CN117636617A

CN117636617A - Road condition information acquisition method and device, terminal equipment and storage medium

Info

Publication number: CN117636617A
Application number: CN202210962472.XA
Authority: CN
Inventors: 王琳璨; 杨振
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2022-08-11
Filing date: 2022-08-11
Publication date: 2024-03-01

Abstract

The application is applicable to the technical field of data processing, and provides a method, a device, terminal equipment and a storage medium for collecting road condition information, wherein the method comprises the following steps: acquiring first sensor information acquired by at least one road condition sensor and weather information of a position of a target vehicle; then effective first sensor information can be screened out according to weather information; and finally obtaining road condition information according to the effective first sensor information. According to the method and the device, after the information acquired by the road condition sensor is obtained, the weather information is utilized to screen the information acquired by the road condition sensor, and the road condition information is obtained by utilizing the effective sensor information, so that the obtained road condition information is more reliable.

Description

Road condition information acquisition method and device, terminal equipment and storage medium

Technical Field

The application belongs to the technical field of data processing, and particularly relates to a method and a device for collecting road condition information, terminal equipment and a storage medium.

Background

Automobiles are an indispensable transportation means for people to travel. In order to record various scenes in the driving process, the vehicle can acquire road condition information for storage in the driving process. In addition, in order to provide auxiliary driving for the user, road condition information is also required to be collected, and the auxiliary driving information is provided for the user according to the road condition information.

At present, most of road condition information is collected by a camera, after the camera collects the road condition information, a vehicle can directly store or use the road condition information collected by the camera to assist driving, the road condition information cannot be screened, invalid or unreliable road condition information is also stored or used, and the reliability of the road condition information is poor.

Disclosure of Invention

The embodiment of the application provides a method, a device, terminal equipment and a storage medium for collecting road condition information, which can solve the problem of poor reliability of the road condition information.

In a first aspect, an embodiment of the present application provides a method for collecting traffic information, including:

acquiring first sensor information acquired by at least one road condition sensor and weather information of a position of a target vehicle, wherein the first sensor information is related to road conditions around the target vehicle;

determining valid first sensor information from at least one of the first sensor information based on the weather information;

and obtaining the road condition information around the target vehicle based on the effective first sensor information.

In a second aspect, an embodiment of the present application provides a device for collecting traffic information, including:

The information acquisition module is used for acquiring first sensor information acquired by at least one road condition sensor and weather information of a position of a target vehicle, wherein the first sensor information is related to road conditions around the target vehicle;

an information screening module, configured to determine valid first sensor information from at least one of the first sensor information based on the weather information;

and the information output module is used for obtaining the road condition information around the target vehicle based on the effective first sensor information.

In a third aspect, an embodiment of the present application provides a terminal device, including: the system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor realizes the acquisition method of the road condition information in any one of the first aspects when executing the computer program.

In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program, where the computer program when executed by a processor implements the method for collecting road condition information according to any one of the first aspects.

In a fifth aspect, an embodiment of the present application provides a computer program product, which when executed on a terminal device, causes the terminal device to execute the method for collecting road condition information according to any one of the first aspect.

Compared with the prior art, the embodiment of the first aspect of the application has the beneficial effects that: the method comprises the steps of firstly, acquiring first sensor information acquired by at least one road condition sensor and weather information of a position of a target vehicle; then effective first sensor information can be screened out according to weather information; and finally obtaining road condition information according to the effective first sensor information. Compared with the prior art, the method has the advantages that the road condition information is directly obtained without screening the information acquired by the camera, so that the reliability of the road condition information is poor; because the performance of the sensor is related to the weather state, the method and the device screen the information acquired by the road condition sensor by utilizing the weather information after acquiring the information acquired by the road condition sensor, acquire the road condition information by utilizing the effective sensor information, and ensure that the acquired road condition information is more reliable.

It will be appreciated that the advantages of the second to fifth aspects may be found in the relevant description of the first aspect, and are not described here again.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is an application scenario schematic diagram of a method for collecting road condition information according to an embodiment of the present disclosure;

fig. 2 is a flow chart of a method for collecting traffic information according to an embodiment of the present disclosure;

fig. 3 is a flowchart of a method for screening information collected by a visible light camera according to an embodiment of the present application;

FIG. 4 is a flow chart of a method for screening information collected by a lidar according to an embodiment of the present application;

FIG. 5 is a flow chart of a method for screening information collected by an infrared sensor according to an embodiment of the present disclosure;

FIG. 6 is a flowchart illustrating a method for early warning using traffic information according to an embodiment of the present disclosure;

fig. 7 is a flowchart of a method for collecting traffic information according to another embodiment of the present disclosure;

Fig. 8 is a schematic structural diagram of collecting information of a vehicle recorder according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a device for collecting traffic information according to an embodiment of the present disclosure;

fig. 10 is a schematic structural diagram of a terminal device according to an embodiment of the present application.

Detailed Description

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.

As used in this specification and the appended claims, the term "if" may be interpreted in context as "when … …" or "upon" or "in response to determining" or "in response to detecting". Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".

In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.

In the daily driving process of a vehicle, people often use a vehicle recorder to record images along the way. For example, the automobile data recorder can record road condition information in the running process of the automobile, and provide evidence for traffic accidents.

At present, the automobile data recorder is generally a camera, that is, road condition information is generally collected by adopting the camera. The cameras may include off-vehicle cameras and in-vehicle cameras. The camera outside the vehicle and the camera inside the vehicle can be used for collecting road condition information. The automobile data recorder may further include an in-vehicle microphone for collecting and storing in-vehicle sounds.

The camera is easily influenced by the environment, so that the acquired image is unclear and cannot be used. For example, in an environment where visibility is low such as rain, snow, and fog, images captured by the camera are unclear. In addition, the camera is used as the only road condition information acquisition equipment and is limited by factors such as arrangement positions, arrangement quantity and resolution ratio of the cameras, so that the road condition information acquired by the camera is incomplete and a road condition blind area exists.

The method and the device can adopt a plurality of sensors of different types to collect road condition information, and make up for the defect that the road condition information collected by the camera cannot be used due to environmental influence. The application can also use other kinds of sensors to collect road condition information under the condition that the image collected by the camera is unclear. The plurality of sensors can be arranged at different positions on the vehicle and used for collecting road condition information in different directions, so that road condition blind areas are made up, and the collected road condition information is more comprehensive and accurate.

The road condition sensor is used for collecting road condition information. The road condition sensor may include a visible light camera, a laser radar, an infrared sensor, etc. However, due to the performance characteristics of the road condition sensor, the road condition sensor may be affected by environmental factors, which may result in inaccurate information collected by the road condition sensor, for example, when the illumination intensity of the visible light camera is poor, the collected image is blurred, and the obtained road condition information is inaccurate or not obtained. Specifically, as shown in the following table 1, performance evaluation tables of different road condition sensors show performance of each road condition sensor.

Table 1 performance evaluation table of road condition sensor

Performance of	Laser radar	Millimeter wave radar	Ultrasonic radar	Visible light camera	Infrared sensor
						Cost of	At present the highest	Moderate to moderate	Very low	Moderate to moderate	Moderate to moderate
Angle of detection	15-360°	10-70°	120°	30°	30°
						Remote detection	Strong strength	Weak and weak	Weak and weak	Weak and weak	In general
Night environment	Strong strength	Strong strength	Strong strength	Weak and weak	Strong strength
						All-weather	Weak and weak	Strong strength	Weak and weak	Weak and weak	Weak and weak
Bad weather environment	Weak and weak	Strong strength	In general	Weak and weak	Weak and weak
						Temperature stability	Strong strength	Strong strength	Weak and weak	Strong strength	In general
Vehicle speed measurement capability	Weak and weak	Strong strength	In general	Weak and weak	In general
						Road sign identification	×	×	×	√	×

If inaccurate information acquired by the road condition sensor is stored, the storage space is wasted. In addition, if inaccurate information acquired by the road condition sensor is used for driving assistance, the provided driving assistance information is inaccurate, driving of a user is affected, and even traffic accidents can be brought to the user.

Therefore, based on the reasons, the road condition information acquisition method provided by the application screens the information acquired by the road condition sensor, selects effective information for storage and/or use, and can ensure that the obtained road condition information is more accurate and reliable.

Fig. 1 is a schematic application scenario diagram of a method for acquiring road condition information according to an embodiment of the present application, where the method for acquiring road condition information may be used to obtain accurate and reliable road condition information. Wherein the road condition sensor 10 collects sensor information related to the road condition. The environment sensor 20 collects weather information of the environment in which the vehicle is located. The processor 30 is used for acquiring sensor information from the road condition sensor 10 and weather information from the environmental sensor 20. The processor 30 screens the acquired sensor information for reliable sensor information using weather information. The processor 30 obtains road condition information around the vehicle using the reliable sensor information.

The processor 30 may be mounted on a vehicle, and may also be mounted on a road side.

The following describes the method for collecting road condition information in the embodiment of the present application in detail with reference to fig. 1, and the method of the present application may be implemented in the processor 30.

Fig. 2 is a schematic flowchart of a method for collecting traffic information provided in the present application, and referring to fig. 2, the method is described in detail as follows:

s101, acquiring first sensor information acquired by at least one road condition sensor and weather information of a position of a target vehicle.

In the present embodiment, the host vehicle is referred to as a target vehicle, and vehicles other than the host vehicle are referred to as other vehicles.

In the present embodiment, the first sensor information is related to the road condition around the target vehicle. The weather information can be obtained from an environment sensor and also can be obtained from weather forecast broadcasted by a weather platform. In the present embodiment, the environmental sensor may include an illumination sensor, a temperature sensor, a wind speed sensor, a rainfall sensor, a visibility sensor, and the like. The position of the vehicle may be obtained from a global positioning system (Global Positioning System, GPS). Weather information may include rainfall, visibility value, temperature value, illumination intensity, wind speed, etc. The weather information may also include weather types, which may include rain, snow, hail, sand, sunny days, etc.,

specifically, the road condition sensor may include a visible light camera, a laser radar, an infrared sensor, and the like. The weather information to be collected may be predetermined based on the type of the road condition sensor. The first sensor information and the weather information may be collected according to a preset collection time. The first sensor information and the weather information may be acquired simultaneously, for example, according to the same preset time period.

If the road condition sensor is a visible light camera, the weather information comprises illumination intensity. A visible light sensor is arranged in the visible light camera. The first sensor information acquired by the visible light camera is shooting information, the visible light camera is sensitive to the color and texture of the target, and the target classification, detection, identification and the like can be realized; but the visible light camera cannot detect the distance of the object. In addition, the visible light camera depends on the illumination intensity, and when the illumination intensity is poor, the imaging information captured by the visible light camera is unclear.

If the road condition sensor is a laser radar, the weather information comprises a visibility value.

Visibility is the maximum distance that a person with normal eyesight can recognize the object from the background, namely, the sky close to the horizon is taken as the background in the daytime, the outline of the ground dark object with the visual angle larger than 20 degrees can be clearly seen, what object is recognized, and the luminous point of the object lamp can be clearly seen at night. The change of visibility mainly depends on the transparency of the atmosphere, and the weather phenomena such as fog, smoke, dust, snow, capillary rain and the like can cause the atmosphere to be turbid, so that the transparency is reduced.

The laser radar can acquire point cloud information (first sensor information) of the target, and 3D information of the target can be obtained through the point cloud information. In addition, the detection distance of the laser radar can reach 300 meters, and the detection distance is far. The laser radar is insensitive to illumination and can work normally even at night. However, the angular resolution of the lidar is large, the texture of the target cannot be obtained, and the classification of the target is inaccurate. The laser radar is sensitive to weather such as flying dust, water mist and the like, noise points are easy to generate, and the acquired point cloud information is inaccurate.

If the road condition sensor is an infrared sensor, the weather information comprises a temperature value.

The infrared sensor is used for collecting far infrared information and obtaining far infrared video information (first sensor information). Infrared sensors use infrared radiation to discover and identify objects for imaging. The infrared sensor is not affected by light, and information can be acquired at night. However, the infrared sensor is susceptible to temperature, and far infrared information acquired in a high temperature environment is inaccurate.

In this embodiment, after the weather information is obtained, the weather information corresponding to the road condition sensor may be obtained according to the type of the road condition sensor corresponding to the first sensor information.

For example, if the first sensor information is sent by an infrared sensor, after the first sensor information sent by the infrared sensor is obtained, the temperature sensor is controlled to collect a temperature value.

S102, determining effective first sensor information from at least one piece of first sensor information based on the weather information.

In this embodiment, weather information is used to determine whether the first sensor information is valid, that is, whether the performance of the road condition sensor in the current environment meets the requirement. And if the performance of the road condition sensor in the current environment meets the requirement, the first sensor information acquired by the road condition sensor is effective information. If the performance of the road condition sensor in the current environment does not meet the requirement, the first sensor information acquired by the road condition sensor is invalid information.

Optionally, inputting weather information and the type of the road condition sensor into the first neural network model, and determining the performance evaluation value of the road condition sensor in the current environment. And if the performance evaluation value corresponding to the road condition sensor is larger than the preset parameter, determining that the first sensor information acquired by the road condition sensor is effective information. And if the performance evaluation value corresponding to the road condition sensor is smaller than or equal to the preset parameter, determining that the first sensor information acquired by the road condition sensor is invalid information.

Alternatively, the weather information and performance parameters (e.g., parameters in table 1 above) of the road condition sensor are input to the second neural network model, and the performance evaluation value of the road condition sensor in the current environment is determined.

In this embodiment, the first sensor information may carry the acquisition time. The weather information can also carry the acquisition time. When weather information is used to determine whether the first sensor information is valid, it is necessary to make a judgment using weather information whose acquisition time is the same as that of the first sensor information. Or judging by using weather information that the difference value between the acquisition time and the acquisition time of the first sensor information is smaller than the preset time difference.

S103, obtaining the road condition information around the target vehicle based on the effective first sensor information.

In this embodiment, the first sensor information includes road conditions around the target vehicle, and the obtained effective first sensor information is stored, so that the original road condition information can be retrieved and used later, for example, the original road condition information which is not processed needs to be used for accident analysis during accident authentication. Specifically, the road condition information can be sent to a vehicle recorder storage module, and the vehicle recorder storage module stores the road condition information.

In this embodiment, if only one valid first sensor information, that is, the first sensor information collected by one road condition sensor is valid, the road condition information is extracted from the valid first sensor information.

If at least two pieces of effective second sensor information exist, namely the first sensor information acquired by at least two road condition sensors is effective, the effective first sensor information can be fused to obtain fusion information, and the road condition information is extracted from the fusion information. Or extracting road condition information from each effective first sensor information, and then fusing the extracted road condition information.

In this embodiment, after the road condition information is obtained, the road condition information is stored. And after the first operation is detected, displaying the road condition information through display equipment on the target vehicle. The first operation may be an operation acting on a key of the vehicle. The display device includes a display screen and a sound output device.

In the embodiment of the application, first sensor information acquired by each road condition sensor and weather information of the position of a target vehicle are acquired firstly; then effective first sensor information can be screened out according to weather information; and finally obtaining road condition information according to the effective first sensor information. Compared with the prior art, the method has the advantages that the road condition information is directly obtained without screening the information acquired by the sensor, so that the reliability of the road condition information is poor; because the performance of the sensor is related to the weather state, the method and the device screen the information acquired by the road condition sensor by utilizing the weather information after acquiring the information acquired by the road condition sensor, acquire the road condition information by utilizing the effective sensor information, and ensure that the acquired road condition information is more reliable.

In one possible implementation, as shown in fig. 3, the weather information includes illumination intensity when the road condition sensor includes a visible light camera.

The implementation process of step S102 may include:

s201, judging whether the illumination intensity included in the weather information is in a preset intensity interval.

In this embodiment, the preset intensity interval may be set as required. The illumination intensity may be obtained by an illumination sensor.

S202, if the illumination intensity is within the preset intensity interval, determining that the first sensor information acquired by the visible light camera is effective first sensor information.

And S203, if the illumination intensity is not in the preset intensity interval, determining that the first sensor information acquired by the visible light camera is invalid first sensor information.

In this embodiment, if the illumination intensity is within the preset intensity interval, it is determined that the performance of the visible light camera in the current illumination intensity is better, and the image in the image capturing information captured by the visible light camera is clearer and can be used. If the illumination intensity is not in the preset intensity interval, the current light is insufficient, and the shooting information shot by the visible light camera is unclear and cannot be used.

Specifically, the first sensor information collected by the visible light camera may include a lane line, information of a stationary object (e.g., tree, guardrail, car, etc.), vehicle information on a road, identification information of a lane, etc. The vehicle information on the road may include a color of the vehicle, a position of the vehicle on the road, a shape of the vehicle, and the like. The identification information of the lane may include a left turn lane, a right turn lane, a lane speed limit, and the like.

In the embodiment of the application, whether the first sensor information shot by the visible light camera is effective or not is determined according to the illumination intensity, whether the first sensor information acquired by the visible light camera is available or not can be accurately judged by adopting the method based on the performance characteristics of the visible light camera, and then the first sensor information acquired by the visible light camera is screened to obtain the available first sensor information.

In one possible implementation, as shown in fig. 4, the weather information includes a visibility value when the road condition sensor includes a lidar.

The implementation process of step S102 may include:

s301, judging whether a visibility value included in the weather information is within a preset visibility interval.

In this embodiment, the visibility value may be acquired by a visibility sensor. The preset visibility interval may be set according to the performance of the lidar.

S302, if the visibility value included in the weather information is within the preset visibility interval, determining that the first sensor information acquired by the laser radar is effective first sensor information.

S303, if the visibility value included in the weather information is not in the preset visibility interval, determining that the first sensor information acquired by the laser radar is invalid first sensor information.

In this embodiment, if the visibility value included in the weather information is within the preset visibility interval, it is indicated that the point cloud information collected by the laser radar is relatively clear, the noise is relatively less, and the point cloud information is relatively accurate and can be used. If the visibility value included in the weather information is not within the preset visibility interval, the point cloud information acquired by the laser radar is unclear, more noise points are likely to be generated, and the point cloud information is inaccurate and cannot be used.

In one possible implementation, where the road condition sensor includes a lidar, the weather information includes a weather type.

The implementation process of step S102 may include:

judging whether the weather type included in the weather information is matched with preset bad weather, wherein the bad weather comprises at least one of rain, snow, fog, sand and hail. And when the weather type included in the weather information is not matched with the preset bad weather, determining the first sensor information acquired by the laser radar as effective information. And when the weather type included in the weather information is matched with the preset bad weather, determining that the first sensor information acquired by the laser radar is invalid information.

In this embodiment, the weather type may be obtained from a weather platform. The weather type can also be analyzed from the image information collected by the camera or the visible light camera and the information collected by other sensors. Other sensors may include a sand content test sensor, a wind speed sensor, a rainfall sensor, and the like.

In this embodiment, since the performance of the lidar is affected by weather conditions, if the radar is in sand, fog or other weather, the performance of the lidar is poor, and the noise of the collected point cloud information is more. Therefore, it is necessary to determine whether the current weather condition belongs to bad weather, in which point cloud information acquired by the lidar is not available.

Specifically, the first sensor information collected by the laser radar may include a lane line, point cloud data of a vehicle on a road, and the like.

In this embodiment, whether the first sensor information acquired by the lidar is valid is determined according to the weather type, which is based on the performance characteristics of the lidar. By adopting the method, whether the first sensor information acquired by the laser radar is available or not can be accurately judged, and then the first sensor information acquired by the laser radar is screened to obtain the available first sensor information.

In one possible implementation, as shown in fig. 5, the weather information includes a temperature value when the road condition sensor includes an infrared sensor.

The implementation process of step S102 may include:

s401, judging whether the temperature value included in the weather information is smaller than or equal to a preset temperature.

In this embodiment, the second preset value may be determined according to the performance of the infrared sensor. The second preset values corresponding to the different infrared sensors may be different. For example, the second preset value may be 30 ℃ or 40 ℃ or the like.

And S402, when the temperature value is smaller than or equal to the preset temperature, determining that the first sensor information acquired by the infrared sensor is effective first sensor information.

S403, when the temperature value is larger than the preset temperature, determining that the first sensor information acquired by the infrared sensor is invalid first sensor information.

In this embodiment, since the performance of the infrared sensor is affected by temperature, the performance of the infrared sensor is poor or even impossible to operate in a high temperature environment. If the temperature value in the current time is smaller than or equal to the preset temperature, the infrared sensor is determined to have better performance in the current environment, and the reliability of the first sensor information acquired by the infrared sensor is higher. If the temperature value in the current time is larger than the preset temperature, the performance of the infrared sensor in the current environment is determined to be poor, and the reliability of the first sensor information acquired by the infrared sensor is poor.

Specifically, the first sensor information collected by the infrared sensor may include information of a vehicle on a lane, information of a pedestrian, information of a guardrail, and the like.

In the embodiment of the application, the first sensor information acquired by the infrared sensor is screened through the temperature value of the current environment, so that the available first sensor information can be simply and rapidly obtained.

It should be noted that the road condition sensor may be one or more of a visible light camera, a laser radar and an infrared sensor. The visible light camera, the laser radar and the infrared sensor can be arranged at different positions on the target vehicle at the same time, so that omnibearing, richer and more accurate road condition information can be obtained.

In one possible implementation manner, a millimeter wave radar can be further installed on the vehicle, and road condition information is collected through the millimeter wave radar.

Specifically, before step S103, the method may further include:

and acquiring second sensor information acquired by the millimeter wave radar, wherein the second sensor information is related to road conditions around the target vehicle.

Accordingly, the implementation procedure of step S103 may include:

and obtaining the road condition information around the target vehicle based on the second sensor information and the effective first sensor information.

In the present embodiment, the millimeter wave radar may provide accurate distance and speed information, for example, the distance between other vehicles on the road and the host vehicle, the speed of other vehicles, and the like. The millimeter wave detection distance is far, the millimeter wave detection device can work all the day, and is less affected by the environment. Therefore, the second sensor information (point cloud information) acquired by the milli-wave radar can be directly used as reliable information.

In this embodiment, the second sensor information and the effective first sensor information are subjected to data fusion to obtain fused information, where the fused information includes road condition information around the target vehicle.

In the embodiment of the application, when the road condition information is obtained, the information collected by the millimeter wave radar is added, so that the obtained road condition information is richer and more accurate.

In one possible implementation, as shown in fig. 6, after obtaining the road condition information, the driving assistance may be performed according to the road condition information.

Specifically, after step S103, the method may further include:

s501, determining whether a first vehicle exists around the target vehicle based on the road condition information, wherein the distance between the first vehicle and the target vehicle is smaller than or equal to a preset distance.

In this embodiment, the road condition information may include collected vehicle information on a road, facilities and lane lines on the road, and the like. Facilities on the road may include enclosures, buildings, and the like. The vehicle information may include an outline of the vehicle, a color, a speed, a steering angle of wheels, a lane in which the vehicle is located, a distance of the vehicle from the host vehicle, and the like.

In this embodiment, whether the first vehicle exists in the other vehicles included in the road condition information, that is, whether the vehicle having a distance to the target vehicle less than or equal to the preset distance exists in the other vehicles is determined according to the distance between the other vehicles and the target vehicle. The preset distance may be set as needed, for example, the preset distance may be set to 50 meters or 100 meters, or the like. The first vehicle is a vehicle that may collide with the target vehicle.

S502, if the first vehicle exists around the target vehicle, predicting a moving route of the first vehicle based on the identification information of the lane where the first vehicle exists and the turn signal information of the first vehicle.

The road condition information stores the identification information of the lane where the first vehicle is located and the turn signal lamp information of the first vehicle.

Specifically, identification information of a lane where a first vehicle is located and turn signal lamp information of the first vehicle are input into a neural network model to obtain a moving route of the first vehicle.

In addition, when the moving route of the first vehicle is obtained, the moving route of the first vehicle may be determined based on the angle between the lateral center line of the body of the first vehicle and the lateral center line of the lane, or the like, in addition to the identification information of the lane in which the first vehicle is located and the turn signal light information of the first vehicle.

The turn signal information of the first vehicle may include a left turn signal light on, a right turn signal light on, or no turn signal light on.

S503, determining the collision probability of the target vehicle and the first vehicle based on the planned route of the target vehicle and the moving route of the first vehicle.

In the present embodiment, it is determined whether there is an intersection of the planned route of the target vehicle and the travel route of the first vehicle.

If the planned route of the target vehicle and the moving route of the first vehicle have crossing points, determining that the collision probability of the target vehicle and the first vehicle is larger, and further determining the collision probability according to the speed of the target vehicle and the speed of the first vehicle. Specifically, a first time when the target vehicle reaches the intersection is calculated based on the vehicle speed of the target vehicle. A second time when the first vehicle arrives at the intersection is calculated based on the vehicle speed of the first vehicle. A first difference time between the first time and the second time is calculated. And taking the collision probability corresponding to the time interval in which the absolute value of the first difference time is positioned as the collision probability of the target vehicle and the first vehicle. Different time intervals correspond to different collision probabilities.

And if no intersection exists between the planned route of the target vehicle and the moving route of the first vehicle, the collision probability of the target vehicle and the first vehicle is 0.

For example, if the time interval is 0-0.5 minutes, the collision probability may be set to 95%; if the time interval is 10-15 minutes, the collision probability may be set to 80%, or the like.

And S504, sending alarm information when the collision probability is larger than or equal to a preset probability, wherein the alarm information is used for prompting a user to pay attention to the first vehicle.

In this embodiment, the preset probability may be set as needed, for example, the preset probability may be set to 20% or 30% or the like.

In this embodiment, the alarm information may include text prompt information, voice prompt information, image prompt information, and the like.

In the embodiment of the application, the vehicles around the target vehicle can be pre-warned through the road condition information so as to prompt the user to pay attention to avoiding, and the purpose of driving assistance is achieved.

As shown in fig. 7, in one possible implementation, the method may include:

the target vehicle is provided with a visible light camera 1, an out-of-vehicle camera 5, an in-vehicle camera 6, an in-vehicle voice acquisition device 7, a millimeter wave radar 2, a laser radar 3, an infrared sensor 4, a processing module 8, a storage module 9, a man-machine interaction module 11 and a display module 12. The vehicle-exterior camera 5, the vehicle-interior camera 6 and the vehicle-interior voice acquisition equipment 7 are all connected with the storage module 9, and the acquired information is sent to the storage module 9 for storage.

The information collected by the visible light camera 1, the millimeter wave radar 2, the laser radar 3, and the infrared sensor 4 is all recorded as first sensor information. The processing module 8 receives the transmitted first sensor information collected by the visible-light camera 1, the millimeter-wave radar 2, the laser radar 3, and the infrared sensor 4. The processing module 8 screens the first sensor information according to weather information of the position of the target vehicle, and effective first sensor information is obtained. The processing module 8 obtains road condition information according to the effective first sensor information. The processing module 8 sends the road condition information to the storage module 9 for storage.

The road condition information sent by the processing module 9, and the information collected by the camera 5 outside the vehicle, the camera 6 inside the vehicle and the voice collecting equipment 7 inside the vehicle are all road condition information.

The user inputs a retrieval instruction through the man-machine interaction module 11. The man-machine interaction module 11 sends the retrieval instruction to the storage module 9. After receiving the call instruction, the storage module 9 sends the final road condition information to the display module 12 for display. Presentation module 12 includes a display screen and a voice playback device.

As shown in fig. 8, in a possible implementation manner, taking as an example to collect the required road condition information in the automobile data recorder, the method may include:

The target vehicle is provided with a camera 13, a laser radar 2, an infrared night vision sensor 14, a decision module 15 and a driving record storage module 16. The camera 13 collects video data during the travel of the target vehicle. The lidar 2 collects point cloud information. The infrared night vision sensor 14 collects far infrared information.

Video data collected by the camera 13, point cloud information collected by the laser radar 2 and far infrared information collected by the infrared night vision sensor 14 are all transmitted to the decision module.

The decision module 15 may also obtain a visibility value, a temperature value and an illumination intensity of the environment in which the target vehicle is located.

The decision module 15 determines whether the video data is valid according to the illumination intensity, and if the video data is valid, outputs the video data to the driving record storage module 16. The video data may be raw, unprocessed data.

The decision module 15 decides whether the point cloud information is valid according to the visibility value. If the point cloud information is valid, the point cloud information is output to the driving record storage module 16. The point cloud information may be raw, unprocessed information.

The decision module 15 determines whether the far infrared information is valid according to the temperature value. If the far infrared information is valid, the far infrared information is output to the tachograph storage means 16. The far infrared information may be raw, unprocessed information.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.

Corresponding to the method for collecting road condition information described in the above embodiments, fig. 9 shows a block diagram of a device for collecting road condition information provided in the embodiment of the present application, and for convenience of explanation, only the portions related to the embodiments of the present application are shown.

Referring to fig. 9, the apparatus 600 may include: an information acquisition module 610, an information screening module 620, and an information output module 630.

The information obtaining module 610 is configured to obtain first sensor information collected by at least one road condition sensor, and weather information of a location of a target vehicle, where the first sensor information is related to road conditions around the target vehicle;

an information filtering module 620, configured to determine valid first sensor information from at least one of the first sensor information based on the weather information;

and the information output module 630 is configured to obtain information of road conditions around the target vehicle based on the valid first sensor information.

In one possible implementation, the road condition sensor includes a visible light camera;

the information filtering module 620 may specifically be configured to:

judging whether the illumination intensity included in the weather information is in a preset intensity interval or not;

if the illumination intensity is within the preset intensity interval, determining that the first sensor information acquired by the visible light camera is effective first sensor information;

and if the illumination intensity is not in the preset intensity interval, determining that the first sensor information acquired by the visible light camera is invalid first sensor information.

In one possible implementation, the road condition sensor includes a lidar;

the information filtering module 620 may specifically be configured to:

judging whether a visibility value included in the weather information is within a preset visibility interval or not;

if the visibility value included in the weather information is in the preset visibility interval, determining that the first sensor information acquired by the laser radar is effective first sensor information;

and if the visibility value included in the weather information is not in the preset visibility interval, determining that the first sensor information acquired by the laser radar is invalid first sensor information.

In one possible implementation, the road condition sensor includes an infrared sensor;

the information filtering module 620 may specifically be configured to:

judging whether the temperature value included in the weather information is smaller than or equal to a preset temperature;

when the temperature value is smaller than or equal to the preset temperature, determining that the first sensor information acquired by the infrared sensor is effective first sensor information;

and when the temperature value is larger than the preset temperature, determining that the first sensor information acquired by the infrared sensor is invalid first sensor information.

In one possible implementation, connected to the information output module 630 further comprises:

the data acquisition module is used for acquiring second sensor information acquired by the millimeter wave radar, wherein the second sensor information is related to road conditions around the target vehicle;

accordingly, the information output module 630 may specifically be configured to:

the storage module is used for storing the road condition information;

And the information display module is used for displaying the road condition information through the display equipment on the target vehicle after the first operation is detected.

the judging module is used for determining whether a first vehicle exists around the target vehicle or not based on the road condition information, wherein the distance between the first vehicle and the target vehicle is smaller than or equal to a preset distance;

a route prediction module, configured to predict, if the first vehicle exists around the target vehicle, a moving route of the first vehicle based on the identification information of the lane where the first vehicle is located and the turn signal information of the first vehicle, where the road condition information stores the identification information of the lane where the first vehicle is located and the turn signal information of the first vehicle;

a calculation module for determining a collision probability of the target vehicle with the first vehicle based on a planned route of the target vehicle and a moving route of the first vehicle;

the alarm sending module is used for sending alarm information when the collision probability is larger than or equal to a preset probability, wherein the alarm information is used for prompting a user to pay attention to the first vehicle.

It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment 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, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

The embodiment of the present application further provides a terminal device, referring to fig. 10, the terminal device 700 may include: at least one processor 710, a memory 720 and a computer program stored in the memory 720 and executable on the at least one processor 710, the processor 710 implementing steps in any of the various method embodiments described above, such as steps S101 to S103 in the embodiment shown in fig. 2, when the computer program is executed. Alternatively, the processor 710 may implement the functions of the modules/units in the above-described apparatus embodiments when executing the computer program, for example, the functions of the information acquisition module 610 to the information output module 630 shown in fig. 9.

By way of example, a computer program may be partitioned into one or more modules/units that are stored in memory 720 and executed by processor 710 to complete the present application. The one or more modules/units may be a series of computer program segments capable of performing specific functions for describing the execution of the computer program in the terminal device 700.

It will be appreciated by those skilled in the art that fig. 10 is merely an example of a terminal device and is not limiting of the terminal device and may include more or fewer components than shown, or may combine certain components, or different components, such as input-output devices, network access devices, buses, etc.

The processor 710 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 720 may be an internal storage unit of the terminal device, or may be an external storage device of the terminal device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), or the like. The memory 720 is used for storing the computer program and other programs and data required by the terminal device. The memory 720 may also be used to temporarily store data that has been output or is to be output.

The bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, an external device interconnect (Peripheral Component, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the buses in the drawings of the present application are not limited to only one bus or one type of bus.

The road condition information acquisition method provided by the embodiment of the application can be applied to terminal equipment such as computers, tablet computers, notebook computers, netbooks, personal digital assistants (personal digital assistant, PDA) and the like, and the embodiment of the application does not limit the specific type of the terminal equipment.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

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.

In the embodiments provided in the present application, it should be understood that the disclosed terminal device, apparatus and method may be implemented in other manners. For example, the above-described embodiments of the terminal device are merely illustrative, e.g., the division of the modules or units is merely a logical functional 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 may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

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 integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above-described embodiments, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by one or more processors, the computer program may implement the steps of each of the method embodiments described above.

Also, as a computer program product, the steps of the various method embodiments described above may be implemented when the computer program product is run on a terminal device, causing the terminal device to execute.

Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium may include content that is subject to appropriate increases and decreases as required by jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is not included as electrical carrier signals and telecommunication signals.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. The method for collecting road condition information is characterized by comprising the following steps:

2. The method for collecting traffic information according to claim 1, wherein the traffic sensor comprises a visible light camera;

The determining valid first sensor information from at least one of the first sensor information based on the weather information includes:

judging whether the illumination intensity included in the weather information is within a preset intensity interval;

3. The method for collecting traffic information according to claim 1, wherein the traffic sensor comprises a laser radar;

4. A method of collecting traffic information according to any one of claims 1 to 3, wherein the traffic sensor comprises an infrared sensor;

5. A method of collecting traffic information according to any one of claims 1 to 3, wherein before obtaining the traffic information around the target vehicle based on the valid first sensor information, the method further comprises:

acquiring second sensor information acquired by a millimeter wave radar, wherein the second sensor information is related to road conditions around the target vehicle;

correspondingly, the obtaining the road condition information around the target vehicle based on the effective first sensor information includes:

6. The method for collecting traffic information according to claim 1, wherein after obtaining the traffic information around the target vehicle based on the valid first sensor information, the method further comprises:

storing the road condition information;

and after the first operation is detected, displaying the road condition information through display equipment on the target vehicle.

7. The method for collecting traffic information according to claim 1, wherein after obtaining the traffic information around the target vehicle based on the valid first sensor information, the method further comprises:

determining whether a first vehicle exists around the target vehicle or not based on the road condition information, wherein the distance between the first vehicle and the target vehicle is smaller than or equal to a preset distance;

if the first vehicle exists around the target vehicle, predicting a moving route of the first vehicle based on the identification information of the lane where the first vehicle exists and the turn signal light information of the first vehicle, wherein the identification information of the lane where the first vehicle exists and the turn signal light information of the first vehicle are stored in the road condition information;

Determining a collision probability of the target vehicle with the first vehicle based on the planned route of the target vehicle and the moving route of the first vehicle;

and sending alarm information when the collision probability is greater than or equal to a preset probability, wherein the alarm information is used for prompting a user to pay attention to the first vehicle.

8. The utility model provides a collection system of road conditions information which characterized in that includes:

9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method for collecting road condition information according to any one of claims 1 to 7 when executing the computer program.

10. A computer readable storage medium storing a computer program, wherein the computer program when executed by a processor implements the method for collecting traffic information according to any one of claims 1 to 7.