CN113984085A - Information sensing method and system for road covered by rain and snow and storage medium - Google Patents
Information sensing method and system for road covered by rain and snow and storage medium Download PDFInfo
- Publication number
- CN113984085A CN113984085A CN202111354239.5A CN202111354239A CN113984085A CN 113984085 A CN113984085 A CN 113984085A CN 202111354239 A CN202111354239 A CN 202111354239A CN 113984085 A CN113984085 A CN 113984085A
- Authority
- CN
- China
- Prior art keywords
- information
- road
- module
- snow
- vehicle
- 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
- 238000000034 method Methods 0.000 title claims abstract description 35
- 238000012545 processing Methods 0.000 claims abstract description 46
- 230000008447 perception Effects 0.000 claims abstract description 18
- 238000012937 correction Methods 0.000 claims abstract description 14
- 238000001514 detection method Methods 0.000 claims description 34
- 238000004891 communication Methods 0.000 claims description 27
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 15
- 238000012544 monitoring process Methods 0.000 claims description 14
- 230000000994 depressogenic effect Effects 0.000 claims description 4
- 238000004590 computer program Methods 0.000 claims description 3
- 230000010365 information processing Effects 0.000 claims description 3
- 238000007670 refining Methods 0.000 claims description 3
- 238000004364 calculation method Methods 0.000 abstract description 8
- 238000005516 engineering process Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 11
- 239000000758 substrate Substances 0.000 description 11
- 238000005259 measurement Methods 0.000 description 7
- 238000006243 chemical reaction Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000013480 data collection Methods 0.000 description 2
- 238000005070 sampling Methods 0.000 description 2
- 230000000295 complement effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000036632 reaction speed Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000004347 surface barrier Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Images
Classifications
-
- 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
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The invention discloses an information perception method, a system and a storage medium for a road covered by rain and snow, which comprises the following specific steps: collecting road information and driving information; processing the acquired information to acquire road coverage information and original road surface driving information; drawing up a vehicle fuzzy driving route according to the road coverage information and the original road driving information; selecting a corresponding driving strategy according to the fuzzy driving route of the vehicle; the invention adopts rain and snow coverage identification, secondary identification and correction to give the information of the coverage condition of the current road surface when the vehicle runs, the path is corrected by real-time route data provided by a GPS and INS combined positioning module, the road surface image is processed by a rapid projection technology to rapidly give the road surface image, the road surface coverage and short-distance rain and snow coverage amount calculation processing are accurately judged by combining with real-time weather forecast information, a real-time fuzzy route related to the running of the vehicle is given, and a proper driving strategy is selected.
Description
Technical Field
The invention relates to the technical field related to road information monitoring, in particular to an information sensing method and system for a road covered by rain and snow and a storage medium.
Background
At present, the technology of unmanned vehicles is mature, and part of vehicles enter an on-road test stage. Furthermore, the driverless automobile requires an extremely detailed route map, accurate road information, and surrounding vehicle condition information before and during departure to ensure safety of the vehicle while traveling, and also cannot deviate from a predetermined route. However, when the road is covered by water or snow on the ground, the vehicle road collection system is affected, so that the vehicle cannot recognize road information, deviates from a driving route, is easy to collide with other vehicles, and is high in speed and high in danger particularly when driving at a high speed. Therefore, the technical personnel in the field need to solve the problem of how to improve the safety of unmanned and/or vehicle driving on roads covered by rain and snow and reduce the occurrence probability of accidents caused by vehicle driving on roads covered by rain and snow.
Disclosure of Invention
In view of the above, the present invention provides an information sensing method, system and storage medium for a road covered by rain and snow, which overcome the defects in the prior art.
In order to achieve the above purpose, the invention provides the following technical scheme:
an information perception method for a road covered by rain and snow comprises the following specific steps:
acquiring information: collecting road information and driving information;
and (3) information processing: processing the acquired information to acquire road coverage information and original road surface driving information;
drawing up a fuzzy driving route of the vehicle: drawing up a vehicle fuzzy driving route according to the road coverage information and the original road driving information;
selecting a driving strategy: and selecting a corresponding driving strategy according to the fuzzy driving route of the vehicle.
Optionally, the road coverage information includes water depth information, water area information, snow depth information, snow area information, road visibility information, and road surface obstacle system information.
Optionally, the information of the obstacle system on the road surface includes an obstacle and auxiliary detection information, and the obstacle includes: raised road surface, depressed road surface and road surface attachment; the auxiliary detection information comprises vehicles, buildings and pedestrians in a fixed range of the vehicles.
Optionally, in the acquired information, the original road driving information is driving information located in a fixed range according to the GPS and INS combination device.
The method has the advantages that the GPS and INS combined device is adopted, so that the accuracy of unmanned positioning data and navigation information can be effectively ensured under various complex conditions, and the method has important significance for determining the route of the fuzzy route determining module.
Optionally, the method further includes spatial scene recognition in the drawing of the fuzzy driving route of the vehicle, the camera image is projected into the 3D scene to generate a distortion square image, and spatial scene recognition is performed by using the square distortion to obtain the spatial scene.
Optionally, the step of drawing up the fuzzy driving route of the vehicle further comprises obtaining real-time weather prediction information.
An information sensing system for a rain and snow covered road, comprising:
a housing; the shell is arranged at the road side; the intelligent control system is internally integrated with a controller, a positioning module, a rain and snow coverage identification module, a scene identification module, a path identification module, a fuzzy route determination module and a communication module;
the controller is communicatively coupled to the positioning module, the scene recognition module, the path recognition module, and the fuzzy route determination module; the communication module is in communication connection with the vehicle condition running cloud and/or the vehicle broadcast base station;
the rain and snow coverage identification module is used for identifying rain and snow coverage information on the road; and sending to the scene recognition module;
the scene recognition module is used for refining and recognizing the road coverage information recognized by the rain and snow coverage recognition module; and feeding back to the controller and the fuzzy route determination module;
the path identification module is used for feeding back the original road running information within the positioning range of the positioning module to the controller;
the fuzzy route determining module is used for drawing up a fuzzy driving route of the vehicle according to the original road driving information provided by the path identifying module and the road coverage information identified by the scenery identifying module; and feeding back to the controller; the controller is in communication connection with the vehicle condition running cloud and/or the vehicle broadcast base station through the communication module, and prompts the manned vehicle and/or the unmanned vehicle to select a corresponding running strategy according to the current road information and the vehicle fuzzy running route.
Wherein the casing bottom has the base, and the base is higher than the road surface certain distance, and the casing openly is close to the driving side, and the relative base of casing can adjust the data collection angle. The method is advantageous in that a perception digital image processing system is respectively arranged on both sides of the road to prevent detection blind areas.
The perceptual digital image processing system is also capable of providing road congestion information.
Optionally, the rain and snow cover recognition module includes: the system comprises a millimeter wave radar detection unit, an ice and snow depth radar monitoring unit, an infrared sensor detection unit, a visibility detection unit and an obstacle camera unit; the millimeter wave radar detection unit, the ice and snow depth radar monitoring unit, the infrared sensor detection unit and the visibility detection unit are all in communication connection with the scene recognition module.
The millimeter wave radar monitoring unit can be a single-substrate millimeter wave radar and comprises a millimeter wave radio frequency front end, a signal processing circuit, a millimeter wave transmitting antenna and a millimeter wave receiving antenna which are integrated on a single substrate, wherein the millimeter wave transmitting antenna and the millimeter wave receiving antenna are integrated on the front side of the single substrate, and the millimeter wave radio frequency front end circuit and the signal processing circuit are integrated on the back side of the single substrate; the signal processing circuit sends the control signal to the millimeter wave radio frequency front-end circuit, and the millimeter wave radio frequency front-end circuit sends the generated millimeter wave radio frequency signal into the millimeter wave transmitting antenna through the transmitting feed port of the millimeter wave radio frequency front-end circuit according to the control signal to transmit the millimeter wave radio frequency signal; the millimeter wave receiving antenna feeds back the received millimeter wave radio frequency signal to the millimeter wave radio frequency front-end circuit through a receiving feed port of the millimeter wave receiving antenna; in the radio frequency front-end circuit, correlation processing is carried out on a transmitted millimeter wave radio frequency signal and a received millimeter wave radio frequency signal, the processed intermediate frequency signal is sent to a signal processing circuit, sampling conversion ADC and Fourier conversion FFT operation are carried out on the intermediate frequency signal in the signal processing circuit, radial distance and radial speed information of a target are obtained through calculation, and target information detected by a millimeter wave radar is output through an external interface circuit. This application adopts its detection road surface barrier distance to feedback to controller, the cooperation driving strategy is gone, and wherein the barrier includes: the system comprises a road surface bulge, a road surface depression and a road surface attachment, and is used for assisting in detecting information of other vehicles, buildings, pedestrians and the like on the periphery of the vehicle.
The snow and ice depth radar monitoring unit has antenna capable of scanning continuously in certain height relatively to ground and consists of radar wave emitting and receiving control circuit and control system. According to the electromagnetic wave reflection time and the propagation speed, the medium difference can be judged, so that the thickness of the snow and the snow area corresponding to the sweeping part are deduced, and the snow, the ice layer and the flocculent ice deposit are fed back to the controller. The application is used for detecting the thickness of accumulated snow.
The infrared sensor detection unit is used for detecting accumulated water or rainwater and the depth of the accumulated water or rainwater, and an infrared distance measurement sensor is adopted.
The visibility detection unit is used for assisting in obtaining road information in rainy days, snowy days and haze days.
Optionally, the fuzzy route determining module includes a projection image processing module, a scene correction module and a path correction module, and the projection image processing module, the scene correction module and the path correction module are all electrically connected to the controller.
The projection image processing module comprises a projection module and a projection processing module; the projection module is in communication connection with the camera module; the projection processing module processes the data projected by the projection module and feeds the data back to the controller. The effect of adopting this scheme combines projection technique and digital camera technique, utilizes digital camera to shoot the projection and produce distortion square image in projecting the 3D scene, when reducing data acquisition volume, utilizes the square distortion to carry out space scene discernment, has reduced the calculation degree of difficulty, has improved 3D modeling speed, and then the discernment space scene that can be quick, has improved road information acquisition's speed from this, and the reaction rate that is in sleet for unmanned vehicle covers the road surface improves the guarantee, reduces and takes place danger probability.
The principle is that the projection technology and the digital camera shooting technology are combined, a projection standard square image is adopted, namely a ruler for spatial measurement is projected into a 3D scene for measurement, a digital camera shooting module is used for shooting a distortion square image generated by projection and projection in the 3D scene, the data acquisition amount is reduced, the grid distortion is used for spatial scene recognition, the calculation difficulty is reduced, and the 3D modeling speed is improved.
The fuzzy route determining module combines the positioning information, the current vehicle driving road surface covering information and the camera image fast projection, can perform fast operation, provides a fuzzy route which prevents the vehicle from deviating from the original route, ensures that the vehicle drives on a corresponding lane, prevents the vehicle from colliding with other vehicles or obstacles, and further ensures the driving safety of the vehicle.
A computer-readable medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of a method for information perception of a road covered by rain or snow.
Compared with the prior art, the invention discloses an information perception method, a system and a storage medium for rain and snow covered roads, because the rain and snow coverage identification and the secondary identification and correction are adopted to give the information of the coverage condition of the current road surface when the vehicle runs, the path is corrected by real-time route data provided by the GPS and INS combined positioning module, and the road surface image is processed by the rapid projection technology to give the road surface image rapidly, meanwhile, the real-time weather forecast information is collected to accurately judge the road surface coverage and the short-distance rain and snow coverage, the real-time fuzzy route about the vehicle running is given, the information fed back by the sensing digital image processing system is fed back to the vehicle-mounted computer, the vehicle-mounted computer selects a corresponding driving strategy according to the information fed back by the sensing digital image processing system, and correspondingly controls the execution system to work, so that the driving safety of the unmanned vehicle is ensured; or the information is provided for a vehicle broadcast base station, road condition information is published in real time, and a driver is prompted to select a proper driving strategy according to the road condition information provided by the perception digital image processing system.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a block diagram of the relationship between the information sensing system and the external communication for the road covered by rain and snow according to the present invention;
FIG. 2 is a block diagram of the control principle of an information sensing system for a road covered by rain and snow according to the present invention;
FIG. 3 is a block diagram of a scene recognition module of an information sensing system for a road covered by rain and snow according to the present invention;
FIG. 4 is a block diagram of a rain and snow coverage recognition module of an information sensing system for a rain and snow covered road according to the present invention;
FIG. 5 is a schematic circuit diagram of a millimeter wave single substrate used in the information sensing system for a road covered with rain and snow according to the present invention;
FIG. 6 is a schematic block diagram of a millimeter wave receiving front-end circuit of a millimeter wave single substrate adopted by the information sensing system for a road covered by rain and snow according to the present invention;
FIG. 7 is a schematic block diagram of a millimeter wave signal processing circuit of a millimeter wave single substrate used in the information sensing system for a road covered with rain and snow according to the present invention;
FIG. 8 is a circuit diagram of an infrared distance measuring sensor used in an information sensing system for a road covered with rain and snow according to the present invention;
FIG. 9 is a schematic block diagram of a vehicle-mounted positioning GPS and INS combined module circuit matched with the information sensing system of the road covered by rain and snow according to the present invention;
FIG. 10 is a flowchart illustrating steps of a method for sensing information on a road covered by rain and snow according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the invention discloses an information sensing method, an information sensing system and a storage medium for a road covered by rain and snow, which comprise the information sensing method for the road covered by rain and snow, the information sensing system for the road covered by rain and snow and the storage medium, so that the driving safety of unmanned and/or driven vehicles on the road covered by rain and snow is improved, and the occurrence probability of driving accidents of the vehicles on the road covered by rain and snow is reduced.
An information perception method for a road covered by rain and snow is shown in fig. 10, and specifically comprises the following steps:
acquiring information: collecting road information and driving information;
and (3) information processing: processing the acquired information to acquire road coverage information and original road surface driving information;
the road coverage information comprises water volume depth information, water volume area information, snow depth information, snow area information, road visibility information and road surface obstacle system information; the road surface obstacle system information includes an obstacle and auxiliary detection information, and the obstacle includes: raised road surface, depressed road surface and road surface attachment; the auxiliary detection information comprises vehicles, buildings, pedestrians and the like in a fixed range of the vehicle;
drawing up a fuzzy driving route of the vehicle: drawing up a vehicle fuzzy driving route according to the road coverage information and the original road driving information;
the method comprises the following specific steps:
receiving road coverage information and original road surface driving information and weather condition prediction information;
classifying the road coverage information into complete coverage, partial coverage or local accumulated water or accumulated snow;
acquiring the weather condition in real time according to the weather condition prediction information, and assisting in judging the thickness of the temporarily formed accumulated snow or the depth information of the rainwater;
projecting the camera image into a 3D scene to generate a distortion square image, and identifying the spatial scene by using square distortion to obtain the spatial scene;
and (4) according to the combination of the original road driving information, the weather condition prediction information, the current vehicle driving road surface coverage information and the camera image fast projection, drawing up a vehicle fuzzy driving route.
Selecting a driving strategy: and selecting a corresponding driving strategy according to the fuzzy driving route of the vehicle.
The fuzzy driving route of the vehicle is fed back to the vehicle-mounted computer, the vehicle-mounted computer selects a corresponding driving strategy according to the feedback information of the perception digital image processing system, and correspondingly controls the execution system to work, so that the driving safety of the unmanned vehicle is ensured; or the information is provided for a vehicle broadcast base station, road condition information is published in real time, and a driver is prompted to select a proper driving strategy according to the road condition information provided by the perception digital image processing system.
An information sensing system for a road covered by rain and snow is specifically configured as shown in fig. 1 and 2, and comprises:
the shell is arranged on the road side; the intelligent control system is internally integrated with a controller, a positioning module, a rain and snow coverage identification module, a scene identification module, a path identification module, a fuzzy route determination module and a communication module;
the controller is in communication connection with the positioning module, the scenery recognition module, the path recognition module and the fuzzy route determination module; the vehicle condition monitoring system is in communication connection with the vehicle condition running cloud and/or the vehicle broadcasting base station through the communication module;
the rain and snow coverage identification module is used for identifying rain and snow coverage information on the road; and sending to the scene recognition module;
the scene recognition module is used for refining and recognizing the road coverage information recognized by the rain and snow coverage recognition module; and fed back to the controller;
the path identification module is used for feeding back data positioned by the vehicle-mounted positioning module to the controller;
the path identification module is used for feeding back the original road running information within the positioning range of the positioning module to the controller;
the fuzzy route determining module is used for drawing up a vehicle fuzzy driving route according to the original road driving information and the road coverage information obtained from the controller; feeding back the fuzzy driving route of the vehicle to the controller; the controller is in communication connection with the vehicle condition running cloud and/or the vehicle broadcast base station through the communication module, and prompts the manned vehicle and/or the unmanned vehicle to select a corresponding running strategy according to the current road information.
Wherein the casing bottom has the base, and the base is higher than the road surface certain distance, and the casing openly is close to the driving side, and the relative base of casing can adjust the data collection angle. A perception digital image processing system is respectively arranged on two sides of a road to prevent detection blind areas.
The invention provides an information perception system for a road covered by rain and snow.A rain and snow covering information on the road identified by a rain and snow covering identification module is secondarily identified and refined by a scenery identification module and is fed back to a controller; the path identification module feeds back the original road driving information provided by the positioning module to the controller, and the fuzzy route determination module plans the driving fuzzy driving route of the section according to the original road driving information provided by the path identification module and the road coverage information identified by the scenery identification module; and fed back to the controller; the controller is in communication connection with a vehicle condition running cloud and/or a vehicle broadcast base station through a communication module, the vehicle condition running cloud is connected with a vehicle-mounted computer of the unmanned vehicle, and the vehicle-mounted computer runs according to the current road information and a vehicle fuzzy running route and selects a corresponding running strategy; the vehicle broadcasting base station prompts the driver of the rain and snow coverage information of the corresponding road section through broadcasting, and the driver actively selects a driving strategy.
Therefore, even if rain and snow cover the road, the vehicle cannot collect original road information, the perception digital image processing system sends road surface information and fuzzy driving route information to the vehicle condition driving cloud end in real time, the vehicle condition driving cloud end is in communication connection with the vehicle-mounted computer to provide driving routes for the driving vehicle, the vehicle-mounted computer selects appropriate driving strategies (such as speed reduction, parking, driving according to the fuzzy route and the like), the driving safety of the vehicle is improved, and road accidents are reduced.
The perceptual digital image processing system is also capable of providing road congestion information.
Specifically, as shown in fig. 4, the rain/snow cover recognition module includes: the device comprises a millimeter wave radar detection unit, an ice and snow depth radar monitoring unit, an infrared sensor detection unit and a visibility detection unit; the millimeter wave radar detection unit, the ice and snow depth radar monitoring unit, the infrared sensor detection unit and the visibility detection unit are all in communication connection with the scene recognition module.
The millimeter wave radar monitoring unit can be a single-substrate millimeter wave radar, and comprises a millimeter wave radio frequency front-end circuit, a signal processing circuit, a millimeter wave transmitting antenna and a millimeter wave receiving antenna which are integrated on a single substrate, wherein the millimeter wave transmitting antenna and the millimeter wave receiving antenna are integrated on the front surface of the single substrate, and the millimeter wave radio frequency front-end circuit and the signal processing circuit are integrated on the back surface of the single substrate; the signal processing circuit sends the control signal to the millimeter wave radio frequency front-end circuit, and the millimeter wave radio frequency front-end circuit sends the generated millimeter wave radio frequency signal into the millimeter wave transmitting antenna through the transmitting feed port of the millimeter wave radio frequency front-end circuit according to the control signal to transmit the millimeter wave radio frequency signal; the millimeter wave receiving antenna feeds back the received millimeter wave radio frequency signal to the millimeter wave radio frequency front-end circuit through a receiving feed port of the millimeter wave receiving antenna; in the millimeter wave radio frequency front-end circuit, correlation processing is carried out on a transmitted millimeter wave radio frequency signal and a received millimeter wave radio frequency signal, the processed intermediate frequency signal is sent to a signal processing circuit, sampling conversion ADC and Fourier conversion FFT operation are carried out on the intermediate frequency signal in the signal processing circuit, radial distance and radial speed information of a target are obtained through calculation, and target information detected by a millimeter wave radar is output through an external interface circuit. The invention adopts the technical scheme that the distance of a road obstacle is detected and fed back to a controller to be matched with a driving strategy for driving, wherein the obstacle comprises: the system is used for assisting in detecting information such as other vehicles, buildings and pedestrians on the periphery of the vehicle, such as raised road surfaces, depressed road surfaces, road surface attachments and the like.
The ice and snow depth radar monitoring unit is an ice radar. When the ice radar performs tasks, the antenna of the ice radar can continuously scan relative to the ground at a certain height, and the ice radar consists of a radar wave transmitting and receiving control circuit and a control system. According to the electromagnetic wave reflection time and the propagation speed, the medium difference can be judged, so that the thickness of snow and ice and the snow area corresponding to the scanning part are deduced, and the snow, the ice layer and the flocculent ice deposit are fed back to the controller. The invention is used for detecting the thickness of accumulated snow; the ice and snow depth radar monitoring unit adopts an ice and snow depth radar detector.
The infrared sensor detection unit is used for detecting accumulated water or rainwater and the depth of the accumulated water or rainwater, an infrared distance measurement sensor is adopted, and a circuit diagram of the adopted infrared distance measurement sensor is shown in a reference figure 8.
The visibility detection unit is used for assisting in obtaining road information in rainy days, snowy days and haze days, and adopts a visibility meter.
In another embodiment of the invention, the device further comprises an obstacle-preventing camera unit, which comprises a camera module and an obstacle clearing unit; the camera module and the barrier clearing unit are electrically connected with the controller. The obstacle clearing unit can comprise a wiper controller, a camera wiper and a sprayer thereof; when the camera is sheltered from by the barrier, the controller controls the windscreen wiper and/or the sprayer to clean the camera, and normal work of the identification module is guaranteed.
In another embodiment of the invention, the controller is in communication connection with a weather real-time forecasting system, so that the weather condition can be known in real time, the temporary accumulated snow thickness or rainwater depth information can be judged in an auxiliary manner, and an operation reference quantity is provided for the fuzzy route determining module so as to ensure the route planning accuracy.
The scene recognition module is shown in fig. 3 and comprises a rainwater judgment module, a water depth judgment module, a water area judgment module, an accumulated snow depth judgment module and an accumulated snow area judgment module; the modules are in communication connection with the controller. The module specifically judges data detected by the millimeter wave radar detection unit, the ice and snow depth radar monitoring unit, the infrared sensor detection unit and the visibility detection unit, compares the data with equivalent weight set in a program, determines road coverage information, and is full coverage, partial coverage or local accumulated water or accumulated snow, so that the fuzzy route determination module simulates to detour the road section, can pass the road section or slow down to crawl or form a fuzzy route, and prevents vehicles from deviating from a normal route to cause road accidents.
In the invention, the fuzzy route determining module comprises a projection image processing module, a scene correction module and a path correction module which are electrically connected with a controller; the projection image processing module performs projection processing on the image information collected by the camera module and combines scene correction and path correction; and calculating the fuzzy driving route.
Specifically, the projection image processing module comprises a projection module and a projection module processing module; the projection module is in communication connection with the camera module; the projection module processing module processes the data projected by the projection module and feeds the data back to the controller. The effect of adopting this scheme combines projection technique and digital camera technique, utilizes digital camera to shoot the projection and produce distortion square image in projecting the 3D scene, when reducing data acquisition volume, utilizes the square distortion to carry out space scene discernment, has reduced the calculation degree of difficulty, has improved 3D modeling speed, and then the discernment space scene that can be quick, has improved road information acquisition's speed from this, and the reaction rate that is in sleet for unmanned vehicle covers the road surface improves the guarantee, reduces and takes place danger probability.
The principle is that the projection technology and the digital camera shooting technology are combined, a projection standard square image is adopted, namely a ruler for spatial measurement is projected into a 3D scene for measurement, a digital camera shooting module is used for shooting a distortion square image generated by projection and projection in the 3D scene, the data acquisition amount is reduced, the grid distortion is used for spatial scene recognition, the calculation difficulty is reduced, and the 3D modeling speed is improved.
The fuzzy route determining module is used for combining the positioning information, the current vehicle running road surface coverage information and the camera image fast projection, and can perform fast calculation to provide a fuzzy route for preventing the vehicle from deviating from the original route, so as to ensure that the vehicle runs on a corresponding lane and is prevented from colliding with other vehicles or obstacles, and further ensure the running safety of the vehicle, wherein the so-called fuzzy route is a route acquired and calculated and planned in real time according to the current road, is influenced by time, space and many factors, and belongs to a timely guidance strategy, for example, after an unmanned vehicle A runs on a road section for 5min by using a fuzzy route A provided by the system, a vehicle-mounted computer of an unmanned vehicle B needs to plan data and calculate and run according to real-time provided by a cloud running terminal. The sensing digital image processing system uploads the fuzzy route to a vehicle condition driving cloud end, the vehicle condition driving cloud end is communicated with vehicle-mounted computers of all vehicles to issue fuzzy route information in real time, the vehicle-mounted computers take data sent by the sensing digital image processing system as reference quantity, the fuzzy route is corrected according to current information of the vehicles, the operation processing speed of the vehicle-mounted computers is reduced, the reaction speed of unmanned vehicles is increased, and the driving safety of the vehicles is guaranteed.
In another embodiment of the invention, the vehicle-mounted positioning module is a GPS and INS combined module; the existing GPS and INS devices have certain complementary advantages and disadvantages: firstly, when navigation positioning is carried out, INS errors are accumulated along with time, so that the navigation positioning accuracy of a system is reduced, and GPS errors are relatively fixed, so that the accuracy is not influenced by time; secondly, when navigation positioning is carried out in places such as urban high buildings, bridges, tunnels and the like, the GPS satellite signals are shielded, so that the navigation effect is poor, and even the navigation positioning cannot be carried out, and the INS has no signal shielding problem and can output continuous navigation positioning information to the carrier; therefore, the combination of the unmanned positioning data and the navigation information can effectively ensure the accuracy of the unmanned positioning data and the navigation information under various complex conditions, and the circuit has important significance for determining the route of the fuzzy route determining module, and the structure of the circuit is the circuit schematic block diagram of the combination of the GPS and the INS shown in the figure 9.
The information perception system of a kind of rain and snow covered road that the invention provides, because of adopting the recognition of rain and snow cover, the secondary discerns, revises and gives the current road surface of vehicle driving the coverage situation information, the route is revised through the real-time route data that GPS and INS make up the orientation module and provide, and process the road surface image through the fast projection technology, give the road surface image fast, gather the real-time weather forecast information and judge the road surface accurately and short distance rain and snow cover the amount of operation to process at the same time, give the real-time fuzzy route about vehicle driving, and feedback to the vehicle carried computer, the vehicle carried computer is according to perceiving the information that the digital image processing system feedbacks, choose the correspondent driving tactics, and the corresponding control execution system works, has guaranteed the safe driving of the unmanned vehicle; or the information is provided for a vehicle broadcast base station, road condition information is published in real time, and a driver is prompted to select a proper driving strategy according to the road condition information provided by the perception digital image processing system.
A computer-readable medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of a method for information perception of a road covered by rain or snow.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
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.
Claims (10)
1. An information perception method for a road covered by rain and snow is characterized by comprising the following specific steps:
acquiring information: collecting road information and driving information;
and (3) information processing: processing the acquired information to acquire road coverage information and original road surface driving information;
drawing up a fuzzy driving route of the vehicle: drawing up a vehicle fuzzy driving route according to the road coverage information and the original road driving information;
selecting a driving strategy: and selecting a corresponding driving strategy according to the fuzzy driving route of the vehicle.
2. The method as claimed in claim 1, wherein the road coverage information includes water depth information, water area information, snow depth information, snow area information, road visibility information, and road surface obstacle information.
3. The method as claimed in claim 2, wherein the information on the road surface obstacle system includes an obstacle and auxiliary detection information, and the obstacle includes: raised road surface, depressed road surface and road surface attachment; the auxiliary detection information comprises vehicles, buildings and pedestrians in a fixed range of the vehicles.
4. A method as claimed in any one of claims 1 to 3, wherein the original road traffic information is a fixed range of traffic information located according to a GPS and INS combination when acquiring the information.
5. The method as claimed in claim 4, further comprising spatial scene recognition in the planning of the fuzzy driving route of the vehicle, projecting the camera image into the 3D scene to generate a distortion square image, and performing spatial scene recognition by using the square distortion to obtain the spatial scene.
6. The information perception method of a rain and snow covered road according to any one of claims 1-3 or 5, wherein the step of formulating the vehicle fuzzy driving route further comprises obtaining real-time weather forecast information.
7. An information sensing system for a rain and snow covered road, comprising:
a housing; the shell is arranged at the road side; the intelligent control system is internally integrated with a controller, a positioning module, a rain and snow coverage identification module, a scene identification module, a path identification module, a fuzzy route determination module and a communication module;
the controller is communicatively coupled to the positioning module, the scene recognition module, the path recognition module, and the fuzzy route determination module; the communication module is in communication connection with the vehicle condition running cloud and/or the vehicle broadcast base station;
the rain and snow coverage identification module is used for identifying rain and snow coverage information on the road; and sending to the scene recognition module;
the scene recognition module is used for refining and recognizing the road coverage information recognized by the rain and snow coverage recognition module; and feeding back to the controller and the fuzzy route determination module;
the path identification module is used for feeding back the original road running information within the positioning range of the positioning module to the controller;
the fuzzy route determining module is used for drawing up a fuzzy driving route of the vehicle according to the original road driving information provided by the path identifying module and the road coverage information identified by the scenery identifying module; and feeding back to the controller; the controller is in communication connection with the vehicle condition running cloud and/or the vehicle broadcast base station through the communication module, and prompts the manned vehicle and/or the unmanned vehicle to select a corresponding running strategy according to the current road information and the vehicle fuzzy running route.
8. The system for sensing information on a rain-and-snow covered road according to claim 7, wherein the rain-and-snow covering recognition module comprises: the system comprises a millimeter wave radar detection unit, an ice and snow depth radar monitoring unit, an infrared sensor detection unit, a visibility detection unit and an obstacle camera unit; the millimeter wave radar detection unit, the ice and snow depth radar monitoring unit, the infrared sensor detection unit and the visibility detection unit are all in communication connection with the scene recognition module.
9. The system of claim 7, wherein the fuzzy route determination module comprises a projection image processing module, a scene correction module and a path correction module, and the projection image processing module, the scene correction module and the path correction module are electrically connected to the controller.
10. A computer-storable medium on which a computer program is stored which, when being executed by a processor, carries out the steps of a method for the information perception of a road covered with rain and snow as claimed in any one of the claims 1-6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111354239.5A CN113984085A (en) | 2021-11-16 | 2021-11-16 | Information sensing method and system for road covered by rain and snow and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111354239.5A CN113984085A (en) | 2021-11-16 | 2021-11-16 | Information sensing method and system for road covered by rain and snow and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113984085A true CN113984085A (en) | 2022-01-28 |
Family
ID=79748767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111354239.5A Pending CN113984085A (en) | 2021-11-16 | 2021-11-16 | Information sensing method and system for road covered by rain and snow and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113984085A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116824869A (en) * | 2023-08-31 | 2023-09-29 | 国汽(北京)智能网联汽车研究院有限公司 | Vehicle-road cloud integrated traffic fusion perception testing method, device, system and medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003240869A (en) * | 2002-02-20 | 2003-08-27 | Natl Inst For Land & Infrastructure Management Mlit | Road surface condition determination method |
| CN102390370A (en) * | 2011-10-25 | 2012-03-28 | 河海大学 | Stereoscopic vision based emergency treatment device and method for running vehicles |
| CN106546977A (en) * | 2015-09-16 | 2017-03-29 | 福特全球技术公司 | Radar for vehicle is perceived and is positioned |
| CN107850453A (en) * | 2015-08-11 | 2018-03-27 | 大陆汽车有限责任公司 | Road data object is matched to generate and update the system and method for accurate transportation database |
| CN110681110A (en) * | 2019-10-10 | 2020-01-14 | 浙江大学 | Method for simulating rowing scene by using vehicle-mounted rowing machine |
| CN111829549A (en) * | 2020-07-30 | 2020-10-27 | 吉林大学 | Snow road surface virtual lane line projection method based on high-precision map |
| CN112319502A (en) * | 2019-08-01 | 2021-02-05 | 株式会社斯巴鲁 | Vehicle travel control device |
-
2021
- 2021-11-16 CN CN202111354239.5A patent/CN113984085A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003240869A (en) * | 2002-02-20 | 2003-08-27 | Natl Inst For Land & Infrastructure Management Mlit | Road surface condition determination method |
| CN102390370A (en) * | 2011-10-25 | 2012-03-28 | 河海大学 | Stereoscopic vision based emergency treatment device and method for running vehicles |
| CN107850453A (en) * | 2015-08-11 | 2018-03-27 | 大陆汽车有限责任公司 | Road data object is matched to generate and update the system and method for accurate transportation database |
| CN106546977A (en) * | 2015-09-16 | 2017-03-29 | 福特全球技术公司 | Radar for vehicle is perceived and is positioned |
| CN112319502A (en) * | 2019-08-01 | 2021-02-05 | 株式会社斯巴鲁 | Vehicle travel control device |
| CN110681110A (en) * | 2019-10-10 | 2020-01-14 | 浙江大学 | Method for simulating rowing scene by using vehicle-mounted rowing machine |
| CN111829549A (en) * | 2020-07-30 | 2020-10-27 | 吉林大学 | Snow road surface virtual lane line projection method based on high-precision map |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116824869A (en) * | 2023-08-31 | 2023-09-29 | 国汽(北京)智能网联汽车研究院有限公司 | Vehicle-road cloud integrated traffic fusion perception testing method, device, system and medium |
| CN116824869B (en) * | 2023-08-31 | 2023-11-24 | 国汽(北京)智能网联汽车研究院有限公司 | Vehicle-road cloud integrated traffic fusion perception testing method, device, system and medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109298415B (en) | Method for detecting obstacles on track and road | |
| CN111427348A (en) | Automatic drive mining dump truck environmental perception system and mining dump truck | |
| WO2022184127A1 (en) | Simulation method and apparatus for vehicle and sensor | |
| CN110471085B (en) | Track detecting system | |
| JP7466396B2 (en) | Vehicle control device | |
| CN114845915A (en) | Real-time adjustment carrier sensor field of view volume | |
| CN108766004B (en) | Overtaking control system and method for unmanned vehicle | |
| CN112712697B (en) | Lane-level traffic state discrimination method oriented to vehicle-road cooperative application | |
| CN102509067A (en) | Detection method for lane boundary and main vehicle position | |
| WO2021218388A1 (en) | High-precision map generation method, localization method, and device | |
| US6597984B2 (en) | Multisensory correlation of traffic lanes | |
| CN210119237U (en) | Positioning and navigation system for roadside automatic driving vehicle | |
| CN110596731A (en) | Active obstacle detection system and method for metro vehicle | |
| CN111506069B (en) | All-weather all-ground crane obstacle identification system and method | |
| KR20200055965A (en) | Traffic monitoring system using LIDAR for notification of road obstacles and vehicle tracking | |
| CN115257784A (en) | Vehicle-road cooperative system based on 4D millimeter wave radar | |
| CN112330968A (en) | Urban roadside parking lot data acquisition device based on microwave radar and method thereof | |
| CN114056324A (en) | Parking space identification method and system based on data fusion | |
| CN113984085A (en) | Information sensing method and system for road covered by rain and snow and storage medium | |
| CN111210659A (en) | Parking lot terminal, vehicle-mounted terminal, server and autonomous parking system | |
| CN114655260A (en) | Control system of unmanned tourist coach | |
| CN114397672A (en) | Train active obstacle detection method and device based on positioning technology | |
| CN111650604B (en) | Method for realizing accurate detection of self-vehicle and surrounding obstacle by using accurate positioning | |
| CN115953905B (en) | Vehicle-road cooperative control system based on laser radar | |
| CN113227831B (en) | Guardrail estimation method based on multi-sensor data fusion and vehicle-mounted equipment |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20220128 |
|
| RJ01 | Rejection of invention patent application after publication |