection method, detection method includes the following steps for the road condition:
(1) present road image information, present vehicle information, current time information, current geographic position information and current are obtained
Weather information；
(2) by present road image information, present vehicle information, current time information, current geographic position information and worked as the day before yesterday
Gas information is combined into current information data group and by the current information burst data transmission to cloud platform；
(3) the history reference information data group corresponding with the current information data group stored in the cloud platform is extracted；
(4) by the present road image information and the history reference mileage chart in the corresponding history reference information data group
As information is compared；
(5) judge whether present road state is abnormal, if it is, (6) are entered step, if it is not, then entering step (7)；
(6) it sends a warning；And
(7) history information data stored in the cloud platform is updated.
2. the method according to claim 1, wherein the step (3) is extracted and is stored in the cloud platform
History reference information data group corresponding with the current information data group includes: the geography for extracting and storing in the cloud platform
The location information history reference information data group same or similar with the current geographic position information.
3. the method according to claim 1, wherein the step (3) is extracted and is stored in the cloud platform
History reference information data group corresponding with the current information data group includes: the geography for extracting and storing in the cloud platform
Location information is same or similar with the current geographic position and temporal information and the current time information at least partly phase
Same history reference information data group.
4. the method according to claim 1, wherein the step (3) is extracted and is stored in the cloud platform
History reference information data group corresponding with the current information data group includes: the geography for extracting and storing in the cloud platform
Location information is same or similar with the current geographic position, temporal information and the current time information at least partly it is identical simultaneously
And the history reference information data group that Weather information is same or similar with the current weather information.
5. method according to claim 1 to 4, which is characterized in that the present road image information and/or described
Current weather information is obtained by camera.
6. a kind of road condition detection system, the road condition detection system include:
Information acquisition unit (201), the information acquisition unit (201) is for obtaining present road image information, current vehicle
Information, current time information, current geographic position information and current weather information；
Processing unit (202), the processing unit (202) is for handling present road image information, present vehicle information, current
Temporal information, current geographic position information and current weather information, and by present road image information, present vehicle information,
Current time information, current geographic position information and current weather information are combined into current information data group；
Wireless communication unit (203), the wireless communication unit (203) are used for the current information burst data transmission to cloud
Platform；
Cloud platform (204), the cloud platform (204) storing with the current information for extracting in the cloud platform
The corresponding history reference information data group of data group, by the present road image information and the corresponding history reference information
History reference road image information in data group is compared, judges whether present road state is abnormal, sends warning information
With the history information data stored in the update cloud platform；
Memory (205), the memory (205) at least for store the current information data group and with the processing singly
First (202) two-way communication link；And
Alarm unit (206), the alarm unit (206) is for sending a warning.
7. system according to claim 6, which is characterized in that is stored in the extraction cloud platform works as with described
The corresponding history reference information data group of preceding information data group includes: the geographical location information for extracting and storing in the cloud platform
The history reference information data group same or similar with the current geographic position information.
8. system according to claim 6, which is characterized in that is stored in the extraction cloud platform works as with described
The corresponding history reference information data group of preceding information data group includes: the geographical location information for extracting and storing in the cloud platform
Same or similar and temporal information and at least partly identical history of the current time information with the current geographic position
Reference information data group.
9. system according to claim 6, which is characterized in that is stored in the extraction cloud platform works as with described
The corresponding history reference information data group of preceding information data group includes: the geographical location information for extracting and storing in the cloud platform
, temporal information same or similar with the current geographic position is at least partly identical as the current time information and weather is believed
Cease the history reference information data group same or similar with the current weather information.
10. the system according to one of claim 6 to 9, which is characterized in that the information acquisition unit (201) includes taking the photograph
As head, the camera is for obtaining the present road image information and/or the current weather information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910449038.XA CN110182213A (en) | 2019-05-28 | 2019-05-28 | A kind of road condition detection method and corresponding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910449038.XA CN110182213A (en) | 2019-05-28 | 2019-05-28 | A kind of road condition detection method and corresponding system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110182213A true CN110182213A (en) | 2019-08-30 |
Family
ID=67718165
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910449038.XA Pending CN110182213A (en) | 2019-05-28 | 2019-05-28 | A kind of road condition detection method and corresponding system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110182213A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111105616A (en) * | 2019-12-13 | 2020-05-05 | 江苏大学 | Road surface information acquisition system |
| CN113353247A (en) * | 2021-07-05 | 2021-09-07 | 中国商用飞机有限责任公司 | Airplane anti-skid brake control method and system based on image recognition technology |
| CN113627364A (en) * | 2021-08-16 | 2021-11-09 | 禾多科技（北京）有限公司 | Road information display system, method, electronic device, and computer-readable medium |
| CN114038187A (en) * | 2021-11-02 | 2022-02-11 | 北京红山信息科技研究院有限公司 | Road section state updating method, device, equipment and medium |
| WO2022083409A1 (en) * | 2020-10-24 | 2022-04-28 | 腾讯科技（深圳）有限公司 | Detection method and simulation method for abnormal road surface of road, and related apparatus |
| CN115171430A (en) * | 2022-08-15 | 2022-10-11 | 中通服建设有限公司 | Intelligent bus emergency processing system based on image recognition |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101453386B1 (en) * | 2013-11-28 | 2014-10-22 | 백청열 | Vehicle Intelligent Search System and Operating Method thereof |
| CN105788269A (en) * | 2016-05-12 | 2016-07-20 | 招商局重庆交通科研设计院有限公司 | Unmanned aerial vehicle-based abnormal traffic identification method |
| CN205901946U (en) * | 2016-07-18 | 2017-01-18 | 中国科学院地理科学与资源研究所 | Video acquisition system |
| CN106781471A (en) * | 2016-12-15 | 2017-05-31 | 北京小米移动软件有限公司 | Traffic determines method and device |
| CN106875388A (en) * | 2017-02-21 | 2017-06-20 | 中国公路工程咨询集团有限公司 | Visualization road surface rapid curing detection means based on space-time big data |
| US20180246907A1 (en) * | 2015-08-11 | 2018-08-30 | Continental Automotive Gmbh | System and method of a two-step object data processing by a vehicle and a server database for generating, updating and delivering a precision road property database |
| CN108883725A (en) * | 2016-03-06 | 2018-11-23 | 预见汽车有限责任公司 | A kind of driving vehicle warning system and method |
| CN109389578A (en) * | 2017-08-02 | 2019-02-26 | 潘顿公司 | Railroad track abnormality detection |
| JP2019079303A (en) * | 2017-10-25 | 2019-05-23 | トヨタ自動車株式会社 | Road facility inspection system, road facility inspection method, and server used therefor |
| CN211075861U (en) * | 2019-05-28 | 2020-07-24 | 径卫视觉科技（上海）有限公司 | Road state detection system |
-
2019
- 2019-05-28 CN CN201910449038.XA patent/CN110182213A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101453386B1 (en) * | 2013-11-28 | 2014-10-22 | 백청열 | Vehicle Intelligent Search System and Operating Method thereof |
| US20180246907A1 (en) * | 2015-08-11 | 2018-08-30 | Continental Automotive Gmbh | System and method of a two-step object data processing by a vehicle and a server database for generating, updating and delivering a precision road property database |
| CN108883725A (en) * | 2016-03-06 | 2018-11-23 | 预见汽车有限责任公司 | A kind of driving vehicle warning system and method |
| CN105788269A (en) * | 2016-05-12 | 2016-07-20 | 招商局重庆交通科研设计院有限公司 | Unmanned aerial vehicle-based abnormal traffic identification method |
| CN205901946U (en) * | 2016-07-18 | 2017-01-18 | 中国科学院地理科学与资源研究所 | Video acquisition system |
| CN106781471A (en) * | 2016-12-15 | 2017-05-31 | 北京小米移动软件有限公司 | Traffic determines method and device |
| CN106875388A (en) * | 2017-02-21 | 2017-06-20 | 中国公路工程咨询集团有限公司 | Visualization road surface rapid curing detection means based on space-time big data |
| CN109389578A (en) * | 2017-08-02 | 2019-02-26 | 潘顿公司 | Railroad track abnormality detection |
| JP2019079303A (en) * | 2017-10-25 | 2019-05-23 | トヨタ自動車株式会社 | Road facility inspection system, road facility inspection method, and server used therefor |
| CN211075861U (en) * | 2019-05-28 | 2020-07-24 | 径卫视觉科技（上海）有限公司 | Road state detection system |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111105616A (en) * | 2019-12-13 | 2020-05-05 | 江苏大学 | Road surface information acquisition system |
| CN111105616B (en) * | 2019-12-13 | 2021-09-10 | 江苏大学 | Road surface information acquisition system |
| WO2022083409A1 (en) * | 2020-10-24 | 2022-04-28 | 腾讯科技（深圳）有限公司 | Detection method and simulation method for abnormal road surface of road, and related apparatus |
| CN113353247A (en) * | 2021-07-05 | 2021-09-07 | 中国商用飞机有限责任公司 | Airplane anti-skid brake control method and system based on image recognition technology |
| CN113627364A (en) * | 2021-08-16 | 2021-11-09 | 禾多科技（北京）有限公司 | Road information display system, method, electronic device, and computer-readable medium |
| CN114038187A (en) * | 2021-11-02 | 2022-02-11 | 北京红山信息科技研究院有限公司 | Road section state updating method, device, equipment and medium |
| CN114038187B (en) * | 2021-11-02 | 2022-09-30 | 北京红山信息科技研究院有限公司 | Road section state updating method, device, equipment and medium |
| CN115171430A (en) * | 2022-08-15 | 2022-10-11 | 中通服建设有限公司 | Intelligent bus emergency processing system based on image recognition |
| CN115171430B (en) * | 2022-08-15 | 2024-03-12 | 中通服建设有限公司 | Intelligent public transport emergency processing system based on image recognition |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110182213A (en) | A kind of road condition detection method and corresponding system | |
| EP3673407B1 (en) | Automatic occlusion detection in road network data | |
| JP5435306B2 (en) | Image processing system and positioning system | |
| US10013508B2 (en) | Joint probabilistic modeling and inference of intersection structure | |
| CN103454660B (en) | A kind of vehicle positioning method and device | |
| EP1500907B1 (en) | Apparatus and method for detecting vehicle location in navigation system | |
| EP2372309B1 (en) | Vehicle position detection system | |
| CN101689333B (en) | Navigation server | |
| CN110400478A (en) | A kind of road condition notification method and device | |
| JP2009140008A (en) | Dangerous traveling information provision device, dangerous traveling decision program and dangerous traveling decision method | |
| CN107792077A (en) | For confirming that road section is appropriate for the method and system that autonomous vehicle drives | |
| CN106257242A (en) | For regulating unit and the method for road boundary | |
| CN102208012A (en) | Scene matching reference data generation system and position measurement system | |
| US11117590B2 (en) | Method and system for determining effective wind speeds for motor vehicles | |
| CN102222236A (en) | Image processing system and position measurement system | |
| US10369995B2 (en) | Information processing device, information processing method, control device for vehicle, and control method for vehicle | |
| CN107063287A (en) | The information processor and method of information processor and method and vehicle | |
| CN105654757B (en) | Road information acquisition method and system | |
| CN110349420B (en) | Intelligent road condition management system based on data analysis | |
| US10755118B2 (en) | Method and system for unsupervised learning of road signs using vehicle sensor data and map data | |
| CN108091139A (en) | A kind of traffic safety automatic evaluation system based on big data | |
| CN111942382A (en) | Automatic driving assistance system | |
| CN108983266A (en) | The automated vehicle Orientation on map for being observed geometrical characteristic based on road | |
| CN114518122A (en) | Driving navigation method, driving navigation device, computer equipment, storage medium and computer program product | |
| CN109987082A (en) | Controller of vehicle, control method for vehicle and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |