CN116118743A - Method for detecting and reporting road surface concave-convex condition of vehicle and vehicle side equipment - Google Patents
Method for detecting and reporting road surface concave-convex condition of vehicle and vehicle side equipment Download PDFInfo
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- 238000000034 method Methods 0.000 title claims abstract description 61
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
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- H—ELECTRICITY
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Abstract
The invention relates to the field of vehicles, and provides a method for detecting and reporting the concave-convex condition of a road surface of a vehicle, which comprises the following steps: s11, acquiring suspension motion information about a suspension of a vehicle; s12, acquiring image information of a road surface around the vehicle; s13, identifying a concave-convex area on the road surface of the road where the vehicle is currently located based on suspension motion information and image information of surrounding road surfaces, and determining road surface concave-convex information representing the road surface concave-convex condition of the road where the vehicle is currently located; s14, acquiring positioning information of the vehicle; and S15, sending the road surface concave-convex information and the positioning information to a cloud server (20) for generating or updating a road surface concave-convex map. A method of providing a road surface concave-convex map, a method of acquiring a road surface concave-convex condition for a vehicle, and a vehicle-side apparatus are also proposed. According to the invention, the safety and the comfort of the running of the vehicle can be improved.
Description
Technical Field
The present invention relates to the field of vehicles, and more particularly, to a method for detecting and reporting a road surface concave-convex condition of a vehicle, a method for providing a road surface concave-convex map, a method for acquiring a road surface concave-convex condition of a vehicle, and a vehicle-side apparatus.
Background
In recent years, vehicles are widely used for traveling, transportation, or the like. Safety and comfort of vehicle travel are of great concern.
The concave-convex condition of the road surface is important for safety and comfort of a vehicle traveling on a road. If the vehicle runs at a high speed through an uneven area of the road surface, such as a pit, a crack, a deceleration strip, etc., the vehicle may be severely jerked, causing discomfort to the driver and passengers. Such rugged areas may cause damage to components such as the chassis, suspension or tires of the vehicle and even result in the driver losing control of the vehicle.
Currently, the concave-convex condition of the road on which the vehicle is located can be detected by a single vehicle-mounted sensor. This makes the detected road surface roughness often less accurate and comprehensive. In addition, the vehicle cannot know the road surface roughness of the road ahead in advance. Therefore, the driver of the vehicle may not take appropriate countermeasures against the rugged region.
Thus, the prior art still has shortcomings in the perception and handling of the road surface roughness conditions.
Disclosure of Invention
An object of the present invention is to provide an improved method for detecting and reporting a road surface concave-convex condition of a vehicle, a method for providing a road surface concave-convex map, a method for acquiring a road surface concave-convex condition of a vehicle, and a vehicle-side apparatus to improve safety and comfort of running of a vehicle.
According to a first aspect of the present invention, there is provided a method for detecting and reporting a road surface roughness condition of a vehicle, wherein the method comprises the steps of:
s11, acquiring suspension motion information about a suspension of a vehicle;
s12, acquiring image information of a road surface around the vehicle;
s13, identifying a concave-convex area on the road surface of the road where the vehicle is currently located based on suspension motion information and image information of the road surface around the vehicle, and determining road surface concave-convex information representing the road surface concave-convex condition of the road where the vehicle is currently located;
s14, acquiring positioning information of the vehicle; and
and S15, sending the road surface concave-convex information and the positioning information to a cloud server for generating or updating a road surface concave-convex map.
By the method for detecting and reporting the road surface concave-convex condition, the vehicle can fuse suspension movement information and image information of road surfaces around the vehicle so as to obtain accurate and comprehensive road surface concave-convex information. Further, the vehicle can report accurate and comprehensive road surface concave-convex information to the cloud server 20 for generating or updating the road surface concave-convex map. Thus, the safety and comfort of the vehicle running can be improved. For example, by means of the road surface unevenness map, other vehicles that will travel over the uneven road surface can be warned so that it can be ensured that surrounding vehicles travel safely by adopting a deceleration or detour method or the like. Or, by means of the road surface concave-convex map, the road surface concave-convex condition of the road can be known so as to repair the road in time.
In one exemplary embodiment, the road surface relief information includes at least one of: presence of a relief region; the length of the relief area; width of the concave-convex area; relief height of the relief area; relief slope of the relief area. The width of the relief area can in particular be determined in step S13 from the image information of the surrounding road surface.
In one exemplary embodiment, the suspension movement information includes at least one of the following information about the suspension of the vehicle in the vertical direction: position information, displacement information, velocity information, acceleration information, and vibration information.
In an exemplary embodiment, the method further includes performing step S16 in the case where there is a concave-convex area on the road surface of the road on which the vehicle is currently located: and sending road surface concave-convex warning information to surrounding vehicles which will travel through the concave-convex area. The road surface concave-convex warning information optionally comprises: road surface unevenness information and/or a maximum vehicle speed limit for a surrounding vehicle, wherein the maximum vehicle speed limit for a surrounding vehicle represents a maximum safe running vehicle speed at which the surrounding vehicle runs through the unevenness area.
In an exemplary embodiment, step S16 includes the sub-steps of:
acquiring vehicle static attribute information of surrounding vehicles to be driven into the concave-convex area, wherein the vehicle static attribute information comprises: vehicle model information and/or weight information;
determining a maximum vehicle speed limit value for surrounding vehicles according to the road surface concave-convex information and the vehicle static attribute information of the surrounding vehicles; and
and transmitting road surface concave-convex warning information including road surface concave-convex information and a maximum vehicle speed limit value for the surrounding vehicles to the surrounding vehicles which will travel through the concave-convex area.
According to a second aspect of the present invention, there is provided a method of providing a road surface concave-convex map, wherein the method of providing a road surface concave-convex map comprises the steps of:
s21, road surface concave-convex information and positioning information from a reported vehicle are obtained;
s22, generating or updating a road surface concave-convex map according to the road surface concave-convex information and the positioning information, wherein the road surface concave-convex map at least comprises geographic position data and road surface concave-convex data corresponding to the geographic position data; and
s23, in response to receiving a query request containing geographic position information from a query vehicle, road surface concave-convex data corresponding to the geographic position information in the query request is acquired according to a road surface concave-convex map, and the corresponding road surface concave-convex data is sent to the query vehicle.
In one exemplary embodiment, the road surface relief data includes road surface relief information.
The road surface unevenness data optionally further includes at least one of the following data:
time data indicating generation time and/or latest update time of road surface concave-convex data;
confidence data representing a degree of confidence of the road surface relief data, wherein the degree of confidence optionally decreases over time, the confidence data optionally being updated periodically, wherein the road surface relief data is arranged to be able to be deleted in response to its degree of confidence being below a confidence threshold;
validity period data representing a validity period of road surface concave-convex data, wherein the road surface concave-convex data is set to be capable of being deleted in response to expiration of the validity period thereof;
and speed limit data indicating a maximum vehicle speed set for the vehicle based on the road surface unevenness data.
In one exemplary embodiment, step S21 is performed by: the vehicle-side apparatus that receives the reporting vehicle transmits the road surface unevenness information and the positioning information by executing the method of detecting and reporting the road surface unevenness condition according to the present invention.
According to a third aspect of the present invention, there is provided a method for acquiring a road surface concave-convex condition for a vehicle, comprising the steps of:
s31, during the running of the vehicle, a query request about the road surface concave-convex condition of the road in front of the vehicle is particularly sent periodically to a cloud server providing a road surface concave-convex map, wherein the query request contains geographic position information about the road in front of the vehicle;
s32, receiving pavement concave-convex data corresponding to the geographic position information in the query request from the cloud server; and
s33, according to the received road surface concave-convex data, sending out road surface concave-convex reminding information to remind a driver of the road surface concave-convex condition of the road in front of the vehicle.
In one exemplary embodiment, the method of obtaining the road surface roughness condition further comprises the steps of:
s34, determining a maximum vehicle speed limit value of the vehicle running through a road in front of the vehicle according to the received road surface concave-convex data and optionally according to the vehicle static attribute information of the vehicle, in particular by means of a trained neural network model; and
and S35, enabling the vehicle to travel through a road in front of the vehicle at a vehicle speed below a maximum vehicle speed limit value, or sending out vehicle speed reminding information to remind a driver to travel through the road in front of the vehicle at the vehicle speed below the maximum vehicle speed limit value.
According to a fourth aspect of the present invention, there is provided a vehicle-side apparatus, wherein the vehicle-side apparatus comprises a processor and a memory, the memory storing a computer program, which, when executed by the processor, is for example capable of executing the method of detecting and reporting a road surface roughness condition according to the present invention and/or the method of acquiring a road surface roughness condition according to the present invention.
Drawings
The principles, features and advantages of the present invention may be better understood by describing the present invention in more detail with reference to the drawings. The drawings include:
FIG. 1 schematically illustrates a vehicle including a vehicle-side apparatus according to an exemplary embodiment of the present invention;
FIG. 2 schematically illustrates a flow chart of a method for detecting and reporting a road surface irregularities of a vehicle in accordance with an exemplary embodiment of the present invention;
FIG. 3 schematically illustrates a cloud server capable of communicating with at least one vehicle;
fig. 4 schematically shows a flowchart of a method of providing a road surface relief map according to an exemplary embodiment of the present invention; and
fig. 5 schematically shows a flowchart of a method for acquiring a road surface concave-convex condition for a vehicle according to an exemplary embodiment of the invention.
List of reference numerals
110. Vehicle side equipment
120. Suspension sensor
130. Image pickup apparatus
140. Positioning device
150. Communication device
160. Reminding device
11 report vehicle
12. Inquiring vehicle
20. Cloud server
Detailed Description
In order to make the technical problems, technical solutions and advantageous technical effects to be solved by the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and a plurality of exemplary embodiments. It should be understood that the detailed description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Fig. 1 schematically shows a vehicle comprising a vehicle-side device 110 according to an exemplary embodiment of the invention.
As shown in fig. 1, the vehicle includes, for example, a suspension (not shown in the figure) and a suspension sensor 120 for detecting the suspension to acquire suspension motion information, in addition to the vehicle-side apparatus 110. Only one suspension sensor 120 is shown here by way of example, but the vehicle may be provided with a plurality of suspension sensors 120, so that suspension movement information of suspensions at different positions can be acquired. The suspension sensor 120 may include, for example, at least one of the following: position sensor, speed sensor, acceleration sensor, vibration sensor.
The vehicle may further include: an imaging device 130 for capturing an image of the surroundings of the vehicle and a positioning device 140 for providing positioning information of the vehicle. The imaging device 130 is particularly provided so as to be able to capture an image of the road surface around the vehicle. The camera device 130 comprises, for example, a front-view camera, which is particularly suitable for capturing images of the environment in front of the vehicle. The image for example comprises video information and/or picture information. The camera 130 may also include a left-view camera, a rear-view camera, a right-view camera, and/or the like. The positioning device 140 is arranged to be able to determine the current geographical position of the vehicle. The positioning device 140 is, for example, a GPS positioning device. The vehicle-side apparatus 110 may be communicatively connected with the image pickup device 130 and the positioning device 140 in a wired or wireless manner so as to acquire image information about a road surface around the vehicle and positioning information of the vehicle.
Furthermore, the vehicle further includes, for example: a communication means 150 for communication between the vehicle and the cloud server 20, surrounding vehicles and/or roadside units, etc.; and/or a reminder 160 for sending a reminder to the driver of the vehicle. The communication device 150 may receive information from the cloud server 20, surrounding vehicles, and/or roadside units, for example, based on internet of vehicles technology, and may also be capable of sharing information of vehicles to the cloud server 20, surrounding vehicles, and/or roadside units. The vehicle-side equipment 110 may be communicatively connected with the communication device 150 in a wired or wireless manner to transmit and/or receive information by means of the communication device 150.
The vehicle-side apparatus 110 may include a memory storing a computer program, and a processor that, when executed by the processor, is capable of executing, for example, a method of detecting and reporting a road surface concave-convex condition and/or a method of acquiring a road surface concave-convex condition (see the detailed description below). The computer program product may be stored in a computer readable storage medium. The computer readable storage medium may include, for example, high speed random access memory, but may also include non-volatile memory such as a hard disk, memory, plug-in hard disk flash memory card, and the like. The processor may be a central processing unit, but also other general purpose processors, digital signal processors, application specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general purpose processor may be a microprocessor or may be any conventional processor or the like. The vehicle-side equipment 110 is implemented, for example, as one or more Electronic Control Units (ECU) of the vehicle.
Fig. 2 schematically shows a flow chart of a method for detecting and reporting a road surface roughness condition of a vehicle according to an exemplary embodiment of the invention. This method of detecting and reporting the road surface roughness condition may be performed by the vehicle-side apparatus 110 shown in fig. 1, for example.
The method for detecting and reporting the concave-convex condition of the road surface at least comprises the following steps:
s11, acquiring suspension motion information about a suspension of a vehicle;
s12, acquiring image information of a road surface around the vehicle;
s13, identifying a concave-convex area on the road surface of the road where the vehicle is currently located based on suspension motion information and image information of surrounding road surfaces, and determining road surface concave-convex information representing the road surface concave-convex condition of the road where the vehicle is currently located;
s14, acquiring positioning information of the vehicle; and
and S15, sending the road surface concave-convex information and the positioning information to the cloud server 20 for generating or updating the road surface concave-convex map.
By the method for detecting and reporting the road surface concave-convex condition, the vehicle can fuse suspension movement information and image information of road surfaces around the vehicle so as to obtain accurate and comprehensive road surface concave-convex information. Further, the vehicle can report accurate and comprehensive road surface concave-convex information to the cloud server 20 for generating or updating the road surface concave-convex map. For example, by means of the road surface unevenness map, other vehicles that will travel over the uneven road surface can be warned so that it can be ensured that surrounding vehicles travel safely by adopting a deceleration or detour method or the like. Or, by means of the road surface concave-convex map, the road surface concave-convex condition of the road can be known so as to repair the road in time. Thus, the safety and comfort of the vehicle running can be improved.
As an example, the concave-convex area may include a pothole road surface area, a road surface area provided with a speed bump, and other road surface areas having uneven height.
As described above, the vehicle-side apparatus 110 can acquire suspension movement information, image information of the road surface around the vehicle, and positioning information of the vehicle by means of the suspension sensor 120, the image pickup device 130, and the positioning device 140, respectively. The suspension movement information may especially represent the movement of the suspension in the vertical direction. The suspension motion information may include, for example, at least one of the following: position information, displacement information, velocity information, acceleration information, and vibration information. By means of the suspension sensor 120 and the camera 130, in particular, different types of detection information can be provided, which can be verified as well as complemented with each other.
Optionally, the road surface unevenness information includes at least one of: presence of a relief region; the length of the relief area; width of the concave-convex area; relief height of the relief area; relief slope of the relief area. Here, the length of the concave-convex area means a dimension measured along the extending direction of the road, and the width of the concave-convex area means a dimension measured along the extending direction transverse to the road. The undulating height of the uneven region represents, for example, a difference in height between the highest point and the lowest point of the identified uneven region. The undulating slope of the uneven region indicates, for example, the degree of sharpness of the identified height change of the uneven region.
For example, the presence of the concave-convex area may be determined to be recognized based on suspension motion information or image information of the surrounding road surface alone. Preferably, the recognition result can be made more accurate by combining the suspension movement information and the image information of the surrounding road surface. In step S13, the width of the concave-convex area may be determined based on, inter alia, image information of the road surface around the vehicle. It can be seen that although it is difficult to determine the width of the concave-convex area based on only the suspension motion information, the image information of the road surface around the vehicle can make up for the deficiency. And the relief height and/or relief slope of the relief area may be determined based on suspension movement information of the surrounding road surface, among other things. Therefore, by combining the suspension movement information and the image information of the surrounding road surface, it is also advantageous to obtain more comprehensive road surface concave-convex information.
Optionally, the method for detecting and reporting the concave-convex condition of the road surface further includes executing step S16 when there is a concave-convex area on the road surface of the road where the vehicle is currently located. In step S16, road surface unevenness warning information is transmitted to the surrounding vehicle that will travel through the unevenness area. The road surface concave-convex warning information optionally comprises: road surface unevenness information and/or a maximum vehicle speed limit for a surrounding vehicle, wherein the maximum vehicle speed limit for a surrounding vehicle represents a maximum safe running vehicle speed at which the surrounding vehicle runs through the unevenness area. The road surface concave-convex warning information can be used for reminding surrounding vehicles which will travel through the concave-convex area in advance, so that the surrounding vehicles can be ensured to travel safely by adopting modes such as speed reduction or detour in time.
Step S16 may for example comprise the sub-steps of: acquiring vehicle static attribute information of surrounding vehicles which are to drive into the concave-convex area; determining a maximum vehicle speed limit value for surrounding vehicles according to the road surface concave-convex information and the vehicle static attribute information of the surrounding vehicles; and transmitting road surface unevenness warning information including road surface unevenness information and a maximum vehicle speed limit value for the surrounding vehicle to the surrounding vehicle that will travel through the unevenness area. The vehicle static attribute information includes, among other things, vehicle type information and/or weight information.
For example, by capturing an image of the surrounding vehicle with the image capturing device 130 of the vehicle, the surrounding vehicle and its vehicle type that will enter the concave-convex area can be identified. The image of the surrounding vehicle may also be used to estimate the weight of the surrounding vehicle. As another example, the surrounding vehicle and its model to be driven into the concave-convex area may be determined by vehicle-to-vehicle communication with the surrounding vehicle.
Optionally, the method for detecting and reporting the concave-convex condition of the road surface can further comprise: and under the condition that the concave-convex area exists on the road surface of the road where the vehicle is currently located, sending out road surface concave-convex reminding information to remind a driver of the concave-convex state of the road surface of the road in front of the vehicle. Alternatively or additionally, the method of detecting and reporting the condition of road surface irregularities may comprise: in the case where there is a concave-convex area on the road surface of the road on which the vehicle is currently located, a maximum vehicle speed limit value at which the vehicle travels through the concave-convex area is determined according to the road surface concave-convex information determined in step S13 and optionally according to the vehicle static attribute information of the vehicle, and vehicle speed reminding information is sent out to remind the driver to travel through the road in front of the vehicle at a vehicle speed below the maximum vehicle speed limit value. The maximum vehicle speed limit may be determined, in particular, by means of a trained neural network model. The vehicle static attribute information may include, among other things: vehicle model information and/or weight information.
The road surface irregularity alert message and/or the vehicle speed alert message may be transmitted optically and/or acoustically, for example, by alert device 160. For example, the reminder 160 may include a display screen to display road surface irregularities and/or vehicle speed reminders. Alternatively or additionally, the reminder 160 may include a voice module to audibly signal road surface irregularities and/or vehicle speed reminders.
Fig. 3 schematically illustrates a cloud server 20 capable of communicating with at least one vehicle. As shown in fig. 3, the cloud server 20 is capable of communicating with at least one reporting vehicle 11. A vehicle including the vehicle-side device 110 shown in fig. 1 may serve as the reporting vehicle 11, and the vehicle-side device 110 transmits the road surface unevenness information and the positioning information to the cloud server 20, for example, by performing a method of detecting and reporting the road surface unevenness condition according to an exemplary embodiment of the present invention.
By acquiring the road surface concave-convex information and the positioning information of the reporting vehicle 11, the cloud server 20 can generate or update a road surface concave-convex map. The road surface concave-convex map at least comprises geographic position data and road surface concave-convex data corresponding to the geographic position data. As shown in fig. 3, the cloud server 20 may communicate with a plurality of reporting vehicles 11, so that the data of the road surface concave-convex map is more comprehensive. The road surface relief map may be used for data collection purposes. For example, by means of a road surface concave-convex map, the road surface concave-convex condition of the road can be known so as to timely repair the road.
Preferably, the cloud server 20 is also in communication with the query vehicle 12 to send out road surface irregularities to the query vehicle 12.
Fig. 4 schematically shows a flowchart of a method of providing a road surface relief map according to an exemplary embodiment of the present invention. The method of providing the road surface concave-convex map may be performed by, for example, a cloud server shown in fig. 3. In particular, the cloud server may comprise a processor and a memory storing a computer program which, when executed by the processor, is capable of performing a method of providing a map of road surface irregularities.
The method for providing the road surface concave-convex map comprises the following steps:
s21, road surface concave-convex information and positioning information from the reporting vehicle 11 are acquired;
s22, generating or updating a road surface concave-convex map according to the road surface concave-convex information and the positioning information, wherein the road surface concave-convex map at least comprises geographic position data and road surface concave-convex data corresponding to the geographic position data; and
s23, in response to receiving an inquiry request containing geographical position information from the inquiry vehicle 12, road surface concave-convex data corresponding to the geographical position information in the inquiry request is acquired from a road surface concave-convex map, and the corresponding road surface concave-convex data is transmitted to the inquiry vehicle 12.
The road surface relief map may be stored in a memory of the cloud server. The road surface unevenness data includes at least road surface unevenness information. In one exemplary embodiment, the road surface relief data further includes at least one of the following: time data indicating generation time and/or latest update time of road surface concave-convex data; confidence data indicating a degree of confidence of the road surface concave-convex data; validity period data indicating a validity period of road surface concave-convex data; and speed limit data indicating a maximum vehicle speed set for the vehicle based on the road surface unevenness data.
The degree of confidence of the road surface unevenness data may decrease with time, for example. The confidence data is optionally updated periodically. The road surface relief data may be arranged to be able to be deleted in response to its confidence level being below a confidence threshold. Alternatively or additionally, the road surface relief data may be arranged to be able to be deleted in response to expiration of its useful life.
Thus, the road surface concave-convex map can provide comprehensive and reliable road surface concave-convex data.
The query vehicle 12 may include a vehicle-side device capable of performing the method of acquiring the road surface roughness condition, which may be, for example, the vehicle-side device 110 shown in fig. 1. Fig. 5 schematically shows a flowchart of a method for acquiring a road surface concave-convex condition for a vehicle according to an exemplary embodiment of the invention.
The method of acquiring the road surface roughness condition may include steps S31, S32 and S32.
In step S31, the vehicle-side device 110 may transmit a query request regarding the road surface concave-convex condition of the road ahead of the vehicle to the cloud server 20 that provides the road surface concave-convex map during the running of the vehicle. In particular, the vehicle-side device 110 may periodically send the query request to the cloud server 20 during vehicle travel. The query request contains geographic location information about a road ahead of the vehicle. As described above with reference to fig. 4, the cloud server 20 may, in response to receiving a query request containing geographic location information from the query vehicle 12, acquire road surface irregularity data corresponding to geographic location information in the query request from a road surface irregularity map, and transmit the corresponding road surface irregularity data to the query vehicle 12.
In step S32, the vehicle-side device 110 may receive road surface concave-convex data corresponding to the geographical position information in the query request from the cloud server 20.
In step S33, road surface unevenness reminding information may be sent out according to the received road surface unevenness data to remind the driver of the road surface unevenness condition of the road in front of the vehicle.
Thus, the query vehicle 12 can determine the road surface roughness of the road ahead of the vehicle in advance. In the case where there is a concave-convex area on the road surface of the road ahead of the vehicle, the query vehicle 12 can promptly employ a manner of deceleration or detour or the like to ensure safe running and improve the comfort of the person on the vehicle.
The geographical position information about the road ahead of the vehicle may represent the geographical position of the road ahead of the vehicle, or may represent the geographical position where the vehicle is currently located and the traveling direction of the vehicle.
Alternatively, the method of acquiring the road surface roughness condition may include step S34 and step S35.
In step S34, a maximum vehicle speed limit for the vehicle to travel through the road ahead of the vehicle may be determined from the received road surface irregularity data and, optionally, from the vehicle static attribute information of the vehicle. The maximum vehicle speed limit may be determined, in particular, by means of a trained neural network model. The vehicle static attribute information includes, among others: vehicle model information and/or weight information.
In step S35, a vehicle speed warning message may be issued to remind the driver to travel through the road ahead of the vehicle at a vehicle speed below the maximum vehicle speed limit. Alternatively, when the vehicle turns on the automatic driving function, the vehicle is caused to travel through the road ahead of the vehicle at a vehicle speed equal to or less than the maximum vehicle speed limit.
The road surface irregularity alert message and/or the vehicle speed alert message may be transmitted optically and/or acoustically, for example, by alert device 160. For example, the reminder 160 may include a display screen to display road surface irregularities and/or vehicle speed reminders. Alternatively or additionally, the reminder 160 may include a voice module to audibly signal road surface irregularities and/or vehicle speed reminders.
In the present invention, communication between components and/or devices may be achieved in a wired and/or wireless manner as desired, or by means of unidirectional and/or bidirectional channels as desired.
It should be understood that, in the present invention, the steps are not necessarily performed in accordance with the illustrated order or the order described in the specification, but may be performed simultaneously or in a different order according to actual situations.
Although specific embodiments of the invention have been described in detail herein, they are presented for purposes of illustration only and are not to be construed as limiting the scope of the invention. Various substitutions, alterations, and modifications can be made without departing from the spirit and scope of the invention.
Claims (10)
1. A method for detecting and reporting a road surface roughness condition for a vehicle, wherein the method comprises the steps of:
s11, acquiring suspension motion information about a suspension of a vehicle;
s12, acquiring image information of a road surface around the vehicle;
s13, identifying a concave-convex area on the road surface of the road where the vehicle is currently located based on suspension motion information and image information of surrounding road surfaces, and determining road surface concave-convex information representing the road surface concave-convex condition of the road where the vehicle is currently located;
s14, acquiring positioning information of the vehicle; and
and S15, sending the road surface concave-convex information and the positioning information to a cloud server (20) for generating or updating a road surface concave-convex map.
2. The method of claim 1, wherein,
the road surface unevenness information includes at least one of: presence of a relief region; the length of the relief area; the width of the relief area, wherein the width of the relief area is determined in particular in step S13 from the image information of the surrounding road surface; relief height of the relief area; relief slope of the relief area; and/or
The suspension movement information includes at least one of the following information about the suspension of the vehicle in the vertical direction: position information, displacement information, velocity information, acceleration information, and vibration information.
3. The method according to claim 1 or 2, wherein,
the method further includes performing step S16 in the case where there is a concave-convex area on the road surface of the road on which the vehicle is currently located: transmitting road surface unevenness warning information to surrounding vehicles that will travel through the unevenness region, the road surface unevenness warning information optionally including: road surface unevenness information and/or a maximum vehicle speed limit for a surrounding vehicle, wherein the maximum vehicle speed limit for a surrounding vehicle represents a maximum safe running vehicle speed at which the surrounding vehicle runs through the unevenness area.
4. The method of claim 3, wherein,
step S16 comprises the following sub-steps:
acquiring vehicle static attribute information of surrounding vehicles to be driven into the concave-convex area, wherein the vehicle static attribute information comprises: vehicle model information and/or weight information;
determining a maximum vehicle speed limit value for surrounding vehicles according to the road surface concave-convex information and the vehicle static attribute information of the surrounding vehicles; and
and transmitting road surface concave-convex warning information including road surface concave-convex information and a maximum vehicle speed limit value for the surrounding vehicles to the surrounding vehicles which will travel through the concave-convex area.
5. A method of providing a road surface relief map, wherein the method comprises the steps of:
s21, road surface concave-convex information and positioning information from a reporting vehicle (11) are acquired;
s22, generating or updating a road surface concave-convex map according to the road surface concave-convex information and the positioning information, wherein the road surface concave-convex map at least comprises geographic position data and road surface concave-convex data corresponding to the geographic position data; and
s23, in response to receiving an inquiry request containing geographical position information from an inquiry vehicle (12), acquiring road surface concave-convex data corresponding to the geographical position information in the inquiry request according to a road surface concave-convex map, and transmitting the corresponding road surface concave-convex data to the inquiry vehicle (12).
6. The method of claim 5, wherein,
the road surface unevenness data includes road surface unevenness information, and the road surface unevenness data optionally further includes at least one of the following data:
time data indicating generation time and/or latest update time of road surface concave-convex data;
confidence data representing a degree of confidence of the road surface relief data, wherein the degree of confidence optionally decreases over time, the confidence data optionally being updated periodically, wherein the road surface relief data is arranged to be able to be deleted in response to its degree of confidence being below a confidence threshold;
validity period data representing a validity period of road surface concave-convex data, wherein the road surface concave-convex data is set to be capable of being deleted in response to expiration of the validity period thereof;
and speed limit data indicating a maximum vehicle speed set for the vehicle based on the road surface unevenness data.
7. The method according to claim 5 or 6, wherein,
step S21 is performed by: vehicle-side apparatus (110) that receives a reporting vehicle (11) transmits road surface unevenness information and positioning information by executing the method of detecting and reporting a road surface unevenness condition according to any one of claims 1 to 4.
8. A method for acquiring a road surface roughness condition for a vehicle, wherein the method comprises the steps of:
s31, during the running of the vehicle, a query request about the road surface concave-convex condition of the road in front of the vehicle is particularly sent periodically to a cloud server (20) providing a road surface concave-convex map, wherein the query request contains geographic position information about the road in front of the vehicle;
s32, receiving pavement concave-convex data corresponding to the geographic position information in the query request from the cloud server (20); and
s33, according to the received road surface concave-convex data, sending out road surface concave-convex reminding information to remind a driver of the road surface concave-convex condition of the road in front of the vehicle.
9. The method of claim 8, wherein,
s34, determining a maximum vehicle speed limit value of the vehicle running through a road in front of the vehicle according to the received road surface concave-convex data and optionally according to the vehicle static attribute information of the vehicle, in particular by means of a trained neural network model; and
and S35, enabling the vehicle to travel through a road in front of the vehicle at a vehicle speed below a maximum vehicle speed limit value, or sending out vehicle speed reminding information to remind a driver to travel through the road in front of the vehicle at the vehicle speed below the maximum vehicle speed limit value.
10. A vehicle-side device (110), wherein the vehicle-side device (110) comprises a processor and a memory, the memory storing a computer program, which, when executed by the processor, is for example capable of performing the method according to any one of claims 1-4 and/or the method according to claim 8 or 9.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310262458.3A CN116118743A (en) | 2023-03-14 | 2023-03-14 | Method for detecting and reporting road surface concave-convex condition of vehicle and vehicle side equipment |
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| CN202310262458.3A CN116118743A (en) | 2023-03-14 | 2023-03-14 | Method for detecting and reporting road surface concave-convex condition of vehicle and vehicle side equipment |
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