WO2018058856A1 - Procédé et dispositif de détection d'accumulation d'eau sur une surface de route - Google Patents

Procédé et dispositif de détection d'accumulation d'eau sur une surface de route Download PDF

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Publication number
WO2018058856A1
WO2018058856A1 PCT/CN2017/070290 CN2017070290W WO2018058856A1 WO 2018058856 A1 WO2018058856 A1 WO 2018058856A1 CN 2017070290 W CN2017070290 W CN 2017070290W WO 2018058856 A1 WO2018058856 A1 WO 2018058856A1
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WIPO (PCT)
Prior art keywords
accumulated water
area
water
vehicle
depth
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Application number
PCT/CN2017/070290
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English (en)
Chinese (zh)
Inventor
刘均
刘新
宋朝忠
欧阳张鹏
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深圳市元征科技股份有限公司
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Publication of WO2018058856A1 publication Critical patent/WO2018058856A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations

Definitions

  • the invention relates to the technical field of traffic, and in particular to a road area water detecting method and device.
  • the main object of the present invention is to provide a method and a device for detecting road area water, which aim to improve the driving safety of the vehicle.
  • the present invention provides a method for detecting road area water, comprising:
  • the determining whether the vehicle satisfies the condition of passing the accumulated water according to the area of the accumulated water and/or the depth of the accumulated water comprises:
  • the determining whether the vehicle satisfies the condition of passing the accumulated water according to the area of the accumulated water and/or the depth of the accumulated water comprises:
  • the present invention also provides a road area water detecting method, including:
  • the determining whether the vehicle satisfies the condition of passing the accumulated water according to the area of the accumulated water and/or the depth of the accumulated water comprises:
  • the determining whether the vehicle satisfies the condition of passing the accumulated water according to the area of the accumulated water and/or the depth of the accumulated water comprises:
  • the obtaining the area of the accumulated water and/or the depth of the accumulated water includes:
  • the depth of the accumulated water is detected by a sonar assembly or an ultrasonic component preset by the vehicle.
  • the detecting before the presence of water in the designated section of the road ahead of the vehicle comprises:
  • the steps of detecting whether there is water in a designated section of the road ahead of the vehicle include:
  • the present invention also provides a road area water detecting device, comprising:
  • a detecting module configured to detect whether there is accumulated water in a specified section of the road ahead of the vehicle during the running of the vehicle;
  • An acquiring module configured to acquire an area of the accumulated water and/or a depth of the accumulated water when water accumulates in a designated section of the vehicle front side;
  • a judging module configured to determine, according to an area of the accumulated water and/or a depth of the accumulated water, whether the vehicle satisfies a condition for crossing the accumulated water;
  • an output module configured to output an alarm prompt message when the vehicle does not satisfy the condition of passing the accumulated water.
  • the determining module is further configured to: determine whether an area of the accumulated water is greater than or equal to a preset area;
  • the determining module is further configured to: determine whether the depth of the accumulated water is greater than or equal to a preset depth;
  • the obtaining module is further configured to determine an area occupied by the accumulated water when water accumulates in a designated section of the vehicle, and calculate the accumulated water according to the area occupied by the accumulated water The area; and/or the depth of the accumulated water is detected by a sonar assembly or an ultrasonic component preset by the vehicle.
  • the road area water detecting device further comprises:
  • the module is opened for receiving a setting instruction input by the user, and the water detecting function is turned on according to the setting instruction;
  • the detecting module is further configured to: after the water detecting function is turned on, acquire image information in a specified section of the road ahead of the vehicle, and detect, according to the image information, whether there is a product in a specified section of the road ahead of the vehicle. water.
  • the road area water detecting method and device acquires the area of the accumulated water and/or the depth of the accumulated water when detecting the presence of water in a designated section of the vehicle in the running process of the vehicle. . Then, based on the area of the accumulated water and/or the depth of the accumulated water, it is judged whether or not the vehicle satisfies the condition for passing through the accumulated water. When the vehicle does not meet the conditions for passing through the water, an alarm message is output.
  • the vehicle can detect the water accumulation in the road ahead in advance during the driving process, and output corresponding prompt information, thereby improving the driving safety of the vehicle.
  • FIG. 1 is a schematic flow chart of an embodiment of a road area water detecting method according to the present invention
  • FIG. 2 is a schematic diagram of functional modules of an embodiment of a road area water detecting device of the present invention.
  • the road area water detecting method of this embodiment includes:
  • Step S10 During the running of the vehicle, detecting whether there is accumulated water in the designated section in front of the vehicle;
  • the vehicle in order to improve the safety of the vehicle running, the vehicle can detect the road segment traveling ahead during the running, so as to detect the water accumulation in the front road section in advance, and improve the safety of the traveling vehicle.
  • the method includes: receiving a setting instruction input by a user, and starting the water storage detecting function according to the setting instruction.
  • the water detecting function of the vehicle is in a closed state.
  • the driver can actively activate the water detecting function through the preset switch of the vehicle, and the water detecting function is detected. After opening, it is possible to detect whether there is accumulated water in the designated section of the vehicle.
  • the water detection function may also be that when the vehicle detects rain, the vehicle automatically detects the running water detection function to detect the road surface of the vehicle.
  • the vehicle camera can be installed on the front of the vehicle or on both sides of the vehicle to collect the image information in the specified road section in front of the vehicle, and then the mathematical model can be used in combination with the existing image processing technology.
  • the image information is parsed to detect whether there is water in the designated section of the road ahead of the vehicle.
  • the setting of the designated road section may be to monitor the current running speed of the driving road in front of the vehicle while the vehicle is running, and also monitor the current traveling speed of the vehicle in real time, and then adjust in real time according to the current traveling speed of the vehicle.
  • the safe travel distance reserved for the vehicle which corresponds to the safe road segment for the vehicle to handle when the road ahead of the vehicle is in danger, that is, the distance between the position where the accumulated water is present and the vehicle is greater than or equal to the pre-predetermined Set the distance, which can be flexibly set according to the specific situation.
  • Step S20 Obtain an area of the accumulated water and/or a depth of the accumulated water when water accumulates in a designated section of the vehicle front side;
  • the step S20 includes: determining an area occupied by the accumulated water when water accumulates in the designated section of the vehicle in front of the vehicle, and calculating an area of the accumulated water according to the area occupied by the accumulated water; Or, the depth of the accumulated water is detected by a sonar assembly or an ultrasonic component preset by the vehicle.
  • the image information may be further analyzed to obtain an area occupied by the accumulated water, and according to the accumulated water.
  • the area uses the corresponding mathematical model to calculate the area of the water.
  • the vehicle is pre-equipped with a sonar component or an ultrasonic component, which may be integrated in the vehicle and become an integral part of the vehicle; or an external device of the vehicle may establish a connection relationship with the vehicle through wireless communication or cable.
  • the sonar component or the ultrasonic component can transmit sound waves to the ground in front of the vehicle, and receive the returned sound waves to calculate the water depth.
  • the roadside unit can be installed on a traffic device of a road on which the vehicle travels or on a communication base station on the road side, such as integrated on a traffic light, a traffic speed measuring device, a traffic photographing device, etc., and the current vehicle can be preset.
  • the vehicle unit establishes a wireless communication connection with the roadside unit. After the vehicle unit establishes a wireless communication connection with the roadside unit or the base station, the vehicle can perform information interaction with the roadside unit or the base station through the vehicle unit.
  • the roadside unit can integrate an image collecting device and a water detecting area and a water depth detecting device, and the roadside unit can first monitor whether there is accumulated water in the designated road section, and obtain the area of the accumulated water and/or the accumulated water. Data such as depth, the roadside unit can store the collected data locally or on the server.
  • the vehicle can send an acquisition request to the roadside unit according to its own exercise demand. When receiving the acquisition request of the vehicle, the roadside unit feeds back to the vehicle data such as the area of the accumulated water and/or the depth of the accumulated water.
  • Step S30 determining, according to the area of the accumulated water and/or the depth of the accumulated water, whether the vehicle satisfies a condition for passing the accumulated water;
  • the vehicle After the area of the accumulated water and/or the depth of the accumulated water is obtained, it is judged whether or not the vehicle satisfies the condition for passing the accumulated water based on the area of the accumulated water and/or the depth of the accumulated water.
  • determining whether the area of the accumulated water is greater than or equal to a preset area and if yes, determining that the vehicle does not satisfy the condition of passing the accumulated water; if not, determining the vehicle Satisfy the conditions for passing through the accumulated water.
  • determining whether the depth of the accumulated water is greater than or equal to a preset depth and if yes, determining that the vehicle does not satisfy the condition of passing the accumulated water; if not, determining that the vehicle satisfies The conditions for the accumulation of water.
  • the area of the accumulated water is first determined. When the area of the accumulated water is greater than or equal to the predetermined area, the depth of the accumulated water is determined. When the depth of the accumulated water is greater than or equal to the preset depth, it is determined that the vehicle does not satisfy the condition of passing through the accumulated water; when the depth of the accumulated water is less than the preset depth, it is determined that the vehicle satisfies the condition of passing through the accumulated water. Or, first, the depth of the accumulated water is judged, and when the depth of the accumulated water is greater than or equal to the preset depth, the area of the accumulated water is judged.
  • Step S40 When the vehicle does not satisfy the condition of passing the accumulated water, the alarm prompt information is output.
  • the alarm prompt may be output by means of voice broadcast or by means of display on the on-board display or by buzzer sounding or flashing of the LED light or other means. Information to alert the driver to the presence of water in front of the vehicle that the vehicle cannot pass so that the driver can take appropriate action.
  • the alarm prompt information is not output, and the prompt information that the vehicle can pass the accumulated water can also be output.
  • the process of driving the vehicle it is possible to detect the water accumulation in the road ahead in advance and improve the safety of the driving vehicle.
  • the vehicle when the vehicle is running, when the accumulated water is detected in the designated road section in front of the vehicle, the area of the accumulated water and/or the depth of the accumulated water is acquired. Then, based on the area of the accumulated water and/or the depth of the accumulated water, it is judged whether or not the vehicle satisfies the condition for passing through the accumulated water. When the vehicle does not meet the conditions for passing through the water, an alarm message is output.
  • the vehicle can detect the water accumulation in the road ahead in advance during the driving process, and output corresponding prompt information, thereby improving the driving safety of the vehicle.
  • step S30 includes:
  • the vehicle judges whether the vehicle satisfies the condition of passing the accumulated water according to the acquired area of the accumulated water and the depth of the accumulated water, and may first judge the area of the accumulated water, and then accumulate the accumulated water. The depth of the judgment.
  • the preset area may be flexibly set according to a specific situation, for example, the preset area may be set according to a wheel size of the vehicle, and the preset area may be smaller than the vehicle. Wheel area.
  • the vehicle can pre-store parameters such as the area and diameter of its own wheel. After obtaining the area of the accumulated water, the area of the accumulated water is compared with the area of the wheel. When the area of the accumulated water is smaller than the area of the wheel, the vehicle can be determined. Meet the conditions for passing through the water.
  • the preset depth may be based on Specifically, the setting may be flexibly set.
  • the preset depth may be set according to a wheel diameter of the vehicle, and the preset depth may be smaller than a wheel diameter of the vehicle.
  • the depth of the accumulated water is compared with the wheel diameter of the vehicle, and when the depth of the accumulated water is greater than or equal to the diameter of the wheel, it is determined that the vehicle does not satisfy the condition for passing the accumulated water; When the depth is smaller than the wheel diameter, it is determined that the vehicle satisfies the condition for passing the accumulated water.
  • the reliability of determining whether the vehicle satisfies the condition of passing through the accumulated water is improved.
  • step S30 includes:
  • the vehicle judges whether the vehicle satisfies the condition of passing the accumulated water according to the obtained area of the accumulated water and the depth of the accumulated water, and may first judge the depth of the accumulated water, and then the accumulated water The area is judged.
  • the preset depth may be flexibly set according to a specific situation.
  • the preset depth may be set according to a wheel diameter of the vehicle, and the preset depth may be Less than the wheel diameter of the vehicle.
  • the depth of the accumulated water is compared with the wheel diameter of the vehicle. When the depth of the accumulated water is smaller than the diameter of the wheel, it is determined that the vehicle satisfies the condition for passing the accumulated water; when the depth of the accumulated water is greater than or When it is equal to the diameter of the wheel, it is determined that the vehicle may not meet the condition for passing the accumulated water.
  • the preset area may be flexibly set according to a specific situation, for example,
  • the preset area may be set according to the wheel size of the vehicle, and the preset area may be smaller than the wheel area of the vehicle.
  • the vehicle can pre-store parameters such as the area, diameter, and the like of its own wheel. After the area of the accumulated water is obtained, the area of the accumulated water is compared with the area of the wheel.
  • the condition that the vehicle satisfies the accumulated water can be determined; when the area of the accumulated water is larger than Or equal to the area of the wheel, it can be determined that the vehicle does not meet the conditions for passing through the accumulated water
  • the reliability of determining whether the vehicle satisfies the condition of passing through the accumulated water is improved.
  • the road area water detecting device of this embodiment includes:
  • the detecting module 100 is configured to detect whether there is water in a designated section of the road ahead of the vehicle during the running of the vehicle;
  • the vehicle in order to improve the safety of the vehicle running, the vehicle can detect the road segment traveling ahead during the running, so as to detect the water accumulation in the front road section in advance, and improve the safety of the traveling vehicle.
  • the road area water detecting device further includes: an opening module, configured to receive a setting instruction input by the user, and turn on the water storage detecting function according to the setting instruction;
  • the detecting module 100 is further configured to: after the water detecting function is turned on, acquire image information in a specified section of the road ahead of the vehicle, and detect, according to the image information, whether there is a product in a specified section of the road ahead of the vehicle. water.
  • the water detecting function of the vehicle is in a closed state.
  • the driver can actively activate the water detecting function through the preset switch of the vehicle, that is, the opening module is receiving.
  • the water detection function is turned on.
  • the water detection function is turned on, whether there is accumulated water in the specified section of the vehicle in front of the vehicle for detection.
  • the water detection function may also be that when the vehicle detects rain, the vehicle automatically detects the running water detection function to detect the road surface of the vehicle.
  • the detection module 100 can install an in-vehicle camera through the front of the vehicle or the two sides of the vehicle to collect image information in a specified section of the road ahead, and then can use the mathematical model and combine the existing image.
  • the processing technique analyzes the image information to detect the presence of water in a designated section of the road ahead of the vehicle.
  • the setting of the designated road section may be to monitor the current running speed of the driving road in front of the vehicle while the vehicle is running, and also monitor the current traveling speed of the vehicle in real time, and then adjust in real time according to the current traveling speed of the vehicle.
  • the safe travel distance reserved for the vehicle which corresponds to the safe road segment for the vehicle to handle when the road ahead of the vehicle is in danger, that is, the distance between the position where the accumulated water is present and the vehicle is greater than or equal to the pre-predetermined Set the distance, which can be flexibly set according to the specific situation.
  • the obtaining module 200 is configured to acquire an area of the accumulated water and/or a depth of the accumulated water when water accumulates in a designated section of the vehicle front side;
  • the obtaining module 200 is further configured to determine an area occupied by the accumulated water when water is accumulated in a specified section of the vehicle, and calculate the accumulated water according to the area occupied by the accumulated water.
  • the area; and/or the depth of the accumulated water is detected by a sonar assembly or an ultrasonic component preset by the vehicle.
  • the acquiring module 200 may further analyze the image information to obtain an area occupied by the accumulated water, and according to the accumulated water.
  • the occupied area uses the corresponding mathematical model to calculate the area of the accumulated water.
  • the vehicle is pre-equipped with a sonar component or an ultrasonic component, which may be integrated in the vehicle and become an integral part of the vehicle; or an external device of the vehicle may establish a connection relationship with the vehicle through wireless communication or cable.
  • the acquisition module 200 can transmit sound waves to the ground in front of the vehicle through the sonar component or the ultrasonic component, and receive the returned sound waves to calculate the water depth.
  • the roadside unit can be installed on a traffic device of a road on which the vehicle travels or on a communication base station on the road side, such as integrated on a traffic light, a traffic speed measuring device, a traffic photographing device, etc., and the current vehicle can be preset.
  • the vehicle unit establishes a wireless communication connection with the roadside unit. After the vehicle unit establishes a wireless communication connection with the roadside unit or the base station, the vehicle can perform information interaction with the roadside unit or the base station through the vehicle unit.
  • the roadside unit can integrate an image collecting device and a water detecting area and a water depth detecting device, and the roadside unit can first monitor whether there is accumulated water in the designated road section, and obtain the area of the accumulated water and/or the accumulated water. Data such as depth, the roadside unit can store the collected data locally or on the server.
  • the vehicle can send an acquisition request to the roadside unit according to its own exercise demand. When receiving the acquisition request of the vehicle, the roadside unit feeds back to the vehicle data such as the area of the accumulated water and/or the depth of the accumulated water.
  • the determining module 300 is configured to determine, according to the area of the accumulated water and/or the depth of the accumulated water, whether the vehicle satisfies a condition for crossing the accumulated water;
  • the determination module 300 determines whether the vehicle satisfies the condition for passing the accumulated water based on the area of the accumulated water and/or the depth of the accumulated water.
  • the determining module 300 determines whether the area of the accumulated water is greater than or equal to a preset area, and if yes, determines that the vehicle does not satisfy the condition for passing the accumulated water; if not, determines The vehicle satisfies the conditions for passing the accumulated water.
  • the determining module 300 determines whether the depth of the accumulated water is greater than or equal to a preset depth, and if so, determines that the vehicle does not satisfy the condition for passing the accumulated water; if not, determines the The vehicle satisfies the conditions for passing the accumulated water.
  • the determining module 300 first determines the area of the accumulated water. When the area of the accumulated water is greater than or equal to the preset area, the depth of the accumulated water is determined. When the depth of the accumulated water is greater than or equal to the preset depth, it is determined that the vehicle does not satisfy the condition of passing through the accumulated water; when the depth of the accumulated water is less than the preset depth, it is determined that the vehicle satisfies the condition of passing through the accumulated water. Or, first, the depth of the accumulated water is judged, and when the depth of the accumulated water is greater than or equal to the preset depth, the area of the accumulated water is judged.
  • the output module 400 is configured to output an alarm prompt message when the vehicle does not satisfy the condition of passing the accumulated water.
  • the output module 400 may be in a manner of voice announcement or by means of display on the on-vehicle display or a buzzer sounding manner or an LED light flashing or other means.
  • the alarm prompt message is output to remind the driver of the accumulated water in front of the vehicle, and the vehicle cannot pass, so that the driver can take corresponding measures.
  • the alarm prompt information is not output, and the prompt information that the vehicle can pass the accumulated water can also be output.
  • the process of driving the vehicle it is possible to detect the water accumulation in the road ahead in advance and improve the safety of the driving vehicle.
  • the vehicle when the vehicle is running, when the accumulated water is detected in the designated road section in front of the vehicle, the area of the accumulated water and/or the depth of the accumulated water is acquired. Then, based on the area of the accumulated water and/or the depth of the accumulated water, it is judged whether or not the vehicle satisfies the condition for passing through the accumulated water. When the vehicle does not meet the conditions for passing through the water, an alarm message is output.
  • the vehicle can detect the water accumulation in the road ahead in advance during the driving process, and output corresponding prompt information, thereby improving the driving safety of the vehicle.
  • the determining module 300 is further configured to determine whether the area of the water is larger than Or equal to the preset area;
  • the determining module 300 determines whether the vehicle satisfies the condition of passing the accumulated water according to the obtained area of the accumulated water and the depth of the accumulated water, and may first judge the area of the accumulated water, and then The depth of the accumulated water is judged.
  • the determining module 300 first determines whether the area of the accumulated water is greater than or equal to the preset area, and the preset area may be flexibly set according to a specific situation, for example, the preset area may be set according to a wheel size of the vehicle, and the preset area is preset. It can be smaller than the wheel area of the vehicle.
  • the vehicle can pre-store parameters such as the area and diameter of its own wheel. After obtaining the area of the accumulated water, the area of the accumulated water is compared with the area of the wheel. When the area of the accumulated water is smaller than the area of the wheel, the vehicle can be determined. Meet the conditions for passing through the water.
  • the preset depth may be based on Specifically, the setting may be flexibly set.
  • the preset depth may be set according to a wheel diameter of the vehicle, and the preset depth may be smaller than a wheel diameter of the vehicle.
  • the depth of the accumulated water is compared with the wheel diameter of the vehicle, and when the depth of the accumulated water is greater than or equal to the diameter of the wheel, it is determined that the vehicle does not satisfy the condition for passing the accumulated water; When the depth is smaller than the wheel diameter, it is determined that the vehicle satisfies the condition for passing the accumulated water.
  • the reliability of determining whether the vehicle satisfies the condition of passing through the accumulated water is improved.
  • the determining module 300 is further configured to determine whether the depth of the accumulated water is greater than Or equal to the preset depth;
  • the determining module 300 determines whether the vehicle satisfies the condition of passing the accumulated water according to the acquired area of the accumulated water and the depth of the accumulated water, and may first judge the depth of the accumulated water, and then The area of the accumulated water is judged.
  • the determining module 300 first determines whether the depth of the accumulated water is greater than or equal to the preset depth, and the preset depth may be flexibly set according to a specific situation.
  • the preset depth may be set according to a wheel diameter of the vehicle, and the preset The depth can be set to be smaller than the wheel diameter of the vehicle. After obtaining the depth of the accumulated water, the depth of the accumulated water is compared with the wheel diameter of the vehicle.
  • the vehicle When the depth of the accumulated water is smaller than the diameter of the wheel, it is determined that the vehicle satisfies the condition for passing the accumulated water; when the depth of the accumulated water is greater than or When it is equal to the diameter of the wheel, it is determined that the vehicle may not meet the condition for passing the accumulated water.
  • the vehicle can pre-store parameters such as the area, diameter, and the like of its own wheel.
  • the area of the accumulated water is compared with the area of the wheel.
  • the condition that the vehicle satisfies the accumulated water can be determined; when the area of the accumulated water is larger than Or equal to the area of the wheel, it can be determined that the vehicle does not meet the conditions for passing through the accumulated water
  • the reliability of determining whether the vehicle satisfies the condition of passing through the accumulated water is improved.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention porte sur un procédé de détection d'accumulation d'eau sur une surface de route, consistant : pendant la conduite d'un véhicule, à détecter s'il y a une accumulation d'eau dans une section de route désignée en face du véhicule (S10); à acquérir la zone de l'accumulation d'eau et/ou la profondeur de l'accumulation d'eau lorsqu'il y a une accumulation d'eau dans la section de route désignée en face du véhicule (S20); en fonction de la zone de l'accumulation d'eau et/ou de la profondeur de l'accumulation d'eau, à décider si le véhicule satisfait une condition de passage à travers l'accumulation d'eau (S30); et à transmettre des informations de déclenchement d'alerte lorsque le véhicule ne satisfait pas la condition de passage à travers l'accumulation d'eau (S40). L'invention porte également sur un dispositif de détection d'accumulation d'eau sur une surface de route. Au moyen de la détection d'accumulation d'eau sur une surface de route sur laquelle un véhicule se déplace et au moyen de la transmission d'informations d'invite correspondantes, la sécurité de conduite du véhicule est améliorée.
PCT/CN2017/070290 2016-09-28 2017-01-05 Procédé et dispositif de détection d'accumulation d'eau sur une surface de route WO2018058856A1 (fr)

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CN201610860454.5 2016-09-28
CN201610860454.5A CN106568403A (zh) 2016-09-28 2016-09-28 路面积水检测方法及装置

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WO2018058856A1 true WO2018058856A1 (fr) 2018-04-05

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CN112172798A (zh) * 2020-09-28 2021-01-05 惠州华阳通用电子有限公司 一种基于积水环境的泊车方法及存储介质
CN112329582A (zh) * 2020-10-29 2021-02-05 西南大学 大数据分析与机理模型协同的道路积水深度监测方法及系统
CN112966782A (zh) * 2021-04-09 2021-06-15 深圳市豪恩汽车电子装备股份有限公司 一种多视角特征融合的路面积水检测识别方法
TWI749770B (zh) * 2020-09-16 2021-12-11 英業達股份有限公司 淹水警示方法
CN116778696A (zh) * 2023-08-14 2023-09-19 易启科技(吉林省)有限公司 一种基于视觉的城市内涝智能预警方法及系统

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CN107424425A (zh) * 2017-09-24 2017-12-01 肇庆高新区长光智能技术开发有限公司 道路积水预警方法、系统与控制装置
CN108362236A (zh) * 2018-01-03 2018-08-03 佛山杰致信息科技有限公司 一种用于测量前方道路深度的预警装置
CN109741391A (zh) * 2018-12-26 2019-05-10 斑马网络技术有限公司 路面积水深度的检测方法、装置和存储介质
CN110186474B (zh) * 2019-06-04 2021-02-02 浙江汉固达网络信息技术有限公司 一种禁止通行标志的绘制方法及系统
CN114030487B (zh) * 2021-12-22 2024-03-22 诺博汽车科技南京有限公司 车辆控制方法、装置、存储介质及车辆
CN114312796A (zh) * 2022-01-25 2022-04-12 中国第一汽车股份有限公司 一种车速控制方法、装置、存储介质及系统
CN114684150A (zh) * 2022-02-21 2022-07-01 北京新能源汽车股份有限公司 一种泊车路面湿滑路面预警方法及装置

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