CN114283393A - Sump detection reminding method and device, electronic equipment and vehicle - Google Patents
Sump detection reminding method and device, electronic equipment and vehicle Download PDFInfo
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- CN114283393A CN114283393A CN202111631914.4A CN202111631914A CN114283393A CN 114283393 A CN114283393 A CN 114283393A CN 202111631914 A CN202111631914 A CN 202111631914A CN 114283393 A CN114283393 A CN 114283393A
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Abstract
The invention provides a method and a device for detecting and reminding a puddle, electronic equipment and a vehicle. The method comprises the following steps: the method comprises the steps of obtaining the current speed of a vehicle, determining the state of the vehicle according to the current speed, identifying a road surface image of a current parking spot by using an image acquisition device arranged on the vehicle when the state of the vehicle is in a parking state, obtaining a first identification result, identifying whether accumulated water exists on the road surface of the current parking spot by using a laser detector arranged on the vehicle, obtaining a second identification result, determining a water pit danger level according to the first identification result and the second identification result, and reminding passengers based on the water pit danger level. Therefore, the problems that the application of image recognition to sump detection is limited by the environment and the recognition rate is not high are solved, the recognition accuracy and speed are greatly improved, and the possibility of misjudgment is reduced. And different grades of prompts are sent to the passengers based on the judgment result, so that the passengers can make corresponding feedback, and the interaction capacity between people and vehicles is improved.
Description
Technical Field
The invention relates to the technical field of vehicle safety, in particular to a method and a device for detecting and reminding a puddle, electronic equipment and a vehicle.
Background
Vehicle safety refers to the safety of the process of passenger interaction with the vehicle, and this process often emphasizes the safety of passengers during driving. However, in the process of parking the vehicle, because the parking point has a puddle, passengers easily miss the puddle of the parking point, and therefore directly step on the puddle, dangerous states such as slipping occur, or the passengers have to close the door to continuously search for a new parking point after seeing the puddle. So that the safety of passengers and the convenience of passengers cannot be ensured in the parking process.
In the related art, a direct identification means for a puddle is lacked, the puddle is often judged by passengers, and the judgment process is often limited by environmental factors.
Disclosure of Invention
The embodiment of the invention provides a puddle detection reminding method and device, electronic equipment and a vehicle, and aims to solve the problems in the special cases.
In order to solve the technical problem, the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides a puddle detection reminding method, where the method includes:
acquiring the current speed of a vehicle, and determining the state of the vehicle according to the current speed;
when the vehicle state is in a parking state, recognizing the road surface image of the current parking spot by using image acquisition equipment arranged on the vehicle to obtain a first recognition result, and simultaneously recognizing whether accumulated water exists on the road surface of the current parking spot by using a laser detector arranged on the vehicle to obtain a second recognition result;
determining a water pit danger level according to the first identification result and the second identification result;
and reminding passengers based on the water pit danger level.
Optionally, the image capturing device includes a first image capturing device and a second image capturing device, and the method further includes:
acquiring a current external state; wherein the external conditions include a daytime condition and a nighttime condition;
when the external state is in the daytime state, identifying the road surface image of the current parking point according to a first image collector arranged on the vehicle to obtain a first identification result;
when the external state is in a night state, the road surface image of the current parking spot is identified according to a second image collector and an auxiliary light source which are arranged on the vehicle, and a first identification result is obtained.
Optionally, the step of obtaining a second recognition result from the laser transmitter comprises:
acquiring the receiving times and receiving time of the detection laser received by the laser detector;
when the receiving times are one time, determining that the second identification result is no pit risk;
and when the receiving times are two, determining that the second identification result is the risk of the water pit and the depth of the water pit, wherein the depth of the water pit is determined according to the receiving time.
Optionally, the step of determining a puddle danger level based on the first recognition result and the second recognition result comprises:
when the first identification result and the second identification result are in a matched state, if the first identification result is free of pit risk and the second identification result is free of pit risk, determining that the pit risk level is a first risk level;
if the first identification result is that the risk of the water pit exists, the second identification result is that the risk of the water pit exists, and the predicted depth of the water pit is smaller than a preset threshold value, determining that the danger level of the water pit is a second danger level;
and if the first identification result is that the risk of the water pit exists, the second identification result is that the risk of the water pit exists, and the predicted depth of the water pit is greater than a preset threshold value, determining that the danger level of the water pit is a third danger level.
Optionally, the method further comprises:
when the first recognition result and the second recognition result are in a mismatch state, determining a weighted average value of the recognition results according to the first recognition result, the second recognition result and a preset weighted average coefficient;
and comparing the weighted average value of the identification result with a preset threshold value to determine the danger level of the water pit.
Optionally, based on the puddle danger level, the step of alerting the passenger comprises:
if the danger level of the water pit is the first danger level, prompting passengers to get off the bus normally without the water pit at the getting-off point;
if the danger level of the water pit is a second danger level, prompting passengers to get off the bus in a shallow water pit and paying attention to safety;
and if the danger level of the water pit is the third danger level, prompting passengers that the getting-off point has a deep water pit, and suggesting to search the getting-off point again.
A second aspect of the embodiments of the present invention provides a puddle detection reminding device, where the device includes:
the acquisition module is used for acquiring the current speed of the vehicle and determining the state of the vehicle according to the current speed;
the identification module is used for identifying a road surface image of the current parking spot by using image acquisition equipment arranged on the vehicle to obtain a first identification result when the vehicle state is in a parking state, and identifying whether accumulated water exists on the road surface of the current parking spot by using a laser detector arranged on the vehicle to obtain a second identification result;
the judging module is used for determining the danger level of the water pit according to the first identification result and the second identification result;
and the reminding module is used for reminding the passengers based on the water pit danger level.
Optionally, the reminding module includes:
the first reminding submodule is used for reminding passengers that no water pit exists at a getting-off point and the passengers get off normally if the danger level of the water pit is a first danger level;
the second reminding submodule is used for reminding passengers that shallow water pits exist at a getting-off point and the passengers get off the car to pay attention to safety if the danger level of the water pits is a second danger level;
and the third reminding submodule is used for reminding passengers that the deep water pit exists at the get-off point and suggesting to search the get-off point again if the danger level of the water pit is the third danger level.
A third aspect of the embodiments of the present invention provides an electronic device, including a processor, a communication interface, a memory, and a communication bus, where the processor and the communication interface complete communication between the memory and the processor through the communication bus;
a memory for storing a computer program;
the processor is configured to implement the method steps provided in the first aspect of the embodiment of the present invention when executing the program stored in the memory.
A fourth aspect of the embodiments of the present invention provides a computer-readable vehicle, including the puddle detection reminding device according to the second aspect of the embodiments of the present invention.
The embodiment of the invention has the following advantages:
the method and the device can be used for obtaining the current vehicle speed of the vehicle, determining the vehicle state according to the current vehicle speed, identifying the road surface image of the current parking point by using the image acquisition equipment arranged on the vehicle when the vehicle state is in the parking state to obtain a first identification result, identifying whether accumulated water exists on the road surface of the current parking point by using the laser detector arranged on the vehicle to obtain a second identification result, determining the danger level of the water pit according to the first identification result and the second identification result, and reminding passengers based on the danger level of the water pit.
In addition, the invention can send out different levels of prompts to the passengers based on the judgment result, so that the passengers can make corresponding feedback, and the interaction capacity between people and vehicles is improved.
Drawings
In order to more clearly illustrate the embodiments of the present application 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 some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart illustrating steps of a method for detecting and reminding a puddle in an embodiment of the present invention;
FIG. 2 is a schematic block diagram of a puddle detection reminding apparatus according to an embodiment of the present invention;
fig. 3 is a schematic diagram of functional modules of an electronic device in an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, 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.
An embodiment of the present invention provides a puddle detection reminding method, and referring to fig. 1, fig. 1 shows a flow chart of steps of a puddle detection reminding method according to an embodiment of the present application, where the method includes:
and S101, acquiring the current speed of the vehicle, and determining the state of the vehicle according to the current speed.
In the present embodiment, the vehicle state may include a running state and a stopped state. The current speed of the vehicle can be detected according to a vehicle speed sensor arranged on the vehicle, and if the current speed of the vehicle is greater than a preset threshold value, the vehicle is in a running state, and the vehicle does not have a task requirement for detecting a water pit at a parking position. If the current speed of the vehicle is smaller than the preset threshold value and continuously decreases, the vehicle is in a state to be parked, the user can be inquired that the task of ponding detection does not need to be started, and the vehicle executes the task of puddle detection on the parking position on the premise that the user needs to execute the task of ponding detection.
Step S102: when the vehicle state is in a parking state, the road surface image of the current parking spot is identified by using the image acquisition equipment arranged on the vehicle to obtain a first identification result, and meanwhile, whether accumulated water exists on the road surface of the current parking spot is identified by using the laser detector arranged on the vehicle to obtain a second identification result.
In the present embodiment, when the vehicle is in a stopped state, a puddle detection is performed on the position where the vehicle is located at that time, that is, whether or not there is accumulated water below the vehicle corresponding to each door is determined. The method comprises the steps that image acquisition equipment is arranged at the position of a vehicle door or other areas where the position of a parking spot can be observed, the image acquisition equipment acquires and processes images of a target area based on an image acquisition principle, judges whether a puddle exists in the acquired images of the target area based on a preset image recognition algorithm, and stores the recognition judgment result of the image acquisition equipment in a system as a first recognition result. Meanwhile, in the working process of the image acquisition equipment, a laser detector which is arranged at the position of a vehicle door or in other areas where the position of a parking point can be observed judges whether a puddle exists in a target area or not according to an optical measurement principle, and the judgment result is stored in the system as a second identification result.
Step S103: and determining the danger level of the water pit according to the first recognition result and the second recognition result.
In this embodiment, after the first recognition result and the second recognition result are obtained, it is necessary to evaluate the danger level of the puddle according to the first recognition result and the second recognition result, where the danger level of the puddle specifically includes three danger levels, i.e., a first danger level, a second danger level, and a third danger level, where the danger levels from the first danger level to the third danger level are sequentially increased, and the higher the danger level is, the higher the possibility and the higher the degree of injury of the passenger after getting off the vehicle in the target area are represented.
Step S104: and reminding passengers based on the water pit danger level.
In the embodiment, after determining the judgment of the risk level of the puddle in the target area, the system sends out different levels of reminders to the passenger according to the judged risk level of the puddle and a preset reminding strategy, so that the passenger can make corresponding responses according to the different levels of reminders.
In the embodiment corresponding to the above steps S101 to S104, the puddle danger level is determined by combining the first recognition result obtained by the image acquisition device and the second recognition result obtained by the laser detector. The problems that the application of image recognition to sump detection is limited by the environment and the recognition rate is not high are solved, the recognition accuracy and speed are greatly improved, and the possibility of misjudgment is reduced. And based on the judged water pit danger level, reminding of different levels is sent to the passenger according to reminding strategies of different levels, so that the passenger can make corresponding feedback, and the interaction capacity between people and the vehicle is improved.
In a possible implementation, the image capturing apparatus includes a first image collector and a second image collector, and the method further includes:
acquiring a current external state; wherein the external conditions include a daytime condition and a nighttime condition;
when the external state is in the daytime state, identifying the road surface image of the current parking point according to a first image collector arranged on the vehicle to obtain a first identification result;
when the external state is in a night state, the road surface image of the current parking spot is identified according to a second image collector and an auxiliary light source which are arranged on the vehicle, and a first identification result is obtained.
In the present embodiment, it is considered that the light is sufficient in the daytime environment. Therefore, the influence of the light factor on the image acquisition device is small, while in a night environment, the influence of the light factor on the image acquisition device is large, and in a night environment, the influence on the eyesight of passengers also exists. Therefore, different detection strategies need to be implemented in daylight and night environments. According to the illumination sensor arranged on the vehicle body, the external state of the vehicle can be judged, and the external state of the vehicle can also be judged based on other modes, which is not limited in the application. When the external state of the vehicle is determined to be daytime environment, the first image collector is started, the first image collector can be a 360-degree panoramic image head, the road surface image of the parking spot can be identified in the environment with sufficient light, and a first identification result is obtained. When the external state of the vehicle is determined to be the night environment, the second image collector is started, the second image collector can be an infrared image head, the road surface image of the parking spot can be identified in the environment with insufficient light, and a first identification result is obtained. The first image collector and the second image collector are both arranged on the vehicle, and different image collectors are used in different application scenes. And when the external state of the vehicle is in a night environment, the second image collector is started, and meanwhile, the auxiliary light source arranged on the vehicle is also started, and the auxiliary light source can help the passenger observe the specific situation of a parking spot below the vehicle door in the night environment, so that the auxiliary lighting effect is achieved for the passenger to get off.
In a possible embodiment, the step of obtaining the second recognition result from the laser emitter comprises:
acquiring the receiving times and receiving time of the detection laser received by the laser detector;
when the receiving times are one time, determining that the second identification result is no pit risk;
and when the receiving times are two, determining that the second identification result is the risk of the water pit and the depth of the water pit, wherein the depth of the water pit is determined according to the receiving time.
In this embodiment, the laser detector is an infrared laser detector, and the infrared laser transmitter includes an infrared laser transmitter and an infrared laser receiver. A set of infrared laser emitter and infrared laser receiver can be arranged at the automobile body part corresponding to each automobile door, and after the automobile is determined to be in a parking state, the infrared laser emitter and the infrared laser receiver are exposed by opening a preset baffle plate, and the infrared laser emitter and the infrared laser receiver of the front door of the automobile can be arranged below the rearview mirror. In the detection process of executing the water pit task, the infrared laser transmitter can transmit laser according to a preset transmitting frequency, the infrared laser receiver is used for receiving laser transmitted by the infrared laser transmitter in the process, and the system determines whether the water pit exists in a currently detected target area or not according to the laser frequency received by the infrared laser receiver. The specific judgment principle is as follows: if the number of times of receiving the emitted laser by the infrared laser receiver is one, the region is proved to have no water pit. In the process, after the infrared laser transmitter emits laser, the laser is reflected after being emitted to the road surface, and the reflected laser is received by the infrared laser receiver, so that in the process, the infrared laser receiver only receives the reflected laser once. If the number of times of receiving the emitted laser by the infrared laser receiver is two, the region is indicated to possibly have a water pit. In the process, after the infrared laser transmitter emits laser, the laser is reflected after being emitted to the water surface, the reflected laser is received by the infrared laser receiver, namely, the reflected laser is received for the first time, the time t1 when the reflected laser is received for the first time is recorded, when the laser emitted by the infrared laser transmitter penetrates through a water pit and irradiates the underwater road surface, the reflected laser is reflected, the reflected laser is received by the infrared laser receiver, namely, the reflected laser is received for the second time, and the time t2 when the reflected laser is received for the second time is recorded. The interval of receiving 2 times of reflected laser can be determined according to the time difference between the time t1 and the time t2, and therefore the depth of the water pit can be determined. In the application, the laser emitted by the infrared laser emitter is a laser point, so that the divergence of the light is reduced, however, a part of the light emitted for the second time is definitely refracted, a specific algorithm needs to be adjusted by combining with the actual situation, and the application does not limit the light. And feeding back the specific depth of the puddle as a second recognition result to the system under the condition of existence and possible existence of the puddle.
In one possible embodiment, the step of determining the puddle risk level based on the first and second recognition results comprises:
when the first identification result and the second identification result are in a matched state, if the first identification result is free of pit risk and the second identification result is free of pit risk, determining that the pit risk level is a first risk level;
if the first identification result is that the risk of the water pit exists, the second identification result is that the risk of the water pit exists, and the predicted depth of the water pit is smaller than a preset threshold value, determining that the danger level of the water pit is a second danger level;
and if the first identification result is that the risk of the water pit exists, the second identification result is that the risk of the water pit exists, and the predicted depth of the water pit is greater than a preset threshold value, determining that the danger level of the water pit is a third danger level.
In this embodiment, after the system obtains the first recognition result and the second recognition result, the first recognition result includes two determination results of the presence of the puddle and the absence of the puddle, and the second recognition result also includes two determination results of the presence of the puddle and the absence of the puddle. Namely, the first recognition result and the second recognition result include a matching case and a non-matching case. In case of a match, the results of the first recognition result and the second recognition result are the same. In this case, if the first recognition result indicates no risk of water puddle and the second recognition result indicates no risk of water puddle, it indicates that there is no water puddle in the target area of the current parking position. If the first recognition result is that a puddle risk exists and the second recognition result is that a puddle risk exists, it is indicated that a puddle exists in a target area of the current parking position, and the determination is further performed according to a relation between the detected depth of the puddle and a preset threshold, where the preset threshold may be 0.1m and may be adjusted according to actual needs, which is not limited in the present application. If the predicted puddle depth is less than the preset threshold, it can be determined that the puddle causes a lower coefficient of passenger risk and the passenger is in a safer state, thus defining the puddle risk level as a second risk level. If the predicted depth of the water pit is larger than the preset threshold value, it is indicated that if a passenger gets off the vehicle at the moment, the passenger may mistakenly step into the water pit after getting off the vehicle to cause the passenger to fall down or cause water splash to splash so that the whole body is wetted, so that the safety of the passenger is greatly influenced, the coefficient of the danger of the passenger caused by the water pit is higher, the passenger is in a dangerous state, and the danger level of the water pit is defined as a third danger level. After the water pit danger level is determined, the information of the water pit danger level is fed back to the reminding module, and the passengers are reminded of different levels based on the reminding module.
In one possible embodiment, the method further comprises:
when the first recognition result and the second recognition result are in a mismatch state, determining a weighted average value of the recognition results according to the first recognition result, the second recognition result and a preset weighted average coefficient;
and comparing the weighted average value of the identification result with a preset threshold value to determine the danger level of the water pit.
In the present embodiment, if the first recognition result does not match the recognition result of the second recognition result, that is, if the first recognition result does not match the second recognition result, it indicates that both the possibility of the presence of the puddle and the possibility of the absence of the puddle are high at this time. Therefore, under the environment, different weights can be distributed to the first recognition result, the second recognition result and the predicted pit depth according to the actual situation, the weight reflects the proportion importance of the recognition result, and according to the weights of different recognition parameters, the weighted average value of the current pit recognition task can be determined, and the weighted average value of the recognition task is compared with the preset threshold value. As an example, the threshold value corresponding to the first risk level is 0-60, the threshold value corresponding to the second risk level is 61-80, and the threshold value corresponding to the third risk level is 81-100. And after the weighted average value A of the identification task is calculated, determining the corresponding water pit danger level according to which threshold interval the value A falls in. Under the condition that the identification results of the first identification result and the second identification result are not matched, the final identification result is determined according to weights corresponding to different identification results, so that the identification accuracy and universality are improved, the robustness of the whole water pit detection system is also improved, and the optimal judgment can be made in various application scenes.
In one possible embodiment, the step of alerting the passenger based on the puddle hazard classification includes:
if the danger level of the water pit is the first danger level, prompting passengers to get off the bus normally without the water pit at the getting-off point;
if the danger level of the water pit is a second danger level, prompting passengers to get off the bus in a shallow water pit and paying attention to safety;
and if the danger level of the water pit is the third danger level, prompting passengers that the getting-off point has a deep water pit, and suggesting to search the getting-off point again.
In the embodiment, when the water pit danger level received by the reminding module is different, the early warning is carried out in a grading way according to the difference of the water pit danger level. And when the danger level of the water pit is the first danger level, the system judges that the water pit does not exist at the current position. Consequently, the passenger can this get off the point and get off the car, and consequently danger coefficient is lower, can carry out voice prompt based on reminding the module, and voice prompt can contain the mood characteristic, and the mood that first dangerous grade corresponds is particularly for gentle mood characteristic, adopts soft voice prompt passenger to get off at this point of getting off promptly. And when the danger level of the water pit is the second danger level, the system judges that the shallow water pit exists in the current position. Therefore, passengers can get off at the get-off point, but need to pay attention to safety, namely, the passengers can get off at the get-off point by adopting the voice prompt of normal emotion, the get-off point has a water pit, and the passengers can pay attention to safety when getting off. When the danger level of the water pit is the third danger level, the system judges that the deeper water pit exists in the current position. Therefore, the passenger may have a safety risk if he gets off the vehicle at the alighting point. That is, the voice prompt of the anxious emotion is adopted to suggest that the passengers do not get off at the get-off point, and the get-off point has a deep water pit and please find other get-off points. The user is prompted to different levels based on different water pit danger levels, and the interaction capacity between people and vehicles is improved.
The embodiment of the invention also provides a puddle detection reminding device, and referring to fig. 2, a functional module diagram of the puddle detection reminding device is shown, and the device can comprise the following modules:
the acquiring module 201 is used for acquiring the current speed of the vehicle and determining the vehicle state according to the current speed;
the identification module 202 is configured to identify a road surface image of a current parking spot by using an image acquisition device arranged on a vehicle when the vehicle state is in a parking state, so as to obtain a first identification result, and identify whether accumulated water exists on the road surface of the current parking spot by using a laser detector arranged on the vehicle, so as to obtain a second identification result;
the judging module 203 is used for determining the water pit danger level according to the first identification result and the second identification result;
and the reminding module 204 is used for reminding passengers based on the water pit danger level.
In one possible implementation, the identification module 202 includes a first identification submodule, which includes:
an acquisition unit configured to acquire a current external state; wherein the external conditions include a daytime condition and a nighttime condition;
the system comprises a first acquisition unit, a second acquisition unit and a control unit, wherein the first acquisition unit is used for identifying a road surface image of a current parking point according to a first image collector arranged on a vehicle to obtain a first identification result when an external state is in the daytime state;
and the second acquisition unit is used for identifying the road surface image of the current parking spot according to a second image collector and an auxiliary light source arranged on the vehicle when the external state is in the night state, so as to obtain a first identification result.
In one possible implementation, the identification module 202 includes a second identification submodule, and the first identification submodule includes:
the laser receiver is used for receiving the detection laser emitted by the laser emitter and recording the receiving times and receiving time of the detection laser;
a first judging unit, configured to determine that the second recognition result is a risk of no pit when the number of times of reception is one;
and the second obtaining unit is used for determining that the second identification result is a puddle risk and a puddle depth when the receiving times are twice, wherein the puddle depth is determined according to the receiving time.
In a possible implementation manner, the determining module includes:
a first determining subunit, configured to determine that the puddle risk level is a first risk level if the first identification result is a puddle-free risk and the second identification result is a puddle-free risk when the first identification result and the second identification result are in a matching state;
the second determining subunit is configured to determine that the puddle risk level is a second risk level if the first identification result indicates that there is a puddle risk, the second identification result indicates that there is no puddle risk, and the predicted puddle depth is smaller than a preset threshold;
and the third-year determining subunit is configured to determine that the puddle risk level is a third risk level if the first recognition result indicates that there is a puddle risk, the second recognition result indicates that there is no puddle risk, and the predicted puddle depth is greater than a preset threshold.
In a possible implementation, the apparatus further includes an auxiliary determination module, which includes:
the calculating subunit is configured to determine a weighted average value of the recognition results according to the first recognition result, the second recognition result and a preset weighted average coefficient when the first recognition result and the second recognition result are in a mismatch state;
and the determining subunit is used for comparing the weighted average value of the identification result with a preset threshold value to determine the water pit danger level.
Optionally, the reminding module includes:
the first reminding submodule is used for reminding passengers that no water pit exists at a getting-off point and the passengers get off normally if the danger level of the water pit is a first danger level;
the second reminding submodule is used for reminding passengers that shallow water pits exist at a getting-off point and the passengers get off the car to pay attention to safety if the danger level of the water pits is a second danger level;
and the third reminding submodule is used for reminding passengers that the deep water pit exists at the get-off point and suggesting to search the get-off point again if the danger level of the water pit is the third danger level.
Based on the same inventive concept, another embodiment of the present invention provides an electronic device, as shown in fig. 3, comprising a processor 31, a communication interface 32, a memory 33 and a communication bus 34, wherein the processor 31, the communication interface 32, and the memory 33 are communicated with each other via the communication bus 34,
a memory 33 for storing a computer program;
the processor 31 is configured to implement the steps of the first aspect of the embodiment of the present invention when executing the program stored in the memory 33.
The communication bus mentioned in the above terminal may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this does not mean that there is only one bus or one type of bus.
The communication interface is used for communication between the terminal and other equipment.
The Memory may include a Random Access Memory (RAM) or a non-volatile Memory (non-volatile Memory), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, and includes a Central Processing Unit (CPU), a Network Processor (NP), and the like; the Integrated Circuit may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, or a discrete hardware component.
In another embodiment of the present invention, a computer-readable vehicle is further provided, which includes the puddle detection reminding device according to the second aspect of the embodiment of the present application.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product on one or more computer-usable vehicles having computer-usable program code embodied therein (including, but not limited to, disk storage, CD-ROM, optical storage, and the like).
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (apparatus), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. "and/or" means that either or both of them can be selected. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
The method, the device, the electronic device and the vehicle for detecting and reminding the puddle provided by the invention are described in detail, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A puddle detection reminding method, characterized in that the method comprises:
acquiring the current speed of a vehicle, and determining the state of the vehicle according to the current speed;
when the vehicle state is in a parking state, recognizing the road surface image of the current parking spot by using image acquisition equipment arranged on the vehicle to obtain a first recognition result, and simultaneously recognizing whether accumulated water exists on the road surface of the current parking spot by using a laser detector arranged on the vehicle to obtain a second recognition result;
determining a water pit danger level according to the first identification result and the second identification result;
and reminding passengers based on the water pit danger level.
2. The method of claim 1, wherein the image capture device comprises a first image collector and a second image collector, the method further comprising:
acquiring a current external state; wherein the external conditions include a daytime condition and a nighttime condition;
when the external state is in the daytime state, identifying the road surface image of the current parking point according to a first image collector arranged on the vehicle to obtain a first identification result;
when the external state is in a night state, the road surface image of the current parking spot is identified according to a second image collector and an auxiliary light source which are arranged on the vehicle, and a first identification result is obtained.
3. The method of claim 1, wherein the step of obtaining a second recognition result from the laser transmitter comprises:
acquiring the receiving times and receiving time of the detection laser received by the laser detector;
when the receiving times are one time, determining that the second identification result is no pit risk;
and when the receiving times are two, determining that the second identification result is the risk of the water pit and the depth of the water pit, wherein the depth of the water pit is determined according to the receiving time.
4. The method of claim 3, wherein the step of determining a puddle hazard level based on the first and second recognition results comprises:
when the first identification result and the second identification result are in a matched state, if the first identification result is free of pit risk and the second identification result is free of pit risk, determining that the pit risk level is a first risk level;
if the first identification result is that the risk of the water pit exists, the second identification result is that the risk of the water pit exists, and the predicted depth of the water pit is smaller than a preset threshold value, determining that the danger level of the water pit is a second danger level;
and if the first identification result is that the risk of the water pit exists, the second identification result is that the risk of the water pit exists, and the predicted depth of the water pit is greater than a preset threshold value, determining that the danger level of the water pit is a third danger level.
5. The method of claim 3, further comprising:
when the first recognition result and the second recognition result are in a mismatch state, determining a weighted average value of the recognition results according to the first recognition result, the second recognition result and a preset weighted average coefficient;
and comparing the weighted average value of the identification result with a preset threshold value to determine the danger level of the water pit.
6. The method of claim 1, wherein the step of alerting passengers based on the puddle hazard classification comprises:
if the danger level of the water pit is the first danger level, prompting passengers to get off the bus normally without the water pit at the getting-off point;
if the danger level of the water pit is a second danger level, prompting passengers to get off the bus in a shallow water pit and paying attention to safety;
and if the danger level of the water pit is the third danger level, prompting passengers that the getting-off point has a deep water pit, and suggesting to search the getting-off point again.
7. A puddle detection reminder apparatus, said apparatus comprising:
the acquisition module is used for acquiring the current speed of the vehicle and determining the state of the vehicle according to the current speed;
the identification module is used for identifying a road surface image of the current parking spot by using image acquisition equipment arranged on the vehicle to obtain a first identification result when the vehicle state is in a parking state, and identifying whether accumulated water exists on the road surface of the current parking spot by using a laser detector arranged on the vehicle to obtain a second identification result;
the judging module is used for determining the danger level of the water pit according to the first identification result and the second identification result;
and the reminding module is used for reminding the passengers based on the water pit danger level.
8. The apparatus of claim 7, wherein the reminder module comprises:
the first reminding submodule is used for reminding passengers that no water pit exists at a getting-off point and the passengers get off normally if the danger level of the water pit is a first danger level;
the second reminding submodule is used for reminding passengers that shallow water pits exist at a getting-off point and the passengers get off the car to pay attention to safety if the danger level of the water pits is a second danger level;
and the third reminding submodule is used for reminding passengers that the deep water pit exists at the get-off point and suggesting to search the get-off point again if the danger level of the water pit is the third danger level.
9. An electronic device is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor and the communication interface are used for realizing mutual communication by the memory through the communication bus;
a memory for storing a computer program;
a processor for implementing the method steps of any of claims 1-6 when executing a program stored in the memory.
10. A vehicle comprising a puddle detection reminder apparatus according to any one of claims 7-8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111631914.4A CN114283393A (en) | 2021-12-28 | 2021-12-28 | Sump detection reminding method and device, electronic equipment and vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111631914.4A CN114283393A (en) | 2021-12-28 | 2021-12-28 | Sump detection reminding method and device, electronic equipment and vehicle |
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| CN114283393A true CN114283393A (en) | 2022-04-05 |
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| CN202111631914.4A Withdrawn CN114283393A (en) | 2021-12-28 | 2021-12-28 | Sump detection reminding method and device, electronic equipment and vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115171031A (en) * | 2022-07-19 | 2022-10-11 | 杭州开闳流体科技有限公司 | Method and device for detecting surface water accumulation based on vehicle reference object and application |
| CN115240376A (en) * | 2022-06-15 | 2022-10-25 | 中国第一汽车股份有限公司 | Accumulated water danger identification and early warning method and system and vehicle thereof |
| CN116052442A (en) * | 2022-12-15 | 2023-05-02 | 嬴彻星创智能科技(上海)有限公司 | Risk identification method and system for road pit, electronic equipment and storage medium |
-
2021
- 2021-12-28 CN CN202111631914.4A patent/CN114283393A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115240376A (en) * | 2022-06-15 | 2022-10-25 | 中国第一汽车股份有限公司 | Accumulated water danger identification and early warning method and system and vehicle thereof |
| CN115171031A (en) * | 2022-07-19 | 2022-10-11 | 杭州开闳流体科技有限公司 | Method and device for detecting surface water accumulation based on vehicle reference object and application |
| CN116052442A (en) * | 2022-12-15 | 2023-05-02 | 嬴彻星创智能科技(上海)有限公司 | Risk identification method and system for road pit, electronic equipment and storage medium |
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