Road event information determination method, device, equipment, medium and product

Abstract

The invention discloses a road event information determination method and device, equipment, a medium and a product. The method comprises the steps of obtaining a road image; identifying the road image to obtain road event information; the road event information is periodically broadcasted, so that other networked vehicles and roadside equipment within the broadcasting range of the current networked vehicle receive the road event information, through the technical scheme of the invention, the dangerous condition of the road can be identified in real time, the real-time performance of the information is ensured, the vehicle is enabled to know the road event information in advance and take avoidance measures in time, and the driving safety of the vehicle is improved. The traffic jam is relieved, and the accident risk is reduced.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of vehicle technology, and in particular, to a method, device, equipment, medium and product for determining road event information. Background Art

[0002] In urban traffic, road construction, road waterlogging, and road damage often occur. When these road events occur, they will cause traffic congestion and even increase the risk of vehicle driving. Currently, the methods for identifying these road events are:

[0003] (1) Vehicle body sensor recognition;

[0004] (2) Navigation map prompts;

[0005] Method (1) is applicable to vehicles with intelligent driving functions, and can only identify events within the perception range, and cannot perceive information beyond the visual range in advance.

[0006] Method (2) usually obtains road event information based on construction notices or manual reporting, which has poor timeliness. Summary of the invention

[0007] The embodiments of the present invention provide a method, device, equipment, medium and product for determining road event information, which can identify dangerous road conditions in real time, ensure the real-time nature of information, make up for perception blind spots, enable vehicles to understand road event information in advance, and take avoidance measures in time to alleviate traffic congestion and reduce accident risks.

[0008] According to one aspect of the present invention, a method for determining road event information is provided, which is executed by a connected vehicle in a vehicle networking system, wherein the vehicle networking system comprises: a plurality of connected vehicles and a plurality of roadside devices, and the method for determining road event information comprises:

[0009] Acquire road images;

[0010] Identifying the road image to obtain road event information;

[0011] The road event information is broadcast periodically so that other connected vehicles and roadside equipment within the broadcast range of the current connected vehicle receive the road event information.

[0012] Furthermore, periodically broadcasting the road event information so that other connected vehicles and roadside devices within the broadcast range of the current connected vehicle receive the road event information includes:

[0013] Transmitting the road event information to the Internet of Vehicles communication protocol stack via the User Datagram Protocol;

[0014] Encapsulating the road event information into a perception data sharing message through the Internet of Vehicles communication protocol stack;

[0015] The perception data sharing message is periodically broadcast through the vehicle networking communication protocol stack so that other connected vehicles and roadside equipment within the broadcast range of the current connected vehicle receive the road event information.

[0016] Furthermore, the road event information includes: event type, event location and event occurrence timestamp, and the event type includes: at least one of road construction events, road waterlogging events and road damage events.

[0017] Furthermore, the road image is identified to obtain road event information, including:

[0018] Inputting the road image into a target detection model to obtain reflective cone position information and the number of reflective cones;

[0019] If the number of reflective cones is greater than the number threshold, and the distance between the multiple reflective cones is less than the distance threshold, the event type is determined to be a road construction event;

[0020] The road event information is determined according to the road construction event, the current timestamp, and the position information of the reflective cone with the shortest distance from the current connected vehicle.

[0021] Furthermore, the road image is identified to obtain road event information, including:

[0022] Acquire weather information, wherein the weather information includes: current weather information and historical weather information;

[0023] Determine the initial water accumulation volume based on historical weather information and current weather information;

[0024] If the initial water accumulation amount is greater than the set water accumulation amount, the water accumulation depth and the location information of the water accumulation point on the road are determined according to the road image and the chassis height of the current connected vehicle;

[0025] If the road water depth is greater than the depth threshold, the event type is determined to be a road water event;

[0026] The road event information is determined based on the road waterlogging event, the current timestamp, and the location information of the waterlogging point.

[0027] Furthermore, the road image is identified to obtain road event information, including:

[0028] Inputting the road image into a damage recognition model to obtain the area of ​​the road damage region;

[0029] If the area of ​​the road damage region is greater than the area threshold, the event type is determined to be a road damage event;

[0030] The road event information is determined according to the road damage event, the current timestamp, and the position of the boundary point in the road damage area that is closest to the current connected vehicle.

[0031] According to another aspect of the present invention, a road event information determination device is provided, which is configured in a networked vehicle in a vehicle networking system, wherein the vehicle networking system includes: a plurality of networked vehicles and a plurality of roadside devices, and the road event information determination device includes:

[0032] A road image acquisition module, used for acquiring road images;

[0033] A road image recognition module, used to recognize the road image and obtain road event information;

[0034] The road event information broadcast module is used to periodically broadcast the road event information so that other connected vehicles and roadside equipment within the broadcast range of the current connected vehicle can receive the road event information.

[0035] Furthermore, the road event information broadcast module is specifically used for:

[0036] Transmitting the road event information to the Internet of Vehicles communication protocol stack via the User Datagram Protocol;

[0037] Encapsulating the road event information into a perception data sharing message through the Internet of Vehicles communication protocol stack;

[0038] The perception data sharing message is periodically broadcast through the vehicle networking communication protocol stack so that other connected vehicles and roadside equipment within the broadcast range of the current connected vehicle receive the road event information.

[0039] Furthermore, the road event information includes: event type, event location and event occurrence timestamp, and the event type includes: at least one of road construction events, road waterlogging events and road damage events.

[0040] Furthermore, the road image recognition module is specifically used for:

[0041] Inputting the road image into a target detection model to obtain reflective cone position information and the number of reflective cones;

[0042] If the number of reflective cones is greater than the number threshold, and the distance between the multiple reflective cones is less than the distance threshold, the event type is determined to be a road construction event;

[0043] The road event information is determined according to the road construction event, the current timestamp, and the position information of the reflective cone with the shortest distance from the current connected vehicle.

[0044] Furthermore, the road image recognition module is specifically used for:

[0045] Acquire weather information, wherein the weather information includes: current weather information and historical weather information;

[0046] Determine the initial water accumulation volume based on historical weather information and current weather information;

[0047] If the initial water accumulation amount is greater than the set water accumulation amount, the water accumulation depth and the location information of the water accumulation point on the road are determined according to the road image and the chassis height of the current connected vehicle;

[0048] If the road water depth is greater than the depth threshold, the event type is determined to be a road water event;

[0049] The road event information is determined based on the road waterlogging event, the current timestamp, and the location information of the waterlogging point.

[0050] Furthermore, the road image recognition module is specifically used for:

[0051] Inputting the road image into a damage recognition model to obtain the area of ​​the road damage region;

[0052] If the area of ​​the road damage region is greater than the area threshold, the event type is determined to be a road damage event;

[0053] The road event information is determined according to the road damage event, the current timestamp, and the position of the boundary point in the road damage area that is closest to the current connected vehicle.

[0054] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0055] at least one processor; and

[0056] a memory communicatively connected to the at least one processor; wherein,

[0057] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the road event information determination method described in any embodiment of the present invention.

[0058] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the road event information determination method described in any embodiment of the present invention when executed.

[0059] According to another aspect of the present invention, a computer program product is provided. When the computer program is executed by a processor, the computer program implements the road event information determination method as described in any one of the embodiments of the present invention.

[0060] The embodiments of the present invention acquire road images, identify the road images to obtain road event information, and periodically broadcast the road event information so that other connected vehicles and roadside equipment within the broadcast range of the current connected vehicle receive the road event information. This enables real-time identification of dangerous road conditions, ensures real-time information, compensates for perception blind spots, enables vehicles to understand road event information in advance, and take avoidance measures in a timely manner, thereby alleviating traffic congestion and reducing accident risks.

[0061] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0063] Figure 1 is a flow chart of a method for determining road event information in an embodiment of the present invention;

[0064] Figure 2 is a structural schematic diagram of a vehicle networking system in an embodiment of the present invention;

[0065] Figure 3 is a schematic structural diagram of a device for determining road event information in an embodiment of the present invention;

[0066] Figure 4 It is a structural schematic diagram of an electronic device in an embodiment of the present invention. DETAILED DESCRIPTION

[0067] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0068] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0069] It is understandable that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, scope of use, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0070] Embodiment 1

[0071] Figure 1 A flowchart of a method for determining road event information provided by an embodiment of the present invention. This embodiment is applicable to the case of determining road event information. The method can be executed by a device for determining road event information in an embodiment of the present invention. The device can be implemented in software and / or hardware. Figure 1 As shown, the method specifically comprises the following steps:

[0072] S110, acquiring a road image.

[0073] In this embodiment, the Internet of Vehicles system includes: multiple connected vehicles and multiple roadside devices. The connected vehicles include: a vehicle-mounted camera and a vehicle-mounted terminal. The vehicle-mounted camera can be set near the rearview mirror inside the vehicle, facing the outside of the vehicle. The vehicle-mounted camera can also be set on the front grille or logo of the vehicle. This embodiment of the present invention does not limit this.

[0074] In this embodiment, the road image may be obtained by: obtaining the road image through a vehicle-mounted camera, or obtaining the road image through a roadside device, or determining the road image based on an image captured by the vehicle-mounted camera and an image sent by the roadside device. This embodiment of the present invention is not limited to this.

[0075] In a specific example, the on-board camera provides the driving trajectory of the road and the surrounding road images from the vehicle's perspective; the roadside equipment fixedly installed on the roadside obtains the road image data and the driving trajectory of the passing vehicles in the sensed area with the help of the camera and perception equipment thereon; the on-board camera is integrated into the connected vehicle, so data transmission can be directly realized by wired means, and the roadside equipment can send the acquired image data and driving trajectory to the connected vehicle through the network.

[0076] S120: Identify the road image to obtain road event information.

[0077] Optionally, the road event information includes: event type, event location and event occurrence timestamp, and the event type includes: at least one of road construction events, road waterlogging events and road damage events.

[0078] In this embodiment, the road image may be identified to obtain road event information by: inputting the road image into a road event information identification model to obtain road event information, wherein the road event identification model is a model pre-trained based on a target training sample set. The road image may be identified to obtain road event information by: inputting the road image into a target detection model to obtain reflective cone position information and the number of reflective cones; and determining road event information based on the reflective cone position information and the number of reflective cones. The road image may be identified to obtain road event information by: obtaining weather information, and determining road event information based on weather information, road image, and the chassis height of the current connected vehicle. The road image may be identified to obtain road event information by: inputting the road image into a damage identification model to obtain the area of ​​the road damage area; and determining road event information based on the area of ​​the road damage area.

[0079] Optionally, identifying the road image to obtain road event information includes:

[0080] Inputting the road image into a target detection model to obtain reflective cone position information and the number of reflective cones;

[0081] If the number of reflective cones is greater than the number threshold, and the distance between the multiple reflective cones is less than the distance threshold, the event type is determined to be a road construction event;

[0082] The road event information is determined according to the road construction event, the current timestamp, and the position information of the reflective cone with the shortest distance from the current connected vehicle.

[0083] In this embodiment, the target detection model may be a trained YOLOv5 model. The training process of the target detection model includes: obtaining a first training sample set, wherein the first training sample set includes: road image samples, wherein the positions of reflective cones are marked in the road image samples; training the YOLOv5 model according to the first training sample set to obtain a trained YOLOv5 model, that is, a target detection model.

[0084] In this embodiment, the quantity threshold may be a preset value, such as 3, and the distance threshold may be a preset value, which is not limited in this embodiment of the present invention.

[0085] In this embodiment, if it is determined that there are a plurality of continuous reflective cones on the road ahead based on the number of reflective cones and the distances between the plurality of reflective cones, then the event type is determined to be a road construction event.

[0086] In this embodiment, based on the road construction event, the current timestamp, and the reflective cone position information with the smallest distance from the current connected vehicle, the method for determining the road event information can be: the road construction event is the event type, the current timestamp is the event occurrence timestamp, and the reflective cone position information with the smallest distance from the current connected vehicle is the event position.

[0087] Optionally, identifying the road image to obtain road event information includes:

[0088] Acquire weather information, wherein the weather information includes: current weather information and historical weather information;

[0089] Determine the initial water accumulation volume based on historical weather information and current weather information;

[0090] If the initial water accumulation amount is greater than the set water accumulation amount, the water accumulation depth and the location information of the water accumulation point on the road are determined according to the road image and the chassis height of the current connected vehicle;

[0091] If the road water depth is greater than the depth threshold, the event type is determined to be a road water event;

[0092] The road event information is determined based on the road waterlogging event, the current timestamp, and the location information of the waterlogging point.

[0093] In this embodiment, the method of obtaining weather information may be: obtaining historical weather information and current weather information of the area where the current connected vehicle is located.

[0094] In this embodiment, the method for determining the initial amount of water accumulation based on historical weather information and current weather information can be: based on historical weather information and current weather information, a hydrological model is applied to calculate the initial amount of water accumulation. The hydrological model can estimate the amount of water accumulation by factors such as rainfall and soil moisture. The assessed amount of water accumulation can also be adjusted according to the terrain information corresponding to the current position of the connected vehicle to obtain the initial amount of water accumulation. The rule for adjusting the assessed amount of water accumulation based on terrain information can be that low-lying areas are more prone to water accumulation, and high and low areas are less prone to water accumulation.

[0095] In this embodiment, the set water accumulation amount can be a preset value, and the depth threshold can be a preset value. The setting of the depth threshold needs to consider the impact of water depth on driving safety, which is not limited in this embodiment of the present invention.

[0096] Optionally, if the initial water accumulation amount is greater than the set water accumulation amount, it is also possible to determine whether there is water accumulation on the road surface based on the road image. If there is water accumulation on the road surface and the water accumulation area is greater than the area threshold, the event type is determined to be a road water accumulation event.

[0097] Optionally, determining the depth of water on the road and the location information of the water accumulation point according to the road image and the chassis height of the current connected vehicle includes:

[0098] A three-dimensional road surface model is established based on the road image.

[0099] In an embodiment of the present invention, multiple vehicle-mounted cameras and multiple roadside devices are arranged to ensure that the multiple vehicle-mounted cameras and multiple roadside devices can capture sufficient overlapping images from different angles and positions to facilitate the establishment of a three-dimensional road model. Road features in the three-dimensional road model are extracted.

[0100] In this embodiment, the road surface three-dimensional model is deeply analyzed and processed, and road surface features are extracted from the road surface three-dimensional model.

[0101] The three-dimensional road surface model and the road image are subjected to image registration processing to construct a virtual reality model.

[0102] In this embodiment, the road surface three-dimensional model is image-registered with the real scene image in the road image. This process involves the precise alignment of the road surface three-dimensional model and the real scene image to ensure their consistency in spatial position. Through image registration technology, the road surface features in the road surface three-dimensional model can be matched with the corresponding parts in the road image to achieve the fusion of the model and the real scene. The virtual reality model constructed in this way can provide users with a more realistic and immersive experience, allowing them to perceive the real road surface environment and features in the virtual environment.

[0103] Based on the virtual reality model, road surface characteristics and the current chassis height of the connected vehicle, the depth of road water and the location of the water accumulation point are determined.

[0104] In this embodiment, during the fusion process, the virtual reality model, road surface characteristics and the chassis height of the current connected vehicle are mutually verified, the error size and error analysis are calculated, and the accuracy and reliability of the road surface water depth calculation are improved.

[0105] In this embodiment, based on the road flooding event, the current timestamp and the location information of the flooding point, the method for determining the road event information can be: taking the road flooding event as the event type, the current timestamp as the event occurrence timestamp, and the location information of the flooding point as the event location.

[0106] Optionally, identifying the road image to obtain road event information includes:

[0107] The road image is input into a damage recognition model to obtain the area of ​​the road damage region.

[0108] In this embodiment, the damage recognition model may be a trained YOLO-V5 model, and the training process of the damage recognition model may include: obtaining a second training sample set, wherein the second training sample set includes: road image samples, the road image samples carry road damage area labels, and the YOLO-V5 model is trained based on the second training sample set to obtain the damage recognition model.

[0109] If the area of ​​the road damage region is greater than the area threshold, the event type is determined to be a road damage event.

[0110] In this embodiment, the area threshold may be a preset value, and the setting of the area threshold needs to take into account the impact of the damaged area on driving safety.

[0111] The road event information is determined according to the road damage event, the current timestamp, and the position of the boundary point in the road damage area that is closest to the current connected vehicle.

[0112] In this embodiment, based on the road damage event, the current timestamp, and the position of the boundary point in the road damage area that is closest to the current connected vehicle, the method for determining the road event information can be: determining the road damage event as the event type, determining the current timestamp as the event occurrence timestamp, and determining the position of the boundary point in the road damage area that is closest to the current connected vehicle as the event position.

[0113] S130, periodically broadcasting the road event information so that other connected vehicles and roadside equipment within the broadcast range of the current connected vehicle receive the road event information.

[0114] In this embodiment, the road event information is periodically broadcasted so that other connected vehicles and roadside devices within the broadcast range of the current connected vehicle receive the road event information. The road event information is periodically broadcasted through the Internet of Vehicles communication protocol stack so that other connected vehicles and roadside devices within the broadcast range of the current connected vehicle receive the road event information.

[0115] Optionally, also include:

[0116] The road event information is received, and the received road event information is periodically broadcasted so that other connected vehicles and roadside equipment within the broadcast range of the current connected vehicle receive the road event information.

[0117] In this embodiment, the current connected vehicle can actively identify road event information, and can also receive road event information sent by other connected vehicles or roadside equipment. For example, if the current connected vehicle A identifies road event information X and broadcasts road event information X, connected vehicles B, connected vehicles C and roadside equipment Y are all within the broadcast range of connected vehicle A, connected vehicles B, connected vehicles C and roadside equipment Y all receive road event information X broadcast by connected vehicle A, connected vehicle B broadcasts received road event information X, connected vehicle C broadcasts received road event information X, roadside equipment Y broadcasts received road event information X, and so on, so that more vehicles receive road event information X.

[0118] Optionally, periodically broadcasting the road event information so that other connected vehicles and roadside devices within the broadcast range of the current connected vehicle receive the road event information includes:

[0119] The road event information is transmitted to the vehicle networking communication protocol stack via the user datagram protocol.

[0120] In this embodiment, the User Datagram Protocol is a datagram mode that provides packet switching computer communications in a group of interconnected computer network environments. The protocol assumes the use of IP as the underlying protocol and operates at the transport layer according to the OSI model. UDP provides a process for applications to send messages to other programs with minimal protocol mechanisms. The protocol is transaction-oriented and does not guarantee delivery and duplicate protection. Applications that require orderly and reliable transmission of data streams should use the Transmission Control Protocol.

[0121] In this embodiment, the Internet of Vehicles communication protocol stack may be a V2X protocol stack.

[0122] The road event information is encapsulated as a perception data sharing message through the Internet of Vehicles communication protocol stack.

[0123] In this embodiment, the road event information is encapsulated as a sensor sharing message (SSM) message through the V2X protocol stack.

[0124] The perception data sharing message is periodically broadcast through the vehicle networking communication protocol stack so that other connected vehicles and roadside equipment within the broadcast range of the current connected vehicle receive the road event information.

[0125] In this embodiment, the perception data sharing message is periodically broadcasted through the V2X protocol stack, and other connected vehicles and roadside devices within the broadcast range of the current connected vehicle receive the perception data sharing message, and convert the perception data sharing message into road event information based on the V2X protocol stack. It can increase the roadside perception range, integrate its own perception with the received perception information, and provide services for surrounding vehicles. In a specific example, Figure 2 As shown, the Internet of Vehicles system includes: a connected vehicle and roadside equipment, the connected vehicle includes: a front-view camera and a vehicle-mounted terminal, the vehicle-mounted terminal includes: a computing unit and a V2X communication unit, the front-view camera: connected to the vehicle-mounted terminal, responsible for capturing environmental information within the front-view range during vehicle driving; the computing unit: mainly includes an image parsing subunit and a road event detection subunit, responsible for image processing and identifying road events; the V2X communication unit: mainly includes V2X protocol stack software, responsible for message encapsulation and message broadcasting in a standard format; the connected vehicle / roadside equipment (Road Side Unit, RSU): a vehicle or roadside equipment with direct communication capabilities, responsible for receiving road event information broadcast by the vehicle-mounted terminal.

[0126] The technical solution provided by the embodiment of the present invention is that the connected vehicle is equipped with a vehicle terminal with direct communication capability, and the vehicle terminal can also be connected to a camera. Relying on the vehicle terminal, the vehicle terminal also has a computing unit and a V2X communication unit. When the connected vehicle is driving on the road, the image captured by the camera is analyzed in real time. When the computing unit recognizes a road event that may affect other traffic participants based on the image captured by the camera, the event information is encapsulated as an SSM message and broadcast to other vehicles or RSUs.

[0127] In another specific example, the image parsing subunit in the computing unit pulls the video stream of the camera in real time, parses the video, extracts pictures, and saves the extracted pictures to a fixed memory address; the road event detection subunit in the computing unit identifies events such as road construction, road waterlogging, and road damage based on the target detection algorithm. Taking road construction as an example, the target detection model YOLOv5 is called to identify reflective cones. When there are multiple (3 or more) consecutive reflective cones within the picture range, it is considered that there is road construction ahead, and the road construction event type is output. According to the camera's internal and external parameter calibration results and the target pixel position, the distance to the target is estimated, and then combined with the vehicle's position information, the target's latitude and longitude data in the real world is obtained, and the reflective cone closest to the vehicle is used as the event position. After the road event detection subunit identifies the road event information, it passes the structured data (including event type, event location, and timestamp) to the V2X protocol stack via UDP. The protocol stack encapsulates the road event information into an SSM message. The V2X protocol stack periodically broadcasts the SSM message to the surrounding connected vehicles or RSUs until the event ends (the detection algorithm no longer identifies the road event information).

[0128] The technical solution of this embodiment obtains road images, identifies the road images, and obtains road event information; periodically broadcasts the road event information so that other connected vehicles and roadside equipment within the broadcast range of the current connected vehicle receive the road event information, which can identify dangerous road conditions in real time, ensure the real-time nature of information, make up for perception blind spots, enable vehicles to understand road event information in advance, and take avoidance measures in time to alleviate traffic congestion and reduce accident risks.

[0129] Embodiment 2

[0130] Figure 3 This is a schematic diagram of the structure of a road event information determination device provided by an embodiment of the present invention. This embodiment is applicable to the case of road event information determination. The device can be implemented in software and / or hardware. The device can be integrated in any device that provides a road event information determination function, such as Figure 3 As shown, the road event information determination device specifically includes: a road image acquisition module 310 , a road image recognition module 320 and a road event information broadcasting module 330 .

[0131] Wherein, the road image acquisition module is used to acquire the road image;

[0132] A road image recognition module, used to recognize the road image and obtain road event information;

[0133] The road event information broadcast module is used to periodically broadcast the road event information so that other connected vehicles and roadside equipment within the broadcast range of the current connected vehicle can receive the road event information.

[0134] Optionally, the road event information broadcast module is specifically used for:

[0135] Transmitting the road event information to the Internet of Vehicles communication protocol stack via the User Datagram Protocol;

[0136] Encapsulating the road event information into a perception data sharing message through the Internet of Vehicles communication protocol stack;

[0137] The perception data sharing message is periodically broadcast through the vehicle networking communication protocol stack so that other connected vehicles and roadside equipment within the broadcast range of the current connected vehicle receive the road event information.

[0138] Optionally, the road event information includes: event type, event location and event occurrence timestamp, and the event type includes: at least one of road construction events, road waterlogging events and road damage events.

[0139] Optionally, the road image recognition module is specifically used for:

[0140] Inputting the road image into a target detection model to obtain reflective cone position information and the number of reflective cones;

[0141] If the number of reflective cones is greater than the number threshold, and the distance between the multiple reflective cones is less than the distance threshold, the event type is determined to be a road construction event;

[0142] The road event information is determined according to the road construction event, the current timestamp, and the position information of the reflective cone with the shortest distance from the current connected vehicle.

[0143] Optionally, the road image recognition module is specifically used for:

[0144] Acquire weather information, wherein the weather information includes: current weather information and historical weather information;

[0145] Determine the initial water accumulation volume based on historical weather information and current weather information;

[0146] If the initial water accumulation amount is greater than the set water accumulation amount, the water accumulation depth and the location information of the water accumulation point on the road are determined according to the road image and the chassis height of the current connected vehicle;

[0147] If the road water depth is greater than the depth threshold, the event type is determined to be a road water event;

[0148] The road event information is determined based on the road waterlogging event, the current timestamp, and the location information of the waterlogging point.

[0149] Optionally, the road image recognition module is specifically used for:

[0150] Inputting the road image into a damage recognition model to obtain the area of ​​the road damage region;

[0151] If the area of ​​the road damage region is greater than the area threshold, the event type is determined to be a road damage event;

[0152] The road event information is determined according to the road damage event, the current timestamp, and the position of the boundary point in the road damage area that is closest to the current connected vehicle.

[0153] The above-mentioned product can execute the method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0154] The technical solution of this embodiment obtains road images, identifies the road images, and obtains road event information; periodically broadcasts the road event information so that other connected vehicles and roadside equipment within the broadcast range of the current connected vehicle receive the road event information, which can identify dangerous road conditions in real time, ensure the real-time nature of information, make up for perception blind spots, enable vehicles to understand road event information in advance, and take avoidance measures in time to alleviate traffic congestion and reduce accident risks.

[0155] Embodiment 3

[0156] Figure 4 A schematic diagram of the structure of an electronic device 10 that can be used to implement an embodiment of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0157] like Figure 4As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0158] A number of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0159] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a road event information determination method.

[0160] In some embodiments, the road event information determination method may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the road event information determination method described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the road event information determination method in any other appropriate manner (e.g., by means of firmware).

[0161] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0162] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0163] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0164] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0165] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0166] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0167] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0168] An embodiment of the present invention further provides a computer program product, including a computer program, wherein when the computer program is executed by a processor, the method for determining road event information according to any embodiment of the present invention is implemented.

[0169] In the process of implementation, the computer program product can be written in one or more programming languages ​​or a combination thereof to perform the computer program code of the present invention, including object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).

[0170] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for determining road event information, characterized in that: The method is executed by a connected vehicle in a vehicle networking system, wherein the vehicle networking system includes: a plurality of connected vehicles and a plurality of roadside devices, and the road event information determination method includes: Acquire road images; Identifying the road image to obtain road event information; The road event information is broadcast periodically so that other connected vehicles and roadside equipment within the broadcast range of the current connected vehicle receive the road event information.

2. The method according to claim 1, characterized in that Periodically broadcasting the road event information so that other connected vehicles and roadside equipment within the broadcast range of the current connected vehicle receive the road event information, including: Transmitting the road event information to the Internet of Vehicles communication protocol stack via the User Datagram Protocol; Encapsulating the road event information into a perception data sharing message through the Internet of Vehicles communication protocol stack; The perception data sharing message is periodically broadcast through the vehicle networking communication protocol stack so that other connected vehicles and roadside equipment within the broadcast range of the current connected vehicle receive the road event information.

3. The method according to claim 1, characterized in that The road event information includes: event type, event location and event occurrence timestamp, and the event type includes: at least one of road construction events, road waterlogging events and road damage events.

4. The method according to claim 3, characterized in that Identifying the road image to obtain road event information includes: Inputting the road image into a target detection model to obtain reflective cone position information and the number of reflective cones; If the number of reflective cones is greater than the number threshold, and the distance between the multiple reflective cones is less than the distance threshold, the event type is determined to be a road construction event; The road event information is determined according to the road construction event, the current timestamp, and the position information of the reflective cone with the shortest distance from the current connected vehicle.

5. The method according to claim 3, characterized in that: Identifying the road image to obtain road event information includes: Acquire weather information, wherein the weather information includes: current weather information and historical weather information; Determine the initial water accumulation volume based on historical weather information and current weather information; If the initial water accumulation amount is greater than the set water accumulation amount, the water accumulation depth and the location information of the water accumulation point on the road are determined according to the road image and the chassis height of the current connected vehicle; If the road water depth is greater than the depth threshold, the event type is determined to be a road water event; The road event information is determined based on the road waterlogging event, the current timestamp, and the location information of the waterlogging point.

6. The method according to claim 3, characterized in that Identifying the road image to obtain road event information includes: Inputting the road image into a damage recognition model to obtain the area of ​​the road damage region; If the area of ​​the road damage region is greater than the area threshold, the event type is determined to be a road damage event; The road event information is determined according to the road damage event, the current timestamp, and the position of the boundary point in the road damage area that is closest to the current connected vehicle.

7. A road event information determination device, characterized in that: In a networked vehicle configured in a vehicle networking system, the vehicle networking system includes: a plurality of networked vehicles and a plurality of roadside devices, the road event information determination device includes: A road image acquisition module, used for acquiring road images; A road image recognition module, used to recognize the road image and obtain road event information; The road event information broadcast module is used to periodically broadcast the road event information so that other connected vehicles and roadside equipment within the broadcast range of the current connected vehicle can receive the road event information.

8. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the road event information determination method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the road event information determination method according to any one of claims 1 to 6 when executed.

10. A computer program product, characterized in that The computer program product comprises a computer program, which, when executed by a processor, implements the road event information determination method according to any one of claims 1 to 6.

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