A method, apparatus and vehicle for determining weather information

Abstract

The application discloses a kind of methods for determining weather information.The application includes: obtaining the ground echo of target area received by target vehicle, target area is the area where target vehicle is located;According to the ground echo, the ground humidity of target area is determined;According to the ground humidity, the weather information corresponding to the target area is determined.By the application, the problem that the vehicle of related art automatic driving cannot determine the weather condition corresponding to the driving environment in real time is solved.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving, and more specifically, to a method, apparatus, and vehicle for determining weather information. Background Technology

[0002] In related technologies, adverse weather conditions and changes in lighting can seriously affect the stability of autonomous vehicles and their safety.

[0003] In related technologies, autonomous vehicles can only determine the current environmental weather information through weather forecasts, and cannot determine the environmental weather information in real time through data collected by the vehicle itself.

[0004] There is currently no effective solution to the problems mentioned above in the relevant technologies. Summary of the Invention

[0005] The main objective of this invention is to provide a method, apparatus, and vehicle for determining weather information, in order to solve the problem in related technologies that autonomous vehicles cannot determine the weather conditions corresponding to the driving environment in real time.

[0006] To achieve the above objectives, according to one aspect of the present invention, a method for determining weather information is provided. The invention includes: acquiring ground echoes received by a target vehicle in a target area, the target area being the area where the target vehicle is located; determining the ground humidity of the target area based on the ground echoes; and determining the corresponding weather information for the target area based on the ground humidity.

[0007] Furthermore, based on the ground echo, the ground humidity of the target area is determined, including: determining the intensity of the ground echo and determining the target intensity range to which the intensity of the ground echo belongs; and determining the ground humidity of the target area based on the target intensity range.

[0008] Furthermore, based on the target intensity range, the ground humidity of the target area is determined, including: when the intensity of the ground echo belongs to the first intensity range, the ground humidity is determined as the first humidity; when the intensity of the ground echo belongs to the second intensity range, the ground humidity is determined as the second humidity, wherein the lowest intensity of the second intensity range is greater than the highest intensity of the first intensity range; when the intensity of the ground echo belongs to the third intensity range, the ground humidity is determined as the third humidity, wherein the lowest intensity of the third intensity range is greater than the highest intensity of the second intensity range.

[0009] Furthermore, based on the ground humidity, the weather information corresponding to the target area is determined, including: when the ground humidity is a first humidity level, the rainfall corresponding to the target area is determined as a first rainfall amount, and the first rainfall amount is determined as weather information; when the ground humidity is a second humidity level, the rainfall corresponding to the target area is determined as a second rainfall amount, and the second rainfall amount is determined as weather information, wherein the second rainfall amount is greater than the first rainfall amount; when the ground humidity is a third humidity level, the rainfall corresponding to the target area is determined as a third rainfall amount, and the third rainfall amount is determined as weather information, wherein the third rainfall amount is greater than the second rainfall amount.

[0010] Furthermore, based on the ground echo, the ground humidity of the target area is determined, including: performing point cloud segmentation processing on the ground echo and obtaining multiple segmentation points; counting the target segmentation points that are non-obstacles within the target space, where the target space is the space where the vehicle is located; determining the density and number of target segmentation points; and determining the ground humidity of the target area based on the density and number of target segmentation points.

[0011] Furthermore, based on ground humidity, the weather information corresponding to the target area is determined, including: based on ground humidity, the precipitation corresponding to the target space is determined; and the precipitation is determined as weather information.

[0012] Furthermore, based on the ground echoes, the ground humidity of the target area is determined, including: performing point cloud segmentation on the ground echoes to obtain multiple segmentation points, and determining multiple location information corresponding to the multiple segmentation points; based on the multiple location information, abstracting a two-dimensional image corresponding to the target space, where the target space is the space where the vehicle is located; obtaining multiple ground echo intensities corresponding to the multiple segmentation points, and determining the ground humidity based on the multiple echo intensities and the two-dimensional image.

[0013] Furthermore, based on multiple location information, a two-dimensional image corresponding to the target space is abstracted, including: obtaining multiple distribution locations corresponding to multiple location information; and clustering the multiple distribution locations into a two-dimensional image with multiple grids.

[0014] Furthermore, multiple ground echo intensities corresponding to multiple segmentation points are obtained, and ground humidity is determined based on multiple echo intensities and a two-dimensional image, including: inserting multiple ground echo intensities into multiple grids on a two-dimensional image; and inputting the two-dimensional image with inserted echo intensities into a preset neural network to determine ground humidity.

[0015] Furthermore, based on ground humidity, the weather information corresponding to the target area is determined, including: based on ground humidity, the precipitation corresponding to the target area is determined, and the precipitation is determined as weather information.

[0016] Furthermore, acquiring the ground echo received by the target vehicle includes: acquiring the ground echo using a lidar installed on the target vehicle.

[0017] To achieve the above objectives, according to another aspect of the present invention, an apparatus for determining weather information is provided. The apparatus includes: a first acquisition unit for acquiring ground echoes received by a target vehicle from a target area, the target area being the area where the target vehicle is located; a first determination unit for determining the ground humidity of the target area based on the ground echoes; and a second determination unit for determining the weather information corresponding to the target area based on the ground humidity.

[0018] To achieve the above objectives, according to another aspect of the present invention, a vehicle is provided. The vehicle includes: a lidar; and means for determining weather information, used to perform the aforementioned method for determining weather information.

[0019] To achieve the above objectives, according to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein the program performs the above-described method for determining weather information.

[0020] To achieve the above objectives, according to another aspect of this application, a processor is provided for running a program that performs the aforementioned method for determining weather information.

[0021] This invention employs the following steps: acquiring ground echoes received by the target vehicle from a target area, where the target area is the region where the target vehicle is located; determining the ground humidity of the target area based on the ground echoes; and determining the corresponding weather information for the target area based on the ground humidity. This solves the problem in related technologies where autonomous vehicles cannot determine the weather conditions corresponding to the driving environment in real time. Thus, it achieves the effect of determining weather information. Attached Figure Description

[0022] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0023] Figure 1 This is a flowchart of a method for determining weather information according to an embodiment of the present invention; and

[0024] Figure 2 This is a schematic diagram of an apparatus for determining weather information according to an embodiment of the present invention. Detailed Implementation

[0025] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of the invention described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] According to an embodiment of the present invention, a method for determining weather information is provided.

[0029] Figure 1 This is a flowchart of a method for determining weather information according to an embodiment of the present invention. Figure 1 As shown, the invention includes the following steps:

[0030] Step S101: Obtain the ground echo received by the target vehicle in the target area, where the target area is the area where the target vehicle is located;

[0031] Step S102: Determine the ground humidity of the target area based on the ground echo;

[0032] Step S103: Determine the weather information corresponding to the target area based on the ground humidity.

[0033] The present application provides a method for determining the weather information of an area where an automated vehicle is located by analyzing ground echoes, wherein the weather information includes at least the precipitation in the area, and the precipitation is used to determine the rainfall situation in the area.

[0034] In one alternative embodiment, ground echoes are acquired using a lidar mounted on the target vehicle.

[0035] In one optional embodiment, ground echoes received by the target vehicle in the target area are obtained, where the target area is the area where the target vehicle is located; the ground humidity of the target area is determined based on the ground echoes; and the weather information corresponding to the target area is determined based on the ground humidity.

[0036] In one optional embodiment, determining the ground humidity of a target area based on ground echoes includes: determining the intensity of the ground echoes and determining the target intensity range to which the intensity of the ground echoes belongs; and determining the ground humidity of the target area based on the target intensity range.

[0037] In one optional embodiment, determining the ground humidity of the target area based on the target intensity range includes: determining the ground humidity as a first humidity when the intensity of the ground echo belongs to a first intensity range; determining the ground humidity as a second humidity when the intensity of the ground echo belongs to a second intensity range, wherein the lowest intensity of the second intensity range is greater than the highest intensity of the first intensity range; and determining the ground humidity as a third humidity when the intensity of the ground echo belongs to a third intensity range, wherein the lowest intensity of the third intensity range is greater than the highest intensity of the second intensity range.

[0038] In one optional embodiment, determining the weather information corresponding to the target area based on the ground humidity includes: when the ground humidity is a first humidity, determining the rainfall corresponding to the target area as a first rainfall and determining the first rainfall as weather information; when the ground humidity is a second humidity, determining the rainfall corresponding to the target area as a second rainfall and determining the second rainfall as weather information, wherein the second rainfall is greater than the first rainfall; when the ground humidity is a third humidity, determining the rainfall corresponding to the target area as a third rainfall and determining the third rainfall as weather information, wherein the third rainfall is greater than the second rainfall.

[0039] In one optional embodiment, this application uses ground echoes received by lidar to determine water levels on the ground, thereby determining ground humidity and ultimately weather information. Specifically, when there is precipitation in the area, waves hitting the ground form echoes through diffuse reflection. LiDAR collects these echoes and processes and analyzes them to determine ground humidity. Therefore, it is necessary to determine the echo intensity to judge ground humidity, and then use the ground humidity to determine the amount of precipitation in the area.

[0040] Optionally, this application provides a method to determine ground humidity by echo intensity range and then determine precipitation by ground humidity. There is a mapping relationship between ground echo intensity and precipitation. The intensity range corresponding to the echo intensity is not limited to the three intensity ranges provided in this application, and the corresponding precipitation is not limited to the three precipitation amounts provided in this application.

[0041] It should also be noted that if the area is experiencing rainfall, the echo received by the lidar also includes the echo formed by the diffuse reflection of raindrops contained in the air.

[0042] In one optional embodiment, determining the ground humidity of the target area based on ground echoes includes: performing point cloud segmentation processing on the ground echoes and obtaining multiple segmentation points; counting the target segmentation points that are non-obstacles within the target space, wherein the target space is the space where the vehicle is located; determining the density and number of target segmentation points; and determining the ground humidity of the target area based on the density and number of target segmentation points.

[0043] In one optional embodiment, determining the weather information corresponding to the target area based on ground humidity includes: determining the precipitation corresponding to the target space based on ground humidity; and determining the precipitation as weather information.

[0044] This application also provides another embodiment, which performs point cloud segmentation processing on the acquired ground echoes. The resulting segmentation points include segmentation points belonging to obstacles and segmentation points not belonging to obstacles. There is a difference between the two types of segmentation points. The segmentation points not belonging to obstacles are counted, and the density and number of segmentation points are determined. The ground humidity is determined by the density and number of segmentation points, and then the precipitation is determined. The precipitation is determined as weather information. Therefore, the weather in the area can be determined as light rain, moderate rain, heavy rain, or no rain by the precipitation.

[0045] In one optional embodiment, determining the ground humidity of a target area based on ground echoes includes: performing point cloud segmentation on the ground echoes to obtain multiple segmentation points, and determining multiple location information corresponding to the multiple segmentation points; abstracting a two-dimensional image corresponding to the target space based on the multiple location information, wherein the target space is the space where the vehicle is located; obtaining multiple ground echo intensities corresponding to the multiple segmentation points, and determining the ground humidity based on the multiple echo intensities and the two-dimensional image.

[0046] In one optional embodiment, a two-dimensional image corresponding to the target space is abstracted based on multiple location information, including: obtaining multiple distributed locations corresponding to multiple location information; and clustering the multiple distributed locations into a two-dimensional image with multiple grids.

[0047] In one optional embodiment, multiple ground echo intensities corresponding to multiple segmentation points are obtained, and ground humidity is determined based on the multiple echo intensities and a two-dimensional image, including: inserting the multiple ground echo intensities into multiple grids on a two-dimensional image; and inputting the two-dimensional image with the inserted echo intensities into a preset neural network to determine ground humidity.

[0048] In one optional embodiment, determining the weather information corresponding to the target area based on ground humidity includes: determining the precipitation corresponding to the target area based on ground humidity, and determining the precipitation as weather information.

[0049] In addition to the above, this application also provides a method for determining the location of segmented points based on point cloud segmentation. By abstracting the location of the segmented points, a two-dimensional image containing multiple small grids corresponding to the space where the vehicle is located is generated. The received echoes are correlated with the locations in the two-dimensional image, and the intensity of the echoes is inserted into the grid. This allows the determination of the echo intensity corresponding to each location in the image. Echoes belonging to obstacles are deleted, and the intensity of the echoes that truly belong to the ground is clearly displayed in the image, thereby determining the ground humidity and rainfall in the area.

[0050] This invention provides a method for determining weather information. It acquires ground echoes received by a target vehicle from a target area (the area where the vehicle is located); determines the ground humidity of the target area based on the ground echoes; and determines the corresponding weather information based on the ground humidity. This solves the problem in related technologies where autonomous vehicles cannot determine the weather conditions corresponding to the driving environment in real time. Thus, it achieves the effect of determining environmental weather information in real time using data collected by the vehicle itself.

[0051] The present invention also provides a vehicle including a lidar and a device for determining weather information, for performing the above-described method for determining weather information.

[0052] It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases the steps shown or described may be executed in a different order than that shown here.

[0053] This invention also provides an apparatus for determining weather information. It should be noted that the apparatus for determining weather information provided in this invention can be used to execute the method for determining weather information provided in this invention. The following describes an apparatus for determining weather information provided in this invention.

[0054] Figure 2 This is a schematic diagram of a device for determining weather information according to an embodiment of the present invention. Figure 2 As shown, the device includes: a first acquisition unit 201, used to acquire ground echoes received by the target vehicle from the target area, wherein the target area is the area where the target vehicle is located; a first determination unit 202, used to determine the ground humidity of the target area based on the ground echoes; and a second determination unit 203, used to determine the weather information corresponding to the target area based on the ground humidity.

[0055] In one optional embodiment, the first determining unit 202 includes: a first determining subunit, configured to determine the intensity of the ground echo and determine the target intensity range to which the intensity of the ground echo belongs; and a second determining subunit, configured to determine the ground humidity of the target area based on the target intensity range.

[0056] In one optional embodiment, the second determining subunit includes: a first determining module, configured to determine the ground humidity as a first humidity when the intensity of the ground echo belongs to a first intensity range; a second determining module, configured to determine the ground humidity as a second humidity when the intensity of the ground echo belongs to a second intensity range, wherein the lowest intensity of the second intensity range is greater than the highest intensity of the first intensity range; and a third determining module, configured to determine the ground humidity as a third humidity when the intensity of the ground echo belongs to a third intensity range, wherein the lowest intensity of the third intensity range is greater than the highest intensity of the second intensity range.

[0057] In an optional embodiment, the second determining unit 203 includes: a third determining subunit, configured to determine the rainfall corresponding to the target area as a first rainfall amount when the ground humidity is a first humidity, and to determine the first rainfall amount as weather information; a fourth determining subunit, configured to determine the rainfall corresponding to the target area as a second rainfall amount when the ground humidity is a second humidity, and to determine the second rainfall amount as weather information, wherein the second rainfall amount is greater than the first rainfall amount; and a fifth determining subunit, configured to determine the rainfall corresponding to the target area as a third rainfall amount when the ground humidity is a third humidity, and to determine the third rainfall amount as weather information, wherein the third rainfall amount is greater than the second rainfall amount.

[0058] In an optional embodiment, the first determining unit 202 includes: a first segmentation subunit, used to perform point cloud segmentation processing on the ground echo and obtain multiple segmentation points; a statistics subunit, used to count the target segmentation points that are non-obstacles in the target space, wherein the target space is the space where the vehicle is located; a sixth determining subunit, used to determine the density and number of target segmentation points; and a seventh determining subunit, used to determine the ground humidity of the target area based on the density and number of target segmentation points.

[0059] In one optional embodiment, the second determining unit 203 includes: an eighth determining subunit, used to determine the precipitation corresponding to the target space based on the ground humidity; and a ninth determining subunit, used to determine the precipitation as weather information.

[0060] In an optional embodiment, the first determining unit 202 includes: a second segmentation subunit, used to perform point cloud segmentation processing on the ground echo to obtain multiple segmentation points, and determine multiple location information corresponding to the multiple segmentation points; an abstraction subunit, used to abstract a two-dimensional image corresponding to the target space based on the multiple location information, wherein the target space is the space where the vehicle is located; and a tenth determining subunit, used to obtain multiple ground echo intensities corresponding to the multiple segmentation points, and determine the ground humidity based on the multiple echo intensities and the two-dimensional image.

[0061] In one optional embodiment, the abstract subunit includes: an acquisition module for acquiring multiple distributed locations corresponding to multiple location information; and a clustering module for clustering the multiple distributed locations into a two-dimensional image with multiple grids.

[0062] In one optional embodiment, the tenth determining subunit includes: an insertion module for inserting multiple ground echo intensities into multiple grids on a two-dimensional image; and an input module for inputting the two-dimensional image with the inserted echo intensities into a preset neural network to determine ground humidity.

[0063] In one optional embodiment, the second determining unit 203 includes an eleventh determining subunit, used to determine the precipitation corresponding to the target area based on the ground humidity, and to determine the precipitation as weather information.

[0064] In one optional embodiment, the acquisition unit 201 includes an acquisition subunit for acquiring ground echoes using a lidar mounted on the target vehicle.

[0065] The present invention provides a vehicle, specifically including: a lidar, a device for determining weather information, used to execute any one of the above methods for determining weather information.

[0066] This invention provides a device for determining weather information. By acquiring ground echoes received by a target vehicle in a target area (the area where the target vehicle is located), the device determines the ground humidity of the target area based on the ground echoes and then determines the corresponding weather information based on the ground humidity. This solves the problem in related technologies where autonomous vehicles cannot determine the weather conditions corresponding to the driving environment in real time, thereby achieving the effect of determining environmental weather information in real time through data collected by the vehicle itself.

[0067] The device for determining weather information includes a processor and a memory. The aforementioned acquisition unit 201 and the like are all stored in the memory as program units, and the processor executes the aforementioned program units stored in the memory to realize the corresponding functions.

[0068] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters can address the problem in related technologies where autonomous vehicles cannot determine real-time weather conditions corresponding to the driving environment.

[0069] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0070] This invention provides a computer-readable storage medium having a program stored thereon, which, when executed by a processor, implements a method for determining weather information.

[0071] This invention provides a processor for running a program, wherein the program executes a method for determining weather information.

[0072] This invention provides a device including a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs the following steps: acquiring ground echoes received by a target vehicle in a target area, where the target area is the area where the target vehicle is located; determining the ground humidity of the target area based on the ground echoes; and determining the weather information corresponding to the target area based on the ground humidity.

[0073] Optionally, the ground humidity of the target area can be determined based on the ground echo, including: determining the intensity of the ground echo and determining the target intensity range to which the intensity of the ground echo belongs; and determining the ground humidity of the target area based on the target intensity range.

[0074] Optionally, the ground humidity of the target area is determined based on the target intensity range, including: determining the ground humidity as the first humidity when the intensity of the ground echo belongs to the first intensity range; determining the ground humidity as the second humidity when the intensity of the ground echo belongs to the second intensity range, wherein the lowest intensity of the second intensity range is greater than the highest intensity of the first intensity range; and determining the ground humidity as the third humidity when the intensity of the ground echo belongs to the third intensity range, wherein the lowest intensity of the third intensity range is greater than the highest intensity of the second intensity range.

[0075] Optionally, based on ground humidity, the weather information corresponding to the target area is determined, including: when the ground humidity is a first humidity, the rainfall corresponding to the target area is determined as a first rainfall, and the first rainfall is determined as weather information; when the ground humidity is a second humidity, the rainfall corresponding to the target area is determined as a second rainfall, and the second rainfall is determined as weather information, wherein the second rainfall is greater than the first rainfall; when the ground humidity is a third humidity, the rainfall corresponding to the target area is determined as a third rainfall, and the third rainfall is determined as weather information, wherein the third rainfall is greater than the second rainfall.

[0076] Optionally, the ground humidity of the target area is determined based on the ground echo, including: performing point cloud segmentation processing on the ground echo and obtaining multiple segmentation points; counting the target segmentation points that are non-obstacles in the target space, where the target space is the space where the vehicle is located; determining the density and number of target segmentation points; and determining the ground humidity of the target area based on the density and number of target segmentation points.

[0077] Optionally, based on ground humidity, the weather information corresponding to the target area can be determined, including: based on ground humidity, determining the precipitation corresponding to the target space; and determining the precipitation as weather information.

[0078] Optionally, determining the ground humidity of the target area based on ground echoes includes: performing point cloud segmentation on the ground echoes to obtain multiple segmentation points, and determining multiple location information corresponding to the multiple segmentation points; abstracting a two-dimensional image corresponding to the target space based on the multiple location information, wherein the target space is the space where the vehicle is located; obtaining multiple ground echo intensities corresponding to the multiple segmentation points, and determining the ground humidity based on the multiple echo intensities and the two-dimensional image.

[0079] Optionally, based on multiple location information, a two-dimensional image corresponding to the target space is abstracted, including: obtaining multiple distribution locations corresponding to multiple location information; and clustering the multiple distribution locations into a two-dimensional image with multiple grids.

[0080] Optionally, multiple ground echo intensities corresponding to multiple segmentation points are obtained, and ground humidity is determined based on the multiple echo intensities and the two-dimensional image, including: inserting the multiple ground echo intensities into multiple grids on the two-dimensional image; and inputting the two-dimensional image with the inserted echo intensities into a preset neural network to determine the ground humidity.

[0081] Optionally, based on ground humidity, the weather information corresponding to the target area can be determined, including: based on ground humidity, determining the precipitation corresponding to the target area, and determining the precipitation as weather information.

[0082] Optionally, acquiring the ground echo received by the target vehicle includes: acquiring the ground echo using a lidar mounted on the target vehicle.

[0083] The devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0084] The present invention also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having the following method steps: acquiring ground echoes received by a target vehicle in a target area, wherein the target area is the area where the target vehicle is located; determining the ground humidity of the target area based on the ground echoes; and determining the weather information corresponding to the target area based on the ground humidity.

[0085] Optionally, the ground humidity of the target area can be determined based on the ground echo, including: determining the intensity of the ground echo and determining the target intensity range to which the intensity of the ground echo belongs; and determining the ground humidity of the target area based on the target intensity range.

[0086] Optionally, the ground humidity of the target area is determined based on the target intensity range, including: determining the ground humidity as the first humidity when the intensity of the ground echo belongs to the first intensity range; determining the ground humidity as the second humidity when the intensity of the ground echo belongs to the second intensity range, wherein the lowest intensity of the second intensity range is greater than the highest intensity of the first intensity range; and determining the ground humidity as the third humidity when the intensity of the ground echo belongs to the third intensity range, wherein the lowest intensity of the third intensity range is greater than the highest intensity of the second intensity range.

[0087] Optionally, based on ground humidity, the weather information corresponding to the target area is determined, including: when the ground humidity is a first humidity, the rainfall corresponding to the target area is determined as a first rainfall, and the first rainfall is determined as weather information; when the ground humidity is a second humidity, the rainfall corresponding to the target area is determined as a second rainfall, and the second rainfall is determined as weather information, wherein the second rainfall is greater than the first rainfall; when the ground humidity is a third humidity, the rainfall corresponding to the target area is determined as a third rainfall, and the third rainfall is determined as weather information, wherein the third rainfall is greater than the second rainfall.

[0088] Optionally, the ground humidity of the target area is determined based on the ground echo, including: performing point cloud segmentation processing on the ground echo and obtaining multiple segmentation points; counting the target segmentation points that are non-obstacles in the target space, where the target space is the space where the vehicle is located; determining the density and number of target segmentation points; and determining the ground humidity of the target area based on the density and number of target segmentation points.

[0089] Optionally, based on ground humidity, the weather information corresponding to the target area can be determined, including: based on ground humidity, determining the precipitation corresponding to the target space; and determining the precipitation as weather information.

[0090] Optionally, determining the ground humidity of the target area based on ground echoes includes: performing point cloud segmentation on the ground echoes to obtain multiple segmentation points, and determining multiple location information corresponding to the multiple segmentation points; abstracting a two-dimensional image corresponding to the target space based on the multiple location information, wherein the target space is the space where the vehicle is located; obtaining multiple ground echo intensities corresponding to the multiple segmentation points, and determining the ground humidity based on the multiple echo intensities and the two-dimensional image.

[0091] Optionally, based on multiple location information, a two-dimensional image corresponding to the target space is abstracted, including: obtaining multiple distribution locations corresponding to multiple location information; and clustering the multiple distribution locations into a two-dimensional image with multiple grids.

[0092] Optionally, multiple ground echo intensities corresponding to multiple segmentation points are obtained, and ground humidity is determined based on the multiple echo intensities and the two-dimensional image, including: inserting the multiple ground echo intensities into multiple grids on the two-dimensional image; and inputting the two-dimensional image with the inserted echo intensities into a preset neural network to determine the ground humidity.

[0093] Optionally, based on ground humidity, the weather information corresponding to the target area can be determined, including: based on ground humidity, determining the precipitation corresponding to the target area, and determining the precipitation as weather information.

[0094] Optionally, acquiring the ground echo received by the target vehicle includes: acquiring the ground echo using a lidar mounted on the target vehicle.

[0095] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0096] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0097] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0098] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0099] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0100] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0101] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transfer medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0102] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0103] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0104] The above are merely embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of the present invention should be included within the scope of the claims of the present invention.

Claims

1. A method of determining weather information, characterized by, The method comprises the following steps: acquiring a ground echo of a target area received by a target vehicle, the target area being an area where the target vehicle is located; determining ground humidity of the target area according to the ground echo; determining weather information corresponding to the target area according to the ground humidity; determining the ground humidity of the target area according to the ground echo comprises: performing point cloud segmentation processing on the ground echo to obtain a plurality of segmentation points, and determining a plurality of position information corresponding to the plurality of segmentation points; acquiring a plurality of distribution positions corresponding to the plurality of position information; clustering the plurality of distribution positions into a two-dimensional image with a plurality of grids; inserting a plurality of ground echo intensities corresponding to the plurality of segmentation points into a plurality of grids on the two-dimensional image; inputting the two-dimensional image with the inserted ground echo intensities into a preset neural network to determine the ground humidity.

2. The method of claim 1, wherein, determining the ground humidity of the target area according to the ground echo comprises: determining the intensity of the ground echo and determining the target intensity interval to which the intensity of the ground echo belongs; determining the ground humidity of the target area according to the target intensity interval.

3. The method of claim 2, wherein, determining the ground humidity of the target area according to the target intensity interval comprises: in the case that the intensity of the ground echo belongs to a first intensity interval, determining that the ground humidity is a first humidity; in the case that the intensity of the ground echo belongs to a second intensity interval, determining that the ground humidity is a second humidity, wherein the minimum intensity of the second intensity interval is greater than the maximum intensity of the first intensity interval; in the case that the intensity of the ground echo belongs to a third intensity interval, determining that the ground humidity is a third humidity, wherein the minimum intensity of the third intensity interval is greater than the maximum intensity of the second intensity interval.

4. The method of claim 3, wherein, determining the weather information corresponding to the target area according to the ground humidity comprises: in the case that the ground humidity is the first humidity, determining that the rainfall amount corresponding to the target area is a first rainfall amount, and determining the first rainfall amount as the weather information; in the case that the ground humidity is the second humidity, determining that the rainfall amount corresponding to the target area is a second rainfall amount, and determining the second rainfall amount as the weather information, wherein the second rainfall amount is greater than the first rainfall amount; in the case that the ground humidity is the third humidity, determining that the rainfall amount corresponding to the target area is a third rainfall amount, and determining the third rainfall amount as the weather information, wherein the third rainfall amount is greater than the second rainfall amount.

5. The method of claim 1, wherein, determining the weather information corresponding to the target area according to the ground humidity comprises: determining the precipitation amount corresponding to the target area according to the ground humidity, and determining the precipitation amount as the weather information.

6. The method of claim 1, wherein, acquiring the ground echo received by the target vehicle comprises: acquiring the ground echo through a laser radar arranged on the target vehicle.

7. An apparatus for determining weather information, characterized by The method comprises the following steps: a first acquisition unit is configured to acquire a ground echo of a target area received by a target vehicle, the target area being an area where the target vehicle is located; The first determining unit is configured to determine ground humidity of the target area according to the ground echo. The second determining unit is configured to determine weather information corresponding to the target area according to the ground humidity. The first determining unit comprises: a second segmentation subunit configured to perform point cloud segmentation processing on the ground echo to obtain a plurality of segmentation points, and determine a plurality of position information corresponding to the plurality of segmentation points; an abstraction subunit configured to abstract a two-dimensional image corresponding to a target space according to the plurality of position information, wherein the target space is a space where the vehicle is located; and a tenth determining subunit configured to obtain a plurality of ground echo intensities corresponding to the plurality of segmentation points, and determine the ground humidity according to the plurality of echo intensities and the two-dimensional image. The abstraction subunit comprises: an obtaining module configured to obtain a plurality of distribution positions corresponding to the plurality of position information; and a clustering module configured to cluster the plurality of distribution positions into the two-dimensional image with a plurality of grids. The tenth determining subunit comprises: an insertion module configured to insert the plurality of ground echo intensities into the plurality of grids on the two-dimensional image; and an input module configured to input the two-dimensional image with the inserted ground echo intensities into a preset neural network to determine the ground humidity.

8. A vehicle characterized by comprising: The method comprises: The laser radar; The device for determining weather information is configured to perform the method for determining weather information according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium comprises a stored program, wherein the program controls the device where the computer-readable storage medium is located to perform the method for determining weather information according to any one of claims 1 to 6 when the program is running.

10. A processor, comprising: The processor is configured to run a program, wherein the program performs the method for determining weather information according to any one of claims 1 to 6 when the program is running.

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