CN117516654A

CN117516654A - Road ponding detection method and device

Info

Publication number: CN117516654A
Application number: CN202210897314.0A
Authority: CN
Inventors: 陈庆学
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2022-07-28
Filing date: 2022-07-28
Publication date: 2024-02-06

Abstract

The application provides a road ponding detection method and device. The road water accumulation detection method provided by the application can be applied to a target vehicle comprising a laser radar in a double-echo mode, and the method comprises the following steps: acquiring a first moment when the laser radar receives a first echo, wherein the first echo is a reflected beam of a first laser beam emitted by the laser radar to a first target ponding area; acquiring a second moment when the laser radar receives a second echo, wherein the second echo is a reflected beam of the first laser beam; and determining the water depth information of the first target water accumulation area according to the first moment, the second moment and the emission angle when the laser radar emits the first laser beam. In the technical scheme of the application, because the water depth information of the first target water accumulation area is determined based on the two echoes received by the laser radar, but not based on the first echo, the accuracy of the detected water depth information of the first target water accumulation area can be improved.

Description

Road ponding detection method and device

Technical Field

The application relates to the technical field of intelligent driving, in particular to a method and a device for detecting road ponding.

Background

When the vehicle is running, the situation that the front road is a ponding road section is unavoidable. If the water accumulation depth of the water accumulation road section is relatively deep, traffic accidents can be caused after vehicles drive into the water accumulation road section. It is therefore very important to detect the water accumulation depth in the front water accumulation section so that the driver takes corresponding measures in time according to the water accumulation depth.

At present, a method for detecting the depth of accumulated water comprises the following steps: transmitting a first laser beam to a target water accumulation area through a laser radar arranged on a vehicle, and receiving a second laser beam reflected by a target point (a certain point on the water surface) after the first laser beam strikes the target point; then determining a three-dimensional coordinate value of the target point under a world coordinate system according to the moment of emitting the first laser beam, the moment of receiving the second laser beam and the emission angle of the laser radar for emitting the first laser beam; and finally, determining the ponding depth at the target point based on the three-dimensional coordinate value of the target point under the world coordinate system and the road surface height value corresponding to the target point in the pre-stored electronic map.

However, the water accumulation depth detected by the method for detecting the water accumulation depth often has an inaccurate problem.

Disclosure of Invention

The application provides a road ponding detection method and device, which can improve the accuracy of the detected ponding depth.

In a first aspect, the present application provides a method for detecting road water, applied to a target vehicle, where the target vehicle includes a laser radar with a dual echo mode, the method includes: acquiring a first moment when the laser radar receives a first echo, wherein the first echo is a reflected beam of a first laser beam emitted by the laser radar to a first target ponding area; acquiring a second moment when the laser radar receives a second echo, wherein the second echo is a reflected beam of the first laser beam; and determining the water depth information of the first target water accumulation area according to the first moment, the second moment and the emission angle when the laser radar emits the first laser beam.

In the road ponding detection method provided by the application, after a first laser beam is emitted to a first target ponding area through a double-echo mode laser radar, two reflection beams (namely a first echo and a second echo) based on the first laser beam are received, specifically, one echo in the application is the beam received by the laser radar and returns to the earliest, the other echo is the beam received by the laser radar and returns to the latest, and then the water depth information of the first target ponding area is determined based on the time of the beam received by the laser radar and the angle of the laser beam emitted by the laser radar.

It will be appreciated that the earliest beam received by the lidar is typically the beam reflected back from the point on the water surface in the first target water area, and the latest beam received by the lidar is typically the wave reflected back from the point on the ground after the first laser beam strikes the point on the water surface, which is reflected back from the point on the ground through refraction, reflection, and other operations, i.e. in this embodiment, because the water depth information in the first target water area is determined based on the first echo reflected back from the water surface and the second echo reflected back from the ground, the accuracy of the determined water depth information in the first target water area can be improved.

With reference to the first aspect, in a possible implementation manner, the method further includes: and determining a target navigation route of the target vehicle according to the water depth information of the first target water accumulation area, wherein the target navigation route does not pass through an area with the water depth greater than or equal to a first preset depth threshold value in the first target water accumulation area.

It will be appreciated that when an area with a water depth greater than or equal to the first preset depth threshold exists in the first target water accumulation area, it is indicated that the ground on which the area is located may not be a flat ground, but an underground tunnel may exist, in which case, in this implementation manner, the target vehicle may determine the target navigation route again by using the target vehicle, so that the target vehicle bypasses the underground tunnel, thereby ensuring the safety of the target vehicle when driving.

With reference to the first aspect, in one possible implementation manner, determining a target navigation route of the target vehicle according to the water depth information of the first target water area includes: acquiring water depth information of each of K different second target water accumulation areas from a cloud server, uploading the water depth information of K different second target water accumulation areas corresponding to the K different second target water accumulation areas to the cloud server by K different vehicles, wherein the distance between each of the K different vehicles and the target vehicle is smaller than or equal to a preset distance threshold value, and the difference between the time when the water depth information of the K different second target water accumulation areas is uploaded to the cloud server and the time when the water depth information of the first target water accumulation area is determined is smaller than or equal to a preset time threshold value; and determining a target navigation route based on the water depth information of the first target water accumulation area, the water depth information of K different second target water accumulation areas and the rainfall information acquired by the rainfall sensor in the target vehicle.

It will be appreciated that the distance between each of the K different vehicles and the target vehicle is less than or equal to the preset distance threshold, enabling the target vehicle to consider a nearby area when determining a target navigation route that can bypass the tunnel. And the difference between the moment when the water depth information of the K different second target water areas is uploaded to the cloud server and the moment when the water depth information of the first target water areas is determined is smaller than or equal to a preset time threshold value, so that the accuracy of the determined target navigation route can be improved. For example, if the time difference between the time when the water depth information of the K different second target water-logging areas is uploaded to the cloud server and the time when the water depth information of the first target water-logging area is determined is one month, in general, in this one month, the K different second target water-logging areas may not be water-logging areas any more, so that a problem of inaccurate target navigation route caused by inaccuracy of the acquired water depth information of the K different second target water-logging areas is caused.

In the implementation manner, when the target vehicle determines the target navigation route which can bypass the tunnel, the accuracy of the determined target navigation route can be further improved because the rainfall and the water depth information of K other water accumulation areas around the rainfall are also considered.

With reference to the first aspect, in a possible implementation manner, the method further includes: acquiring the water flow speed of a first target water accumulation area; when an area with water depth greater than or equal to a second preset depth threshold value exists in the first target water accumulation area and the water flow speed is greater than a preset speed threshold value, outputting first prompt information, wherein the first prompt information is used for prompting a driver to withdraw from the target vehicle.

In the implementation manner, when the water depth is greater than or equal to the second preset depth threshold value and the water flow speed is greater than the preset speed threshold value in the first target water accumulation area, the first prompt information is output to prompt drivers and passengers to quickly evacuate the vehicle, so that the safety of the drivers and the passengers can be ensured.

With reference to the first aspect, in one possible implementation manner, the target vehicle includes a humidity sensor, and the method further includes: when the humidity sensor detects that the humidity in the target vehicle is greater than a preset humidity threshold, the target vehicle is controlled to complete any one of the following functions: closing an engine of the target vehicle, unlocking a door of the target vehicle, and outputting second prompt information for prompting a driver to leave the target vehicle.

In the implementation manner, whether the humidity in the target vehicle is larger than the preset humidity threshold value or not can be detected through the humidity sensor so as to control the target vehicle to finish the operations of closing the engine of the target vehicle, unlocking the door of the target vehicle and/or outputting the second prompt information, so that the safety of drivers and passengers can be ensured.

With reference to the first aspect, in a possible implementation manner, the target vehicle includes a water level sensor thereon, and the method further includes: when the water level sensor detects that the water level of the current position of the target vehicle is greater than a preset height threshold value, controlling the laser radar to emit a first laser beam to the first target water accumulation area.

In the implementation manner, the first laser beam is emitted to the first target water accumulation area only when the water level sensor in the target vehicle detects that the water level at the current position of the target vehicle is greater than the preset height threshold value, and the first laser beam is not emitted at any moment when the laser radar is enabled, so that the power consumption of the laser radar can be reduced.

In a second aspect, the present application provides a road water accumulation detection device, applied to a target vehicle, including a laser radar in a dual echo mode, the device including: the acquisition module is used for acquiring a first moment when the laser radar receives a first echo, wherein the first echo is a reflected beam of a first laser beam emitted by the laser radar to a first target water accumulation area; the acquisition module is also used for acquiring a second moment when the laser radar receives a second echo, wherein the second echo is a reflected beam of the first laser beam; and the processing module is used for determining the water depth information of the first target water area according to the first moment, the second moment and the emission angle when the laser radar emits the first laser beam.

With reference to the second aspect, in one possible implementation manner, the processing module is further configured to: and determining a target navigation route of the target vehicle according to the water depth information of the first target water accumulation area, wherein the target navigation route does not pass through an area with the water depth greater than or equal to a first preset depth threshold value in the first target water accumulation area.

With reference to the second aspect, in one possible implementation manner, the obtaining module is further configured to: acquiring water depth information of each of K different second target water accumulation areas from a cloud server, uploading the water depth information of K different second target water accumulation areas corresponding to the K different second target water accumulation areas to the cloud server by K different vehicles, wherein the distance between each of the K different vehicles and the target vehicle is smaller than or equal to a preset distance threshold value, and the difference between the time when the water depth information of the K different second target water accumulation areas is uploaded to the cloud server and the time when the water depth information of the first target water accumulation area is determined is smaller than or equal to a preset time threshold value; the processing module is also used for: and determining a target navigation route based on the water depth information of the first target water accumulation area, the water depth information of K different second target water accumulation areas and the rainfall information acquired by the rainfall sensor in the target vehicle.

With reference to the second aspect, in one possible implementation manner, the obtaining module is further configured to: acquiring the water flow speed of a first target water accumulation area; the processing module is also used for: when an area with water depth greater than or equal to a second preset depth threshold value exists in the first target water accumulation area and the water flow speed is greater than a preset speed threshold value, outputting first prompt information, wherein the first prompt information is used for prompting a driver to withdraw from the target vehicle.

With reference to the second aspect, in one possible implementation manner, the target vehicle includes a humidity sensor, and the processing module is further configured to: when the humidity sensor detects that the humidity in the target vehicle is greater than a preset humidity threshold, the target vehicle is controlled to complete any one of the following functions: closing an engine of the target vehicle, unlocking a door of the target vehicle, and outputting second prompt information, wherein the second prompt information is used for prompting a driver to leave the target vehicle.

With reference to the second aspect, in one possible implementation manner, the target vehicle includes a water level sensor thereon, and the processing module is further configured to: when the water level sensor detects that the water level of the current position of the target vehicle is greater than a preset height threshold value, the laser radar is controlled to emit a first laser beam to a first target water accumulation area.

In a third aspect, the present application provides a road water accumulation detection device, including: a memory and a processor; the memory is used for storing program instructions; the processor is configured to invoke program instructions in the memory to perform the method according to the first aspect or any of the possible implementations thereof.

In a fourth aspect, the present application provides an intelligent driving system comprising an apparatus as described in the second aspect or any one of the possible implementations thereof.

In a fifth aspect, the present application provides an intelligent driving apparatus comprising an arrangement as described in the second aspect or any one of the possible implementations thereof, or comprising an intelligent driving system as described in the fourth aspect.

Illustratively, the autopilot device is a vehicle.

In a sixth aspect, the present application provides a computer readable medium storing program code for computer execution, the program code comprising instructions for performing a method as described in the first aspect or any one of the possible implementations.

In a seventh aspect, the present application provides a computer program product comprising computer program code embodied therein, which when run on a computer causes the computer to implement a method as described in the first aspect or any one of the possible implementations.

The technical effects of any implementation manner of the second aspect to the seventh aspect may be referred to any possible implementation manner of the first aspect, which is not repeated.

Drawings

Fig. 1 is a schematic view of an application scenario provided in the present application;

FIG. 2 is a schematic structural diagram of a method for detecting the depth of accumulated water;

FIG. 3 is a schematic view of a vehicle according to the present disclosure;

fig. 4 is a schematic flow chart of a method for detecting road water according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of determining depth information of a water accumulation area according to the present application;

fig. 6 is a schematic flow chart of a method for detecting road water according to another embodiment of the present disclosure;

FIG. 7 is a schematic structural diagram of a road water accumulation detection device according to an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a road water accumulation detection device according to another embodiment of the present application.

Detailed Description

When the vehicle is running, the situation that the front road section is a water accumulation area is unavoidable. Fig. 1 is a schematic view of an application scenario provided in the present application. As shown in fig. 1, the application scenario includes a vehicle 101 and a water accumulation area 102 located in front of the vehicle. It will be appreciated that in the case where the water accumulation depth in the water accumulation area 102 is relatively deep, but the driver cannot learn the water accumulation depth, if the driver adventure to drive the vehicle 101 into the water accumulation area 102, the vehicle 101 may be flameout and anchored, resulting in property loss and possibly even a traffic accident. It is therefore important to detect the water accumulation depth in the front water accumulation zone 102 so that the driver takes appropriate action in time based on the water accumulation depth.

It is noted herein that the embodiment of the present application is not limited to a specific type of vehicle 101, and for example, the vehicle 101 may be an autonomous vehicle.

At present, a method for detecting the depth of accumulated water comprises the following steps: transmitting a first laser beam to a water accumulation area through a laser radar arranged on a vehicle, and receiving a second laser beam reflected by a target point (a certain point on the water surface) after the first laser beam strikes the target point; then determining a three-dimensional coordinate value of the target point under a world coordinate system according to the moment of emitting the first laser beam, the moment of receiving the second laser beam and the emission angle of the laser radar for emitting the first laser beam; and finally, determining the ponding depth at the target point based on the three-dimensional coordinate value of the target point under the world coordinate system and the road surface height value of the target point in the pre-stored electronic map.

For example, FIG. 2 is a schematic structural diagram of a method for detecting the depth of water accumulation. As shown in fig. 2, after a laser radar 201 on a vehicle emits a laser beam (also referred to as a first laser beam) to the water surface to a certain point a, the point a reflects an echo (also referred to as a second laser beam) to the laser radar; then, the controller in the vehicle may calculate the distance L between the point a and the laser radar based on the emission time of the first laser beam and the emission time of the second laser beam, and the electromagnetic wave speed, and then determine the three-dimensional coordinate value of the point a in the world coordinate system based on the distance L between the point a and the laser radar and the angle at which the laser radar emits the first laser beam (in this embodiment, the pitch angle of the first laser beam emitted by the laser radar and the horizontal plane, such as a in the figure), and the three-dimensional coordinate value of the laser radar in the world coordinate system; and finally, determining the ponding depth at the point A based on the three-dimensional coordinate value of the point A under the world coordinate system and the road surface height value corresponding to the point A in the prestored electronic map.

However, it will be appreciated that the depth of water accumulation detected by the above method is often subject to inaccuracy. For example, the water accumulation area may be a rough road section, as shown in fig. 2, a tunnel may exist on the road section where the water accumulation area is located, but in the existing detection method, the height value of the flat road surface is usually used as a reference, which makes the water accumulation depth of the tunnel detected by the vehicle actually inaccurate. In other words, the existing method for detecting the water accumulation depth cannot detect whether a tunnel exists in the water accumulation area, so that a vehicle can possibly drive into the tunnel, a fuel vehicle transmitter is led to enter water, a short circuit is caused between an electric vehicle battery and an electric control system, an engine is scrapped when the electric vehicle battery is light, and the safety of a driver is caused when the electric vehicle battery is heavy.

In view of this, the embodiment of the application provides a method for detecting road ponding to promote the accuracy of the ponding depth that detects, thereby can accurately discern whether there is the tunnel in the ponding district in front of the target vehicle. Further, when it is recognized that an excavation exists in the water accumulation area in front of the target vehicle, the target vehicle can be allowed to re-route so as to bypass the excavation in the water accumulation area in front of the vehicle, and therefore driving safety is guaranteed.

It is described herein that the embodiment of the present application does not limit the specific structure of the vehicle. Fig. 3 is a schematic structural view of a vehicle provided in the present application. As shown in fig. 3, a lidar 301, an ultrasonic radar 302, a water level sensor 303, a humidity sensor 304, and a mobile data center (mobile data center, MDC) 305 may be included in the vehicle. The laser radar 301 may be used to irradiate a laser beam to a target object to measure a distance between the target object and a vehicle, the ultrasonic radar 302 is a safety auxiliary device for parking or reversing the vehicle, and the ultrasonic radar 302 may be used to detect a vertical distance between a vehicle body and a road surface when the driver is informed of a surrounding obstacle by a sound or a more visual display. The water level sensor 303 may be used to detect if there is water in the current location of the vehicle; the humidity sensor 304 is used for detecting whether water enters the vehicle; the mobile data center 305 may be considered the brain of the vehicle, corresponding to a computing center platform.

Next, with reference to fig. 4, a method for detecting road ponding provided in an embodiment of the present application will be described. As shown in fig. 4, the method for detecting road ponding provided in the embodiment of the present application includes S401, S402 and S403. The method provided by the application can be applied to the target vehicle. In particular, the method of the present application may be performed by a control device in a vehicle. For example, the control device may be the mobile data center 305 shown in fig. 3.

S401, acquiring a first moment when the laser radar receives a first echo, wherein the first echo is a reflected beam of a first laser beam emitted by the laser radar to a first target water accumulation area.

In this embodiment, the lidar refers to a dual-echo mode lidar. It will be appreciated that the laser beam emitted by the lidar is of an area and that when the laser beam detects an object, the laser beam at the edge of the object may be split into two parts, a part at the original object and a part continuing until a further object is detected. In this case, when the lidar is set to the dual-echo mode, two echo signals can be obtained by one laser beam emitted.

In this embodiment, the first echo is an echo reflected by the first target water accumulation area when the first laser beam emitted by the laser radar to the first target water accumulation area detects the first target water accumulation area. It will be appreciated that the first echo in this embodiment is the earliest echo to arrive at the lidar among all echoes based on the reflection of the first laser beam.

It will be appreciated that all echoes reflected back have a time of arrival at the lidar, and in this embodiment the first time is the time of arrival of the earliest echo received by the lidar at the lidar.

It is explained here that the embodiment of the present application does not limit the specific timing of emitting the first laser beam. For example, in one embodiment, the lidar is controlled to emit a first laser beam to a first target water accumulation zone when a water level sensor in the vehicle detects that the water level at the current location of the target vehicle is greater than a preset height threshold. For example, the preset height threshold is 20 cm or 30 cm, but is not limiting of the present application.

It can be appreciated that in this embodiment, since the first laser beam is emitted to the first target water accumulation area only when the water level sensor in the vehicle detects that the water level height at the current position of the target vehicle is greater than the preset threshold, instead of causing the laser radar to transmit the first laser beam at the moment, the power consumption of the laser radar can be reduced.

S402, acquiring a second moment when the laser radar receives a second echo, wherein the second echo is a reflection beam of the first laser beam.

It will be appreciated that for the first target water region, after the lidar has transmitted the first laser beam to the first target water region, if the first target water region includes an excavation such as that shown in fig. 2, the first laser beam may also detect the ground and then reflect echoes from the ground to the lidar.

In this embodiment, the second echo specifically refers to an echo reflected from the ground to the lidar, and it is understood that the second echo in this embodiment is actually an echo having the latest arrival time at the lidar among all echoes reflected by the first laser beam. It will be appreciated that all echoes reflected back have a time of arrival at the lidar, and in this embodiment the second time is the time of arrival of the echo received by the lidar at the latest time of arrival at the lidar.

S403, determining the water depth information of the first target water area according to the first moment, the second moment and the emission angle when the laser radar emits the first laser beam.

In this embodiment, after the first time of arrival of the echo received by the lidar at the earliest time of arrival of the lidar and the second time of arrival of the echo received by the lidar at the latest time of arrival of the lidar are obtained, depth information of the water accumulation area can be determined based on the first time, the second time and the emission angle when the laser radar emits the first laser beam.

Illustratively, as shown in fig. 5, a lidar 501 is included on the vehicle, and specifically, the lidar 501 is a dual-echo mode lidar. In implementation, after the lidar 501 emits the first laser beam to the first target water accumulation area and detects the point B of the first target water accumulation area, the point B reflects the first echo to the lidar, and then the first laser beam continues to propagate forward at the point B until the first laser beam finally detects the point C on the ground, and then the point C reflects the second echo to the lidar. Now, assuming that the first time when the laser radar receives the first echo is T1, the second time when the laser radar receives the second echo is T2, the angle of the laser radar transmitting the first laser beam is a (it should be noted that, in this embodiment, the pitch angle of the first laser beam transmitted by the laser radar and the horizontal plane is also referred to as the vertical angle of the first laser beam), and the speeds of the first laser beam, the first echo, and the second echo are light speeds, then the vertical distance D between the point B and the point C (the value of D may be considered as the water depth information of the point B) may be determined based on the following formula:

D=sina (T2-T1) C (formula one)

It should be understood that the above is only exemplified by the points B and C, and in a practical scenario, the first laser beam in this embodiment is only one of the plurality of laser beams emitted by the laser radar. Therefore, a plurality of water depth information similar to the point B can be calculated, so that the water depth information of the first target water area can be obtained.

For example, assume that the lidar emits N laser beams towards the first target water accumulation region, for each laser beam, the lidar will receive two echoes, i.e., for N laser beams, the lidar will receive 2N echoes, and the 2N echoes correspond to N different laser beams and N different detection points. Then, N pairs of first time and second time can be obtained, and then the water depth information of the corresponding detection points determined at each pair of first time and second time can be obtained based on the formula one, i.e., N pieces of water depth information can be obtained in total, i.e., the water depth information in the first target water area is obtained.

It will be appreciated that the road surface under a certain water accumulation area of the first target water accumulation area may be a flat road surface area, or may be a road surface area with tunnels as shown in fig. 5.

It will also be appreciated that in this embodiment, if the road surface below a certain water accumulation area is a flat road surface area, then the point C shown in fig. 5 will not be located in the tunnel. Whereas if the road surface under a certain water accumulation area is a road surface area with an excavation, the point C shown in fig. 5 is located in the excavation. Further, in this embodiment, the water depth information of the flat road surface area calculated based on the formula one is generally smaller than the water depth information of the road surface area with the tunnels calculated based on the formula one, so that the target vehicle can accurately identify that the tunnels exist in the first target water accumulation area and the specific positions of the tunnels based on the N pieces of water depth information.

In one embodiment, when the N pieces of water depth information are obtained, a region in which the water depth is greater than or equal to the first preset depth threshold value in the N pieces of water depth information may be determined as the tunnel region. It is noted that the specific value of the first preset depth threshold is not limited in the present application, and may be determined based on the type of the vehicle and various attributes of the vehicle. For example, for large or heavy trucks, the first preset depth threshold may be set to be greater, while for some small vehicles, the first preset depth threshold may be set to be less.

In the road ponding detection method provided by the self, a laser radar based on an echo mode emits a laser beam to a ponding area, then two echoes reflected based on the emitted laser beam are received, wherein one echo is the beam received by the laser radar and returns to the earliest, the other echo is the beam received by the laser radar and returns to the latest, and then the water depth information of the ponding area is determined based on the time of the beam received by the laser radar and the angle of the laser beam emitted by the laser radar. It will be appreciated that the earliest beam received by the lidar is typically the beam reflected back from the point on the water surface of the water region, and the latest beam received by the lidar is typically the wave reflected back from the point on the ground where the transmitted laser beam strikes the surface through refraction, reflection, etc., i.e. in this embodiment, since the water depth information in the first target water region is determined based on the first echo reflected back from the water surface and the second echo reflected back from the ground, the accuracy of the determined water depth information in the first target water region can be improved.

Further, in this embodiment, when the target vehicle accurately identifies that the tunnel exists in the first target water accumulation area and the specific position of the tunnel based on the water depth information (assumed to include N pieces of water depth information) of the first target water accumulation area calculated by the formula one, the target vehicle may determine the target navigation route of the target vehicle according to the water depth information of the first target water accumulation area, where the target navigation route does not pass through the area where the water depth in the first target water accumulation area is greater than or equal to the first preset depth threshold, that is, does not pass through the tunnel described in the relevant part of the present application, so that the target vehicle may bypass the tunnel, thereby ensuring the safety of the target vehicle.

In one embodiment, determining a target navigation route for a target vehicle based on water depth information of a first target water area includes: acquiring water depth information of each second target water accumulation area in K different second target water accumulation areas from a cloud server, uploading the water depth information of the K different second target water accumulation areas corresponding to the K different second target water accumulation areas to the cloud server by K different vehicles, wherein the distance between each vehicle in the K different vehicles and the target vehicle is smaller than or equal to a preset distance threshold value, and the difference between the time when the water depth information of the K different second target water accumulation areas is uploaded to the cloud server and the time when the water depth information of the first target water accumulation area is determined is smaller than or equal to a preset time threshold value; and determining a target navigation route based on the water depth information of the first target water accumulation area, the water depth information of K different second target water accumulation areas and the rainfall information acquired by the rainfall sensor in the target vehicle.

Here, the specific values of the preset distance threshold value and the preset time threshold value are not limited in this embodiment.

It will be appreciated that the distance between each of the K different vehicles and the target vehicle is less than or equal to the preset distance threshold, enabling the target vehicle to consider a nearby area when determining a target navigation route that can bypass the tunnel.

And the time when the water depth information of the K different second target water areas is uploaded to the cloud server and the time when the water depth information of the first target water areas is determined are smaller than or equal to a preset time threshold, so that the accuracy of the determined target navigation route can be improved. For example, if the time difference between the time when the water depth information of the K different second target water-logging areas is uploaded to the cloud server and the time when the water depth information of the first target water-logging area is determined is one month, in general, in this one month, the K different second target water-logging areas may not be water-logging areas any more, so that a problem of inaccurate target navigation route caused by inaccuracy of the acquired water depth information of the K different second target water-logging areas is caused.

In this embodiment, when the target vehicle is determining the target navigation route that can bypass the tunnel, the accuracy of the determined target navigation route may be further improved because the rainfall and the water depth information of K other water-bearing areas (also referred to as second target water-bearing areas) around the rainfall are also considered.

As an alternative embodiment, to further ensure the driving safety problem of the target vehicle, the water flow speed of the first target water accumulation area may also be obtained; when an area with water depth greater than or equal to a second preset depth threshold value exists in the first target water accumulation area and the water flow speed is greater than a preset speed threshold value, outputting first prompt information, wherein the first prompt information is used for prompting a driver to withdraw from the target vehicle.

For example, the preset speed threshold is 0.1 meters/second, but is not limiting of the present application.

For example, a first target water-accumulating area in front of the vehicle can be scanned by a laser radar, the floating objects on the first target water-accumulating area or the movement data of the particles in the first target water-accumulating area are measured to obtain the water flow speed, and then when the water depth of the first target water-accumulating area is greater than or equal to the second preset depth threshold value and the water flow speed is greater than 0.1 m/s, the system gives an alarm and warns (namely, outputs first prompt information) drivers and passengers to withdraw from the vehicle rapidly.

In the embodiment, when the water depth is greater than or equal to the second preset depth threshold value and the water flow speed is greater than the preset speed threshold value in the first target water accumulation area, the first prompt information is output to prompt the driver to quickly evacuate the vehicle, so that personal safety of the driver is ensured.

As an alternative embodiment, the target vehicle comprises a humidity sensor, the method further comprising: when the humidity sensor detects that the humidity in the target vehicle is greater than a preset humidity threshold, the target vehicle is controlled to complete any one of the following functions: closing an engine of the target vehicle, unlocking a door of the target vehicle, and outputting second prompt information for prompting a driver to leave the target vehicle.

In this embodiment, when the humidity sensor detects that the humidity in the target vehicle is greater than the preset humidity threshold, the target vehicle is controlled to complete the operations of closing the engine of the target vehicle, unlocking the door of the target vehicle and/or outputting the second prompt message, so that the personal safety of the driver and the passengers is ensured.

In order to make the technical solution of the present application more clear, a detailed road water accumulation detection method is described with reference to fig. 6.

As shown in fig. 6, the method includes:

s601, the target vehicle detects a water level condition by a water level sensor.

S602, judging whether the detected water level height is higher than a preset height threshold value, if so, executing S603; if not, execution continues 601.

S602, judging whether the laser radar is in a double-echo mode, if so, executing S605, and if not, executing S604.

S604, controlling the laser radar to switch to a double-echo mode, and executing S605.

S605, transmitting N first laser beams to a first target water accumulation area through a laser radar, and establishing a data model of the first target water accumulation area.

Specifically, in this embodiment, establishing a data model of the first target water-logging area means: for each first laser beam, receiving corresponding two echoes (also called a first echo and a second echo) through a laser radar, and determining water accumulation depth information of each first laser beam at a target point (also called a detection point) detected by a first target water accumulation area based on the moment when the laser radar receives the two echoes and the angle for transmitting each first laser beam, so as to obtain water accumulation depth information of a plurality of detection points in the first target water accumulation area.

In this embodiment, after the accumulated water depth information including many detection points in the first target water-accumulating area is obtained by the laser radar, the accumulated water depth information including many detection points in the first target water-accumulating area obtained by the laser radar may be calibrated by the ultrasonic radar and the water level sensor, so that the established data model of the first target water-accumulating area is more accurate (i.e. the obtained accumulated water depth information in the first target water-accumulating area is more accurate).

S606, uploading the water depth information of the first target water accumulation area to a cloud server through V2X, and acquiring water depth information of K different second target water accumulation areas from the cloud server and rainfall information from a rainfall sensor to determine a target navigation route in real time based on the water depth information and the rainfall information of the K different second target water accumulation areas.

Wherein V2X refers to vehicle wireless communication technology (V2X). The detailed description of the technology may refer to the description of the related content, and will not be repeated here.

In this embodiment, the description of the K different second target water areas may refer to the description of the related parts of the present application, which is not repeated here.

In this embodiment, the target navigation route is a route that does not pass through an area in which the water depth in the first target water accumulation area is greater than or equal to the first preset depth threshold. It can be understood that the area with the water depth greater than or equal to the first preset depth threshold in the first target water accumulation area may be an area including an underground tunnel, so in this embodiment, after determining the water depth information of the first target water accumulation area, the target vehicle dynamically determines a new navigation route by comprehensively considering the rainfall magnitude and the water depth information (which may be considered as the water depth information of other road sections) of the K different second target water accumulation areas, so as to realize that the target vehicle can avoid the underground tunnel to smoothly pass through the first target water accumulation area, and avoid the driving safety problem caused by water inflow of the engine or the motor of the target vehicle.

S607, detecting, by the humidity sensor, whether the humidity in the target vehicle is greater than a preset humidity threshold, if so, executing S608, and if not, executing S609.

For example, the preset humidity threshold is 80%, but is not limiting of the present application.

S608, the control target vehicle performs any one of the following functions: closing an engine of the target vehicle, unlocking a door of the target vehicle, and outputting second prompt information.

The second prompt information is used for prompting the driver to leave the target vehicle, so that the safety problem of the driver is ensured

S609, the target vehicle travels based on the target navigation route.

S10, acquiring the water flow speed of the first target water accumulation area.

S611, judging whether a region with the water depth greater than or equal to a second preset depth threshold value exists in the first target water accumulation region and whether the water flow speed is greater than a preset speed threshold value, if so, executing S612, otherwise, continuing to execute S610.

S612, outputting first prompt information for prompting the driver to withdraw from the target vehicle.

According to the method provided by the embodiment, after the water depth information of the first target water accumulation area is determined, the target navigation route can be dynamically determined so that the target vehicle can avoid the problem that the tunnel smoothly passes through the first target water accumulation area, so that the driving safety problem caused by water inflow of the target vehicle engine or the motor is avoided.

Fig. 7 is a schematic structural diagram of a road water accumulation detection device according to an embodiment of the present application. In particular, the detection device is applied to a target vehicle, wherein the target vehicle comprises a double-echo mode laser radar. As shown in fig. 7, the detection device includes: an acquisition module 701 and a processing module 702.

The acquiring module 701 is configured to acquire a first time when the lidar receives a first echo, where the first echo is a reflected beam of a first laser beam emitted by the lidar to a first target water accumulation area; the acquiring module 701 is further configured to acquire a second time when the laser radar receives a second echo, where the second echo is a reflected beam of the first laser beam; the processing module 702 is configured to determine water depth information of the first target water area according to the first time, the second time, and an emission angle when the laser radar emits the first laser beam.

In one possible implementation, the processing module 702 is further configured to: and determining a target navigation route of the target vehicle according to the water depth information of the first target water accumulation area, wherein the target navigation route does not pass through an area with the water depth greater than or equal to a first preset depth threshold value in the first target water accumulation area.

In one possible implementation, the obtaining module 701 is further configured to: acquiring water depth information of each of K different second target water accumulation areas from a cloud server, wherein the water depth information of the K different second target water accumulation areas is uploaded to the cloud server by K different vehicles, the distance between each of the K different vehicles and the target vehicle is smaller than or equal to a preset distance threshold, and the difference between the time when the water depth information of the K different second target water accumulation areas is uploaded to the cloud server and the time when the water depth information of the first target water accumulation area is determined is smaller than or equal to a preset time threshold; the processing module 702 is further configured to: and determining a target navigation route based on the water depth information of the first target water accumulation area, the water depth information of K different second target water accumulation areas and the rainfall information acquired by the rainfall sensor in the target vehicle.

In one possible implementation, the obtaining module 701 is further configured to: acquiring the water flow speed of a first target water accumulation area; the processing module 702 is further configured to: when an area with water depth greater than or equal to a second preset depth threshold value exists in the first target water accumulation area and the water flow speed is greater than a preset speed threshold value, outputting first prompt information, wherein the first prompt information is used for prompting a driver to withdraw from the target vehicle.

In one possible implementation, the target vehicle includes a humidity sensor, and the processing module 702 is further configured to: when the humidity sensor detects that the humidity in the target vehicle is greater than a preset humidity threshold, the target vehicle is controlled to complete any one of the following functions: closing an engine of the target vehicle, unlocking a door of the target vehicle, and outputting second prompt information for prompting a driver to leave the target vehicle.

In one possible implementation, the target vehicle includes a water level sensor thereon, and the processing module 702 is further configured to: when the water level sensor detects that the water level of the current position of the target vehicle is greater than a preset height threshold value, the laser radar is controlled to emit a first laser beam to a first target water accumulation area.

Fig. 8 is a schematic structural diagram of a road water accumulation detection device according to another embodiment of the present application. The apparatus shown in fig. 8 may be used to perform the method described in any of the previous embodiments.

As shown in fig. 8, the apparatus 800 of the present embodiment includes: a memory 801, a processor 802, a communication interface 803, and a bus 804. Wherein the memory 801, the processor 802, and the communication interface 803 are communicatively connected to each other through a bus 804.

The memory 801 may be a Read Only Memory (ROM), a static storage device, a dynamic storage device, or a random access memory (random access memory, RAM). The memory 801 may store a program, and the processor 802 is configured to perform the steps of the method shown in fig. 4 when the program stored in the memory 801 is executed by the processor 802.

The processor 802 may employ a general-purpose central processing unit (central processing unit, CPU), microprocessor, application specific integrated circuit (application specific integrated circuit, ASIC), or one or more integrated circuits for executing associated programs to implement the methods illustrated in fig. 4 of the present application.

The processor 802 may also be an integrated circuit chip with signal processing capabilities. In implementation, various steps of the method of fig. 4 of the embodiments of the present application may be performed by integrated logic circuitry in hardware or by instructions in software in processor 802.

The processor 802 may also be a general purpose processor, a digital signal processor (digital signal processing, DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (field programmable gate array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The steps of a method disclosed in connection with the embodiments of the present application may be embodied directly in hardware, in a decoded processor, or in a combination of hardware and software modules in a decoded processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in the memory 801, and the processor 802 reads information in the memory 801, and in combination with its hardware, performs functions necessary for the unit included in the apparatus of the present application, for example, may perform various steps/functions of the embodiment shown in fig. 4.

Communication interface 803 may enable communication between apparatus 800 and other devices or communication networks using, but is not limited to, a transceiver-like transceiver.

Bus 804 may include a path for transferring information between components of apparatus 800 (e.g., memory 801, processor 802, communication interface 803).

It should be understood that the apparatus 800 shown in the embodiments of the present application may be an electronic device, or may be a chip configured in an electronic device.

The above embodiments may be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented in software, the above-described embodiments may be implemented in whole or in part in the form of a computer program product. The computer program product comprises one or more computer instructions or computer programs. When the computer instructions or computer program are loaded or executed on a computer, the processes or functions described in accordance with the embodiments of the present application are all or partially produced. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center by wired (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains one or more sets of available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium. The semiconductor medium may be a solid state disk.

It should be understood that the term "and/or" is merely an association relationship describing the associated object, and means that three relationships may exist, for example, a and/or B may mean: there are three cases, a alone, a and B together, and B alone, wherein a, B may be singular or plural. In addition, the character "/" herein generally indicates that the associated object is an "or" relationship, but may also indicate an "and/or" relationship, and may be understood by referring to the context.

In the present application, "at least one" means one or more, and "a plurality" means two or more. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b, or c may represent: a, b, c, a-b, a-c, b-c, or a-b-c, wherein a, b, c may be single or plural.

It should be understood that, in various embodiments of the present application, the sequence numbers of the foregoing processes do not mean the order of execution, and the order of execution of the processes should be determined by the functions and internal logic thereof, and should not constitute any limitation on the implementation process of the embodiments of the present application.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, and are not repeated herein.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk.

The foregoing is merely specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present application, and the changes and substitutions are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for detecting road water accumulation, which is applied to a target vehicle, wherein the target vehicle comprises a double-echo mode laser radar, and the method comprises the following steps:

acquiring a first moment when the laser radar receives a first echo, wherein the first echo is a reflected beam of a first laser beam emitted by the laser radar to a first target water accumulation area;

acquiring a second moment when the laser radar receives a second echo, wherein the second echo is a reflected beam of the first laser beam;

and determining the water depth information of the first target water area according to the first moment, the second moment and the emission angle when the laser radar emits the first laser beam.

2. The method according to claim 1, wherein the method further comprises:

And determining a target navigation route of the target vehicle according to the water depth information of the first target water accumulation area, wherein the target navigation route does not pass through an area with the water depth greater than or equal to a first preset depth threshold value in the first target water accumulation area.

3. The method of claim 2, wherein the determining the target navigation route of the target vehicle based on the water depth information of the first target water region comprises:

acquiring water depth information of each of K different second target water accumulation areas from a cloud server, wherein the water depth information of K different second target water accumulation areas corresponding to the K different second target water accumulation areas is uploaded to the cloud server by K different vehicles, the distance between each of the K different vehicles and the target vehicle is smaller than or equal to a preset distance threshold, and the difference between the time when the water depth information of the K different second target water accumulation areas is uploaded to the cloud server and the time when the water depth information of the first target water accumulation area is determined to be smaller than or equal to a preset time threshold;

and determining the target navigation route based on the water depth information of the first target water accumulation area, the water depth information of the K different second target water accumulation areas and the rainfall information acquired by the rainfall sensor in the target vehicle.

4. A method according to any one of claims 1 to 3, further comprising:

acquiring the water flow speed of the first target water accumulation area;

and when a region with the water depth greater than or equal to a second preset depth threshold value exists in the first target water accumulation region and the water flow speed is greater than a preset speed threshold value, outputting first prompt information, wherein the first prompt information is used for prompting a driver to withdraw from the target vehicle.

5. The method of any one of claims 1 to 4, wherein the target vehicle includes a humidity sensor, the method further comprising:

when the humidity sensor detects that the humidity in the target vehicle is greater than a preset humidity threshold value, the target vehicle is controlled to complete any one of the following functions: closing an engine of the target vehicle, unlocking a door of the target vehicle, and outputting second prompt information, wherein the second prompt information is used for prompting a driver to leave the target vehicle.

6. The method of any one of claims 1 to 5, wherein the target vehicle includes a water level sensor thereon, the method further comprising:

and when the water level sensor detects that the water level of the current position of the target vehicle is greater than a preset height threshold value, controlling the laser radar to emit the first laser beam to the first target water accumulation area.

7. A road water detection device for a target vehicle, the target vehicle including a dual-echo mode lidar thereon, the device comprising:

the acquisition module is used for acquiring a first moment when the laser radar receives a first echo, wherein the first echo is a reflected beam of a first laser beam emitted by the laser radar to a first target ponding area;

the acquisition module is further configured to acquire a second time when the laser radar receives a second echo, where the second echo is a reflected beam of the first laser beam;

and the processing module is used for determining the water depth information of the first target water area according to the first moment, the second moment and the emission angle when the laser radar emits the first laser beam.

8. The apparatus of claim 7, wherein the processing module is further configured to:

9. The apparatus of claim 8, wherein the acquisition module is further configured to:

the processing module is further configured to: and determining the target navigation route based on the water depth information of the first target water accumulation area, the water depth information of the K different second target water accumulation areas and the rainfall information acquired by the rainfall sensor in the target vehicle.

10. The apparatus of any one of claims 7 to 9, wherein the acquisition module is further configured to:

acquiring the water flow speed of the first target water accumulation area;

the processing module is further configured to: and when a region with the water depth greater than or equal to a second preset depth threshold value exists in the first target water accumulation region and the water flow speed is greater than a preset speed threshold value, outputting first prompt information, wherein the first prompt information is used for prompting a driver to withdraw from the target vehicle.

11. The apparatus of any one of claims 7 to 10, wherein the target vehicle includes a humidity sensor, the processing module further configured to:

12. The apparatus of any one of claims 7 to 11, wherein the target vehicle includes a water level sensor thereon, the processing module further configured to:

13. The utility model provides a detection device of road ponding which characterized in that includes: a memory and a processor; the memory is used for storing program instructions; the processor is configured to invoke program instructions in the memory to perform the method of any of claims 1 to 6.

14. An intelligent driving system, characterized by comprising the road water detection device according to any one of claims 7 to 12.

15. An intelligent driving apparatus comprising the road water detection device according to any one of claims 7 to 12, or comprising the intelligent driving system according to claim 14.

16. A computer readable medium, characterized in that the computer readable medium stores a program code for computer execution, the program code comprising instructions for performing the method of any of claims 1 to 6.

17. A computer program product comprising computer program code for causing a computer to carry out the method according to any one of claims 1 to 6 when said computer program code is run on the computer.