CN114034357A - Accumulated water depth detection method and device and storage medium - Google Patents
Accumulated water depth detection method and device and storage medium Download PDFInfo
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- G01F—MEASURING VOLUME, VOLUME FLOW, MASS FLOW OR LIQUID LEVEL; METERING BY VOLUME
- G01F23/00—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm
- G01F23/22—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water
- G01F23/28—Indicating or measuring liquid level or level of fluent solid material, e.g. indicating in terms of volume or indicating by means of an alarm by measuring physical variables, other than linear dimensions, pressure or weight, dependent on the level to be measured, e.g. by difference of heat transfer of steam or water by measuring the variations of parameters of electromagnetic or acoustic waves applied directly to the liquid or fluent solid material
- G01F23/284—Electromagnetic waves
Abstract
The application discloses a method, a device and a storage medium for detecting accumulated water depth, wherein the method comprises the following steps: controlling a ranging sensor to emit a plurality of test signals at a first frequency, and determining a first distance value obtained by mapping a target test signal in the plurality of test signals on a road surface in front of the moving vehicle; controlling the ranging sensor to emit a plurality of test signals at a second frequency, and determining a second distance value obtained by mapping a target test signal on a road surface in front of the moving vehicle; determining a difference between the first distance value and the second distance value; determining a detection angle of a target test signal; and determining the depth value of the accumulated water on the road surface based on the difference value and the detection angle value. By adopting the accumulated water depth detection method, the accumulated water depth detection device and the storage medium, the accumulated water depth of a long-distance accumulated water area can be measured without wading by the mobile carrier, and the problems of short detection distance, low detection precision and complex calculation process are solved.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a method and a device for detecting depth of accumulated water and a storage medium.
Background
With the development of artificial intelligence and computer technology, intelligent automobiles are more and more widely used in daily life of people. At present, the advanced driving assistance system plays an important role in an intelligent automobile, and can utilize various sensors installed on the automobile to sense the surrounding environment in real time in the driving process of the automobile and identify and track a static or moving object, so that a driver can perceive possible dangers in advance, and the safety and the comfort of automobile driving are effectively improved. Road surface ponding is one of the important factors that influence driving safety, and when the vehicle was gone in low-lying highway section, probably because low-lying road surface ponding and the incident takes place, therefore, how to confirm ponding depth is especially important for intelligent automobile.
In the prior art, image information of a ponding road on the side of a vehicle is generally acquired through a camera, then the image information is analyzed and processed to obtain a spatial position of a ponding edge, then a road slope angle and a water surface position corresponding to the maximum water depth position of the road position corresponding to the maximum water depth position of a ponding area are acquired and determined through a certain strategy, and finally the maximum ponding depth of the ponding area is determined according to the spatial position of the ponding edge, the road slope angle and the water surface position corresponding to the maximum water depth position of the road position corresponding to the maximum water depth position.
However, in the above method for detecting the depth of the accumulated water, on one hand, since only the image of the side of the vehicle can be analyzed, the detection distance is short, which may result in the problem of short early warning time, and on the other hand, the detection precision may be affected by the calibration precision of the camera and the road slope curve, which may not accurately measure the depth of the accumulated water, and the calculation process of the depth of the accumulated water is also complex.
Disclosure of Invention
In view of this, the present application provides a method and an apparatus for detecting water accumulation depth, an electronic device and a storage medium, which are capable of detecting water accumulation depth of a long-distance water accumulation road surface in real time by using characteristics of test signals with different frequencies, and solve the problems of short detection distance, low detection precision and complex calculation process.
In a first aspect, an embodiment of the present application provides a method for detecting a depth of accumulated water, which is applied to a mobile carrier, where a distance measuring sensor is disposed on the mobile carrier, and the distance measuring sensor transmits a test signal with a first frequency and a test signal with a second frequency, so that the test signal with the first frequency and the test signal with the second frequency are mapped on a road surface in front of the mobile carrier during a driving process of the mobile carrier;
the accumulated water depth detection method comprises the following steps:
controlling the distance measuring sensor to emit a plurality of test signals at a first frequency, and determining a first distance value obtained by mapping a target test signal in the plurality of test signals on a road surface in front of the traveling of the mobile carrier, wherein the first distance value refers to a distance value from the distance measuring sensor to a first measuring point on the road surface, and the first measuring point is a measuring point obtained by mapping the target test signal emitted at the first frequency on the road surface;
controlling the distance measuring sensor to emit a plurality of test signals at a second frequency, and determining a second distance value obtained by mapping the target test signal on a road surface in front of the traveling of the mobile carrier, wherein the second distance value refers to a distance value from the distance measuring sensor to a second measuring point on the road surface, and the second measuring point is a measuring point obtained by mapping the target test signal emitted at the second frequency on the road surface;
determining a difference between the first distance value and the second distance value;
determining a detection angle of a target test signal;
and determining the depth value of the accumulated water on the road surface based on the difference value and the detection angle value.
Optionally, the first frequency is smaller than the second frequency, wherein the method for detecting the depth of the accumulated water may further include: the ranging sensor is controlled to alternately transmit a plurality of test signals at a first frequency and a second frequency.
Alternatively, the target test signal may be determined by: determining whether the road surface on which the mobile vehicle runs currently is a road surface with a slope; if the road surface on which the mobile carrier runs currently is determined to be a road surface without gradient, determining a test signal in the direction vertical to the installation plane of the ranging sensor in the plurality of test signals as a target test signal; and if the road surface on which the mobile vehicle runs is determined to be the road surface with the gradient, determining the test signal in the direction parallel to the road surface with the gradient in the plurality of test signals as the target test signal.
Optionally, a gyroscope may be further disposed on the mobile carrier, where the road surface on which the mobile carrier currently runs is a road surface without a slope, the detection angle is an installation angle of the distance measuring sensor, the installation angle is an included angle value between an installation plane of the distance measuring sensor and the front surface of the mobile carrier, the road surface on which the mobile carrier currently runs is a road surface with a slope, and the detection angle is a pitch angle value detected by the gyroscope.
Alternatively, the first distance value may be determined by: determining a first propagation velocity value in air of a target test signal transmitted at a first frequency; determining a first propagation time of a target test signal emitted at a first frequency from a ranging sensor to a first measurement point on a road surface; determining a first distance value according to the determined first propagation speed value and the first propagation time; and/or, the second distance value may be determined by: determining a second propagation velocity value of the target test signal in the liquid substance emitted at the second frequency; determining a second propagation time of the target test signal emitted at the second frequency from the ranging sensor to a second test point on the roadway; determining a time difference between the first propagation time and the second propagation time; a second distance value is determined based on the time difference and the second propagation velocity value.
Optionally, the step of determining the water accumulation depth of the road surface based on the difference and the detection angle may include: calculating the sine value of the detection angle; and determining the product of the difference value and the sine value as the depth value of the accumulated water on the road surface.
Alternatively, the step of determining the detection angle of the target test signal may comprise: determining a water accumulation condition of a road surface ahead of the mobile vehicle based on the difference; and if the ponding condition of the road surface in front of the running of the mobile carrier meets the ponding detection condition, determining the detection angle of the target test signal.
Optionally, the method for detecting the depth of the accumulated water may further include: judging whether the depth value of the accumulated water meets an early warning triggering condition or not; and if the depth value of the accumulated water meets the early warning triggering condition, sending early warning prompt information.
In a second aspect, an embodiment of the present application provides a device for detecting a depth of accumulated water, which is applied to a mobile vehicle, where a distance measuring sensor is disposed on the mobile vehicle, and the distance measuring sensor transmits a test signal with a first frequency and a test signal with a second frequency, so that the test signal with the first frequency and the test signal with the second frequency are mapped on a road surface in front of the mobile vehicle during a driving process of the mobile vehicle;
wherein, ponding degree of depth detection device includes:
the first emission control module is used for controlling the distance measuring sensor to emit a plurality of test signals at a first frequency, and determining a first distance value obtained by mapping a target test signal in the plurality of test signals on a road surface in front of the traveling vehicle, wherein the first distance value refers to a distance value from the distance measuring sensor to a first measuring point on the road surface, and the first measuring point is a measuring point obtained by mapping the target test signal emitted at the first frequency on the road surface;
the second emission control module is used for controlling the distance measuring sensor to emit a plurality of test signals at a second frequency and determining a second distance value obtained by mapping the target test signal on a road surface in front of the traveling of the mobile carrier, wherein the second distance value refers to a distance value from the distance measuring sensor to a second measuring point on the road surface, and the second measuring point is a measuring point obtained by mapping the target test signal emitted at the second frequency on the road surface;
a detection distance determination module for determining a difference between the first distance value and the second distance value;
the detection angle determining module is used for determining the detection angle of the target test signal;
and the water depth determining module is used for determining the depth value of the accumulated water on the road surface based on the difference value and the detection angle value.
In a third aspect, an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the steps of the water depth detection method are performed.
The embodiment of the application brings the following beneficial effects:
the embodiment of the application provides a method and a device for detecting accumulated water depth and a storage medium, and the method comprises the following steps: controlling the distance measuring sensor to emit a plurality of test signals at a first frequency, and determining a first distance value obtained by mapping a target test signal in the plurality of test signals on a road surface in front of the traveling of the mobile carrier, wherein the first distance value refers to a distance value from the distance measuring sensor to a first measuring point on the road surface, and the first measuring point is a measuring point obtained by mapping the target test signal emitted at the first frequency on the road surface; controlling the distance measuring sensor to emit a plurality of test signals at a second frequency, and determining a second distance value obtained by mapping the target test signal on a road surface in front of the traveling of the mobile carrier, wherein the second distance value refers to a distance value from the distance measuring sensor to a second measuring point on the road surface, and the second measuring point is a measuring point obtained by mapping the target test signal emitted at the second frequency on the road surface; determining a difference between the first distance value and the second distance value; determining a detection angle of a target test signal; and determining the depth value of the accumulated water on the road surface based on the difference value and the detection angle value. The method and the device utilize the characteristics of different frequency test signals, can detect the ponding depth of a long-distance ponding road surface in real time, and solve the problems of short detection distance, low detection precision and complex calculation process.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments are briefly described below, and it is obvious that the following drawings are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other related drawings without creative efforts.
Fig. 1 is a schematic flow chart of a water accumulation depth detection method provided in an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating the transmission direction of a target test signal on a road without a slope according to an embodiment of the present application;
FIG. 3 is a schematic diagram illustrating the transmission direction of a target test signal in a road surface with a slope according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a water accumulation depth detection device provided in the embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present application. 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 application.
In the prior art, image information of a ponding road is generally acquired through a camera, then the image information is analyzed and processed to obtain a spatial position of a ponding edge, then a road slope angle is acquired, a water surface position corresponding to the maximum water depth position of the road position corresponding to the maximum water depth position of the ponding area is determined through certain strategy judgment, and finally the maximum ponding depth of the ponding area is determined according to the spatial position of the ponding edge, the road slope angle and the water surface position corresponding to the maximum water depth position of the road position corresponding to the maximum water depth position. However, in the above method for detecting the depth of the accumulated water, on one hand, since only the image of the side of the vehicle can be analyzed, the detection distance is short, which may result in the problem of short early warning time, and on the other hand, the detection precision may be affected by the calibration precision of the camera and the road slope curve, which may not accurately measure the depth of the accumulated water, and the calculation process of the depth of the accumulated water is also complex.
Based on this, the embodiment of the application provides a method and a device for detecting the depth of accumulated water, an electronic device and a storage medium, which can detect the depth of accumulated water on a long-distance accumulated water road surface in real time by using the characteristics of test signals with different frequencies, and solve the problems of short detection distance, low detection precision and complex calculation process.
To facilitate understanding of the present embodiment, first, a method for detecting a depth of accumulated water disclosed in the present embodiment is described in detail, and fig. 1 is a schematic flow chart of the method for detecting a depth of accumulated water provided in the present embodiment, as shown in fig. 1, the method includes the following steps:
step S101, controlling a distance measuring sensor to emit a plurality of test signals at a first frequency, and determining a first distance value obtained by mapping a target test signal in the plurality of test signals on a road surface in front of the traveling of a mobile carrier, wherein the first distance value refers to a distance value from the distance measuring sensor to a first measuring point on the road surface, and the first measuring point is a measuring point obtained by mapping the target test signal emitted at the first frequency on the road surface;
step S102, controlling the ranging sensor to emit a plurality of test signals at a second frequency, and determining a second distance value obtained by mapping the target test signal on a road surface in front of the traveling of the mobile carrier, wherein the second distance value refers to a distance value from the ranging sensor to a second measuring point on the road surface, and the second measuring point is a measuring point obtained by mapping the target test signal emitted at the second frequency on the road surface;
step S103, determining the difference value between the first distance value and the second distance value;
step S104, determining a detection angle of the target test signal;
and step S105, determining the depth value of the accumulated water on the road surface based on the difference value and the detection angle value.
The ponding depth detection method in the embodiment of the application is applied to a mobile carrier, a distance measuring sensor is arranged on the mobile carrier, the distance measuring sensor transmits a test signal with a first frequency and a test signal with a second frequency, so that the test signal with the first frequency and the test signal with the second frequency are mapped on a road surface in front of the mobile carrier in the running process of the mobile carrier, wherein:
the mobile carrier refers to a mobile carrier that can carry a ranging sensor, and exemplary mobile carriers include but are not limited to: intelligent automobile and motorcycle.
A ranging sensor refers to a sensor capable of transmitting and receiving a test signal at a first frequency and a test signal at a second frequency, and exemplary ranging sensors include, but are not limited to: radar, the range finding sensor can be installed in the front of the mobile vehicle or on the side, for example: the mobile carrier is a vehicle, and the distance measuring sensor can be arranged at the head position of the vehicle, so that the distance measuring sensor can emit a test signal to the front road surface.
In steps S101 and S102, the first frequency test signal and the second frequency test signal are both test signals capable of being transmitted and received by the ranging sensor, and illustratively, the first frequency test signal and the second frequency test signal are both electromagnetic waves, and the first frequency test signal and the second frequency test signal are test signals of different frequencies.
In specific implementation, after the mobile carrier is started, the ranging sensor can be controlled to continuously transmit a plurality of test signals with first frequencies and a plurality of test signals with second frequencies, the test signals can be reflected after encountering substances, and the reflected test signals can be received by the ranging sensor, so that the distance from the ranging sensor to the first measuring point and the distance from the ranging sensor to the second measuring point can be determined by utilizing the propagation time and the propagation speed of the test signals. Here, the transmission timings of the ranging sensor for the test signal of the first frequency and the test signal of the second frequency may also be controlled by a control device on the mobile carrier, and the control device may be a button electrically connected to the ranging sensor or a touch screen.
In an optional embodiment, the first frequency is less than the second frequency, wherein the method for detecting water depth further comprises: the ranging sensor is controlled to alternately transmit a plurality of test signals at a first frequency and a second frequency.
Here, the first frequency may be 77GHZ (gigahertz), and the second frequency may be a frequency between 120GHZ and 160GHZ, for example: 132 GHZ. Wherein, the test signal of launching with the first frequency meets liquid substance and can be reflected, and the test signal of launching with the second frequency can penetrate liquid substance, meets solid matter and can be reflected, and liquid substance can refer to the ponding on ponding road surface, and solid matter can refer to the material that the road surface corresponds of traveling, for example: stone or asphalt.
During specific implementation, the test signal is transmitted at the first frequency, the test signal at the first frequency is reflected after encountering accumulated water and is received by the ranging sensor, so that the distance between the ranging sensor and a first measuring point on the water surface can be measured, and then the test signal is transmitted at the second frequency, the test signal at the second frequency can penetrate through the accumulated water, is reflected after encountering the ground and is received by the ranging sensor, so that the distance between the ranging sensor and a second measuring point on the ground can be measured. Here, the distance measuring sensor can continuously and alternately transmit a test signal with a first frequency and a test signal with a second frequency so as to realize real-time uninterrupted detection of the depth of the front surface water accumulated by the moving carrier.
In an alternative embodiment, the target test signal may be determined by: determining whether the road surface on which the mobile vehicle runs currently is a road surface with a slope; if the road surface on which the mobile carrier runs currently is determined to be a road surface without gradient, determining a test signal in the direction vertical to the installation plane of the ranging sensor in the plurality of test signals as a target test signal; and if the road surface on which the mobile vehicle runs is determined to be the road surface with the gradient, determining the test signal in the direction parallel to the road surface with the gradient in the plurality of test signals as a target test signal.
Here, the non-gradient road surface means that the road surface on which the mobile vehicle travels is a horizontal road surface, and the gradient road surface means that the road surface on which the mobile vehicle travels is a road surface having a gradient.
Fig. 2 is a schematic view of the transmission direction of the target test signal on a road surface without a slope according to an embodiment of the present disclosure, as shown in fig. 2, 1 denotes a mobile vehicle, 2 denotes an installation plane of a distance measuring sensor, 3 denotes the transmission direction of the target test signal, 4 denotes a water surface of accumulated water, 5 denotes the water surface of the accumulated water, a point a denotes an installation position of the distance measuring sensor, B denotes an auxiliary point which denotes an intersection point of a vertical ground direction of the mobile vehicle and a horizontal direction of the accumulated water, C denotes a second measuring point, D denotes a first measuring point, E denotes an auxiliary point which is a foot perpendicular to the accumulated water from the point D to the accumulated water 5, a denotes a detection angle, β denotes an installation angle of the distance measuring sensor, L1 denotes a first distance value, and L2 denotes a second distance value. If the road surface on which the mobile carrier runs currently is a road surface without a slope, after the distance measuring sensor simultaneously sends out a plurality of test signals with first frequency, the test signals in the direction vertical to the mounting plane of the distance measuring sensor are selected from the test signals with the first frequency to be used as target test signals emitted with the first frequency.
Fig. 3 is a schematic diagram of the transmitting direction of the target test signal on the road surface without slope according to the embodiment of the present application, as shown in fig. 3, the content of each reference numeral is the same as that in fig. 2, F is an auxiliary point, which is the intersection point of the extension line of the front surface of the mobile carrier and the water surface, and γ represents the pitch angle of the gyroscope. If the road surface on which the mobile carrier runs currently is a road surface with a slope, after the distance measuring sensor simultaneously sends out a plurality of test signals with second frequency, the test signals in the direction parallel to the road surface on which the mobile carrier runs currently are selected from the test signals with the second frequency to be used as target test signals emitted with the second frequency.
It should be noted that, when the current traveling road surface of the mobile vehicle is a road surface without a slope, a test signal in a direction other than a direction perpendicular to the installation plane of the ranging sensor may be selected from the plurality of test signals with the first frequency as the target test signal transmitted with the first frequency, and at this time, an azimuth angle of the selected target test signal may be determined by the ranging sensor, and a transmission direction of the target test signal transmitted with the first frequency may be determined by the azimuth angle. Similarly, when the current running road surface of the mobile carrier is a road surface with a slope, the test signals in other directions except the direction perpendicular to the installation plane of the ranging sensor can be selected from the plurality of test signals with the second frequency to be used as the target test signal emitted with the second frequency, the azimuth angle of the target test signal can be determined by the ranging sensor, and the emission direction of the target test signal emitted with the second frequency can be determined by the azimuth angle. It can be understood that the method for selecting the test signal in the direction perpendicular to the mounting plane of the distance measuring sensor as the target test signal emitted at the first frequency and the method for selecting the test signal in the direction parallel to the road surface on which the mobile vehicle is currently driving as the target test signal emitted at the second frequency can more easily determine the angular relationship between the detection angle and the mounting angle of the distance measuring sensor and the angular relationship between the detection angle and the pitch angle of the gyroscope, thereby simplifying the calculation process of the depth of the accumulated water.
In steps S103 and S104, the difference may be an absolute value of a difference between the first distance value and the second distance value, and the detection angle is an included angle between the target test signal and the horizontal ground, i.e., an angle α in fig. 2 and 3.
In an example, a gyroscope is further arranged on the mobile carrier, wherein the road surface on which the mobile carrier currently runs is a road surface without a slope, the detection angle is an installation angle of the distance measuring sensor, the installation angle is an included angle value between an installation plane of the distance measuring sensor and the front surface of the mobile carrier, the road surface on which the mobile carrier currently runs is a road surface with a slope, and the detection angle is a pitch angle value detected by the gyroscope.
Here, the gyroscope refers to an angular motion detection device capable of detecting angular changes of the mobile vehicle in various directions, and includes, for example and without limitation: piezoelectric gyroscopes, micromechanical gyroscopes, fiber optic gyroscopes and laser gyroscopes, as shown in fig. 2 and 3, the installation angle is the angle β between the installation plane 2 of the distance measuring sensor and the front surface of the mobile vehicle, which is the surface perpendicular to the horizontal ground in front of the mobile vehicle, for example: the mobile carrier is an intelligent vehicle, and the front surface can be a surface of the bumper of the intelligent vehicle, which is perpendicular to the horizontal ground, i.e., a surface of the bumper of the intelligent vehicle, which is perpendicular to the chassis of the intelligent vehicle.
In a specific implementation, if the road surface on which the mobile vehicle currently runs is a road surface without a slope, since the transmitting direction of the target test signal transmitted at the first frequency is perpendicular to the installation plane of the ranging sensor, in fig. 2, the angle BAC is 90 ° - β. Because ABC is a right triangle, α ═ β, that is, the detection angle is the installation angle of the ranging sensor, it should be noted that if the transmission direction of the target test signal transmitted by the first transmitter is not perpendicular to the installation plane of the ranging sensor, the azimuth angle δ of the transmission direction of the target test signal transmitted by the first transmitter can be determined by the ranging sensor, δ is the angle between the transmission direction of the target test signal and the direction perpendicular to the installation plane of the ranging sensor, if the angle between the transmission direction of the target test signal transmitted by the first transmitter and the installation plane of the ranging sensor is less than 90 °, α ═ β - δ, and if the angle between the transmission direction of the target test signal transmitted by the first transmitter and the installation plane of the ranging sensor is greater than 90 °, α ═ β + δ.
If the road surface on which the mobile carrier currently runs is a road surface with a slope, because the direction of the target test signal transmitted at the second frequency is parallel to the road surface on which the mobile carrier currently runs, the direction of the target test signal transmitted at the second frequency can be perpendicular to the vertical direction of the mobile carrier chassis, and in fig. 3, the angle BAC is 90 ° - γ, and the angle BCA is 90 ° -BAC, so that the angle γ can be obtained. If the transmission direction of the target test signal transmitted by the second transmitter is not parallel to the current driving road surface of the mobile vehicle, the azimuth angle δ of the transmission direction of the target test signal transmitted by the second transmitter may be determined by the ranging sensor, where α is β + γ - δ if an angle between the transmission direction of the target test signal transmitted by the second transmitter and the installation plane of the ranging sensor is less than 90 °, and α is β + γ + δ if the angle between the transmission direction of the target test signal transmitted by the second transmitter and the installation plane of the ranging sensor is greater than 90 °.
Therefore, whether the road surface on which the mobile carrier runs currently is a road surface with a slope or not, the transmission direction of the target test signal transmitted at the first frequency and the transmission direction of the target test signal transmitted at the second frequency, which are selected by the method, can be simply calculated, and the depth value of the accumulated water on the accumulated water road surface can be determined by using less detection equipment.
In another example, the first distance value is determined by: determining a first propagation velocity value in air of a target test signal transmitted at a first frequency; determining a first propagation time of a target test signal emitted at a first frequency from a ranging sensor to a first measurement point on a road surface; determining a first distance value according to the determined first propagation speed value and the first propagation time; and/or, determining the second distance value by: determining a second propagation velocity value of the target test signal in the liquid substance emitted at the second frequency; determining a second propagation time of the target test signal emitted at the second frequency from the ranging sensor to a second test point on the roadway; determining a time difference between the first propagation time and the second propagation time; a second distance value is determined based on the time difference and the second propagation velocity value.
Here, the first distance value is L1 in fig. 2 and 3, the second distance value is L2 in fig. 2 and 3, the first propagation velocity value is the propagation velocity of the target test signal in air transmitted at the first frequency, the second propagation velocity value is the propagation velocity of the target test signal in water transmitted at the second frequency, and illustratively, the first propagation velocity may be 30 km/s, and the second propagation velocity may be three quarters of the optical velocity, i.e., 22.5 km/s.
In a specific implementation, after the ranging sensor transmits the target test signal at the first frequency, the time from transmission to reception of the target test signal transmitted at the first frequency can be determined, and the first propagation time can be determined by dividing the time by 2. Here, the first distance value is obtained by dividing the product of the first propagation velocity value and the first propagation time by 2, the time difference value is obtained by dividing the difference value between the second propagation time and the first propagation time by 2, and the second distance value is obtained by dividing the product of the time difference value and the second propagation velocity by 2. It can be understood that the target test signal transmitted by the first frequency and the target test signal transmitted by the second frequency are both electromagnetic waves and have the characteristics of rapid propagation and remote propagation, so that the depth of the accumulated water at a longer distance on the road where the mobile carrier runs can be measured in real time, the early warning time of the depth of the accumulated water is greatly advanced, and the probability of safety accidents caused by the fact that the mobile carrier is not in time to brake due to short early warning time is reduced.
In an alternative example, the step of determining the water accumulation depth of the road surface based on the difference value and the detection angle includes: calculating the sine value of the detection angle; and determining the product of the difference value and the sine value as the depth value of the accumulated water on the road surface.
Here, in fig. 2 and 3, DC represents a difference between the first distance value and the second distance value, and is obtained from a rectangular triangle relationship of the DEC triangle, and DE ═ DC × sin α is known, and therefore, DE, that is, the depth value of the accumulated water, can be calculated.
In another alternative example, the step of determining the probe angle of the target test signal comprises: determining a water accumulation condition of a road surface ahead of the mobile vehicle based on the difference; and if the ponding condition of the road surface in front of the running of the mobile carrier meets the ponding detection condition, determining the detection angle of the target test signal.
Here, after starting the distance measuring sensor, the distance measuring sensor can continuously send out a plurality of test signals, and only when the ponding condition on the road surface in front satisfies the ponding detection condition, just can calculate the detection angle of target test signal, avoids meaningless computational process. Here, the water detection condition may be that the difference between the first distance value and the second distance value exceeds a set threshold, that is, when the distance traveled by the target test signal in water is lower than the set threshold, the water depth may be considered shallow, and thus the water depth value does not need to be detected, and the detection angle does not need to be calculated.
In an optional embodiment, the method for detecting water accumulation depth further includes: judging whether the depth value of the accumulated water meets an early warning triggering condition or not; and if the depth value of the accumulated water meets the early warning triggering condition, sending early warning prompt information.
The early warning triggering condition refers to a condition for triggering early warning, and when the early warning triggering condition is reached, the early warning triggering condition indicates that the depth of accumulated water on the current running road surface of the mobile carrier is deep, and early warning prompt information needs to be sent out.
In specific implementation, the vertical distance from the air inlet of the mobile carrier to the ground can be used as a set threshold, if the depth value of the accumulated water is smaller than the set threshold, the condition that the early warning triggering is not met is indicated, the mobile carrier can safely pass through without triggering early warning prompt information, and if the depth value of the accumulated water is not smaller than the set threshold, the condition that the early warning triggering is met is indicated, the mobile carrier cannot safely pass through, and the early warning prompt information needs to be triggered. It can be seen that only when the depth of the accumulated water threatens the safe driving of the mobile carrier, the early warning is triggered, so that the interference on the driving behavior of the driver is reduced as much as possible under the condition of ensuring the safety.
Based on the same inventive concept, the embodiment of the present application further provides a water accumulation depth detection device corresponding to the water accumulation depth detection method, and as the principle of solving the problem of the device in the embodiment of the present application is similar to that of the water accumulation depth detection method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and repeated details are not repeated.
Fig. 4 is a schematic structural diagram of a water accumulation depth detection device provided in an embodiment of the present application, and as shown in fig. 4, the device includes the following modules:
the first emission control module 201 is used for controlling the ranging sensor to emit a plurality of test signals at a first frequency, and determining a first distance value obtained by mapping a target test signal in the plurality of test signals on a road surface in front of the moving vehicle, wherein the first distance value refers to a distance value from the ranging sensor to a first measuring point on the road surface, and the first measuring point is a measuring point obtained by mapping the target test signal emitted at the first frequency on the road surface;
the second emission control module 202 is configured to control the ranging sensor to emit a plurality of test signals at a second frequency, and determine a second distance value obtained by mapping the target test signal on the road surface in front of the moving vehicle, where the second distance value is a distance value from the ranging sensor to a second measurement point on the road surface, and the second measurement point is a measurement point obtained by mapping the target test signal emitted at the second frequency on the road surface;
a detection distance determination module 203 for determining a difference between the first distance value and the second distance value;
a detection angle determining module 204, configured to determine a detection angle of the target test signal;
and a water depth determining module 205, configured to determine a depth value of the surface ponding based on the difference value and the detection angle value.
Corresponding to the water depth detection method in fig. 1, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to perform the steps of the water depth detection method.
Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, and the like, when a computer program on the storage medium is run, the method for detecting the depth of the accumulated water can be executed, the characteristics of the test signals with different frequencies can be utilized, the depth of the accumulated water on the long-distance accumulated water road can be detected in real time, and the problems of short detection distance, low detection precision and complex calculation process are solved.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the foregoing systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit is merely a division of one logic function, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing an electronic device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus once an item is defined in one figure, it need not be further defined and explained in subsequent figures, and moreover, the terms "first", "second", "third", etc. are used merely to distinguish one description from another and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. A method for detecting depth of accumulated water is characterized in that the method is applied to a mobile carrier, a distance measuring sensor is arranged on the mobile carrier and transmits a test signal with a first frequency and a test signal with a second frequency so as to map the test signal with the first frequency and the test signal with the second frequency on a road surface in front of the mobile carrier in the running process of the mobile carrier,
the accumulated water depth detection method comprises the following steps:
controlling the distance measuring sensor to emit a plurality of test signals at a first frequency, and determining a first distance value obtained by mapping a target test signal in the plurality of test signals on a road surface in front of the traveling vehicle, wherein the first distance value refers to a distance value from the distance measuring sensor to a first measuring point on the road surface, and the first measuring point is a measuring point obtained by mapping the target test signal emitted at the first frequency on the road surface;
controlling the distance measuring sensor to emit a plurality of test signals at a second frequency, and determining a second distance value obtained by mapping the target test signal on a road surface in front of the traveling of the mobile carrier, wherein the second distance value refers to a distance value from the distance measuring sensor to a second measuring point on the road surface, and the second measuring point is a measuring point obtained by mapping the target test signal emitted at the second frequency on the road surface;
determining a difference between the first distance value and the second distance value;
determining a detection angle of the target test signal;
and determining the depth value of the accumulated water on the road surface based on the difference value and the detection angle value.
2. The method of water depth detection according to claim 1, wherein the first frequency is less than the second frequency,
wherein, the ponding depth detection method further comprises the following steps:
controlling the ranging sensor to alternately transmit a plurality of test signals at a first frequency and a second frequency.
3. The method of water depth detection according to claim 1, wherein the target test signal is determined by:
determining whether the road surface on which the mobile vehicle runs currently is a road surface with a slope;
if the road surface on which the mobile vehicle runs is determined to be a road surface without gradient, determining a test signal in the direction vertical to the installation plane of the ranging sensor in the plurality of test signals as a target test signal;
and if the road surface on which the mobile vehicle runs is determined to be the road surface with the gradient, determining the test signal in the direction parallel to the road surface with the gradient in the plurality of test signals as a target test signal.
4. The method for detecting water accumulation depth according to claim 3, wherein a gyroscope is further provided on the mobile carrier,
wherein the road surface on which the mobile carrier runs currently is a road surface without a slope, the detection angle is the installation angle of the distance measuring sensor, the installation angle is an included angle value between the installation plane of the distance measuring sensor and the front surface of the mobile carrier,
the road surface on which the mobile carrier runs at present is a road surface with a slope, and the detection angle is a pitch angle value detected by the gyroscope.
5. The method of water depth detection according to claim 2, wherein the first distance value is determined by:
determining a first propagation velocity value in air of a target test signal transmitted at a first frequency;
determining a first propagation time of a target test signal emitted at a first frequency from the ranging sensor to a first measurement point on the roadway;
determining a first distance value according to the determined first propagation speed value and the first propagation time;
and/or, determining the second distance value by:
determining a second propagation velocity value of the target test signal in the liquid substance emitted at the second frequency;
determining a second propagation time of a target test signal emitted at a second frequency from the ranging sensor to a second test point on the roadway surface;
determining a time difference between the first propagation time and the second propagation time;
determining the second distance value based on the time difference value and a second propagation velocity value.
6. The water depth detection method according to claim 1, wherein the step of determining the water depth of the road surface based on the difference value and the detection angle includes:
calculating a sine value of the detection angle;
and determining the product of the difference value and the sine value as the depth value of the accumulated water on the road surface.
7. The water depth detection method of claim 1, wherein the step of determining a probe angle of the target test signal comprises:
determining a water accumulation condition of a road surface ahead of the mobile vehicle based on the difference;
and if the ponding condition of the road surface in front of the running moving vehicle meets the ponding detection condition, determining the detection angle of the target test signal.
8. The water depth detection method according to claim 1, further comprising:
judging whether the accumulated water depth value meets an early warning triggering condition or not;
and if the accumulated water depth value meets the early warning triggering condition, sending early warning prompt information.
9. A ponding depth detection device is characterized in that the ponding depth detection device is applied to a mobile carrier, a distance measuring sensor is arranged on the mobile carrier and transmits a test signal with a first frequency and a test signal with a second frequency so as to map the test signal with the first frequency and the test signal with the second frequency on a road surface in front of the mobile carrier in the driving process of the mobile carrier,
wherein, ponding degree of depth detection device includes:
the first emission control module is used for controlling the ranging sensor to emit a plurality of test signals at a first frequency and determining a first distance value obtained by mapping a target test signal in the plurality of test signals on a road surface in front of the traveling vehicle, wherein the first distance value refers to a distance value from the ranging sensor to a first measuring point on the road surface, and the first measuring point is a measuring point obtained by mapping the target test signal emitted at the first frequency on the road surface;
the second emission control module is used for controlling the distance measuring sensor to emit a plurality of test signals at a second frequency and determining a second distance value obtained by mapping the target test signal on a road surface in front of the traveling of the mobile carrier, wherein the second distance value refers to a distance value from the distance measuring sensor to a second measuring point on the road surface, and the second measuring point is a measuring point obtained by mapping the target test signal emitted at the second frequency on the road surface;
a detection distance determination module for determining a difference between the first distance value and the second distance value;
a detection angle determination module for determining a detection angle of the target test signal;
and the water depth determining module is used for determining the depth value of the ponding on the road surface based on the difference value and the detection angle value.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for water depth detection according to any one of claims 1-8.
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