A method, apparatus, vehicle-mounted terminal, and storage medium for water depth detection

Abstract

This invention provides a water depth detection method, device, vehicle-mounted terminal, and storage medium, belonging to the field of intelligent transportation technology. The water depth detection method includes: acquiring a road surface condition image collected by a visual acquisition device on a vehicle; scanning and detecting water accumulation on the road surface using a detection device based on the road surface condition image to obtain water accumulation processing data; and processing the water accumulation processing data to obtain the water accumulation depth. This invention allows for the early determination of road surface water depth, preventing vehicle flooding.

Description

Technical Field

[0001] This invention relates to the field of intelligent transportation technology, and in particular to a water depth detection method, device, vehicle-mounted terminal, and storage medium. Background Technology

[0002] With the development of autonomous driving technology, people are paying increasing attention to the safety of intelligent driving vehicles. At the same time, due to changes in the natural environment, floods are frequent, and the drainage systems of most cities are insufficient to cope with heavy rainfall, resulting in severe road flooding and frequent incidents of flooded vehicles.

[0003] Currently, water depth detection equipment on automobiles is mainly used for wading detection. It uses sensors installed outside the vehicle to measure the distance between the vehicle's reference position and the water level to determine the water depth. However, this method is limited by accuracy and unpredictable situations; it cannot predict water depth in advance and cannot effectively prevent vehicles from being flooded. Summary of the Invention

[0004] This invention provides a water depth detection method, device, vehicle-mounted terminal, and storage medium to solve the problem in the prior art that vehicles cannot predict the depth of water accumulation in advance and avoid vehicle flooding.

[0005] To address the aforementioned technical problems, the embodiments of the present invention provide the following technical solutions:

[0006] This invention provides a water depth detection method, comprising:

[0007] Acquire road surface condition images captured by the vehicle's visual acquisition device;

[0008] Based on the road surface condition image, the water accumulation on the road surface is detected and scanned by a detection device to obtain water accumulation treatment data.

[0009] The road surface water treatment data is processed to obtain the road surface water depth.

[0010] Optionally, the road surface water treatment data includes at least one of the following:

[0011] The first speed at which the first detection signal emitted by the detection device propagates in the air;

[0012] The first time the first detection signal emitted by the detection device propagates in the air;

[0013] The second speed at which the first detection signal emitted by the detection device propagates in the accumulated water;

[0014] The second time of propagation of the first detection signal emitted by the detection device in the accumulated water;

[0015] The distance of the detection device from the ground.

[0016] Optionally, processing the road surface water treatment data to obtain the road surface water depth includes:

[0017] The detection distance of the detection device is obtained based on the first speed of the first detection signal emitted by the detection device in the air, the first time of the first detection signal emitted by the detection device in the air, the second speed of the first detection signal emitted by the detection device in the accumulated water, and the second time of the first detection signal emitted by the detection device in the accumulated water.

[0018] Based on the second speed, the second time, and the distance between the detection device and the ground, the sine value of the first angle between the first detection signal emitted by the detection device and the ground is obtained;

[0019] The depth of water accumulation on the road surface is obtained based on the detection distance of the detection device, the distance of the detection device from the ground, and the sine value of the first included angle.

[0020] Optionally, the road surface water treatment data includes at least one of the following:

[0021] The refractive index of the second detection signal emitted by the detection device in the accumulated water;

[0022] The signal spectrum of the echo signal corresponding to the second detection signal emitted by the detection device;

[0023] The angle of incidence of the second detection signal emitted by the detection device on the water surface.

[0024] Optionally, processing the road surface water treatment data to obtain the road surface water depth includes:

[0025] The refraction angle of the second detection signal emitted by the detection device in the accumulated water is obtained based on the refractive index of the second detection signal emitted by the detection device in the accumulated water and the incident angle of the second detection signal emitted by the detection device on the surface of the accumulated water.

[0026] Based on the signal spectrum of the echo signal corresponding to the second detection signal emitted by the detection device, determine the signal peak value of the echo signal reflected by the second detection signal at the surface and bottom of the water.

[0027] The time difference between the arrival of the second detection signal at the water surface and the bottom of the water is obtained based on the signal peak values ​​of the echo signals reflected by the second detection signal at the water surface and the bottom of the water.

[0028] The depth of water accumulation on the road surface is obtained based on the refractive index of the second detection signal emitted by the detection device in the accumulated water, the refraction angle of the second detection signal in the accumulated water, and the time difference between the arrival of the second detection signal at the surface and bottom of the accumulated water.

[0029] Optionally, based on the road surface condition image, a detection device is used to scan and detect the water accumulation on the road surface to obtain water accumulation treatment data, including:

[0030] The location information of water accumulation on the road surface is obtained by analyzing the road surface condition image;

[0031] When the location information of the water accumulation on the road indicates that the distance between the edge of the water accumulation on the road and the vehicle is less than a preset distance, the detection device scans the water accumulation on the road to obtain the water accumulation treatment data.

[0032] Optionally, the step of detecting and scanning the surface water on the road using a detection device to obtain surface water treatment data includes:

[0033] The detection device is used to scan the water on the road surface to obtain initial processing data.

[0034] The initial processed data is subjected to noise reduction processing to obtain the noise-reduced processed data;

[0035] The noise-reduced data is processed using a preset fitting algorithm to obtain the road surface water treatment data.

[0036] Optionally, the method further includes:

[0037] If the water depth on the road surface exceeds a preset depth, an early warning message will be generated.

[0038] This invention also provides a water depth detection device, comprising:

[0039] The acquisition module is used to acquire road surface condition images captured by the visual acquisition device on the vehicle;

[0040] The detection module is used to detect and scan the water accumulation on the road surface based on the road surface condition image and obtain water accumulation treatment data.

[0041] The processing module is used to process the road surface water treatment data to obtain the road surface water depth.

[0042] Optionally, the road surface water treatment data includes at least one of the following:

[0043] The first speed at which the first detection signal emitted by the detection device propagates in the air;

[0044] The first time the first detection signal emitted by the detection device propagates in the air;

[0045] The second speed at which the first detection signal emitted by the detection device propagates in the accumulated water;

[0046] The second time of propagation of the first detection signal emitted by the detection device in the accumulated water;

[0047] The distance of the detection device from the ground.

[0048] Optionally, the processing module includes:

[0049] The first processing unit is used to obtain the detection distance of the detection device based on the first speed of the first detection signal emitted by the detection device in the air, the first time of the first detection signal emitted by the detection device in the air, the second speed of the first detection signal emitted by the detection device in the accumulated water, and the second time of the first detection signal emitted by the detection device in the accumulated water.

[0050] The second processing unit is used to obtain the sine value of the first angle between the first detection signal emitted by the detection device and the ground, based on the second speed, the second time, and the distance between the detection device and the ground.

[0051] The third processing unit is used to obtain the depth of water accumulation on the road surface based on the detection distance of the detection device, the distance of the detection device from the ground, and the sine value of the first included angle.

[0052] Optionally, the road surface water treatment data includes at least one of the following:

[0053] The refractive index of the second detection signal emitted by the detection device in the accumulated water;

[0054] The signal spectrum of the echo signal corresponding to the second detection signal emitted by the detection device;

[0055] The angle of incidence of the second detection signal emitted by the detection device on the water surface.

[0056] Optionally, the processing module includes:

[0057] The fourth processing unit is used to obtain the refraction angle of the second detection signal emitted by the detection device in the accumulated water based on the refractive index of the second detection signal emitted by the detection device in the accumulated water and the incident angle of the second detection signal emitted by the detection device on the surface of the accumulated water.

[0058] The fifth processing unit is used to determine the signal peak value of the echo signal reflected by the second detection signal at the surface and bottom of the water accumulation based on the signal spectrum of the echo signal corresponding to the second detection signal emitted by the detection device.

[0059] The sixth processing unit is used to obtain the time difference between the arrival of the second detection signal at the water surface and the bottom of the water based on the signal peak value of the echo signal reflected by the second detection signal at the water surface and the bottom of the water.

[0060] The seventh processing unit is used to obtain the depth of water accumulation on the road surface based on the refractive index of the second detection signal emitted by the detection device in the water accumulation, the refraction angle of the second detection signal in the water accumulation, and the time difference between the arrival of the second detection signal at the surface and bottom of the water accumulation.

[0061] Optionally, the detection module includes:

[0062] The analysis unit is used to analyze the road surface condition image to obtain the location information of water accumulation on the road surface;

[0063] The detection unit is used to scan the road surface water using the detection device when the location information of the road surface water indicates that the distance between the edge of the road surface water and the vehicle is less than a preset distance, so as to obtain the road surface water treatment data.

[0064] Optionally, the detection unit is specifically used for:

[0065] The detection device is used to scan the water on the road surface to obtain initial processing data.

[0066] The initial processed data is subjected to noise reduction processing to obtain the noise-reduced processed data;

[0067] The noise-reduced data is processed using a preset fitting algorithm to obtain the road surface water treatment data.

[0068] Optionally, the device further includes:

[0069] The information generation module is used to generate early warning information when the water depth on the road surface exceeds a preset depth.

[0070] This invention also provides a vehicle-mounted terminal, comprising: a processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the water depth detection method as described above.

[0071] This invention also provides a readable storage medium storing a program, which, when executed by a processor, implements the steps of the water depth detection method as described above.

[0072] The beneficial effects of this invention are:

[0073] In at least one embodiment of the present invention, by acquiring road surface condition images collected by a visual acquisition device on a vehicle, analyzing the road surface condition images, determining the presence of road surface water, scanning the road surface water with a detection device, obtaining road surface water treatment data, and processing the road surface water treatment data, the depth of road surface water can be determined in advance to avoid vehicle flooding. Attached Figure Description

[0074] Figure 1 A flowchart illustrating the water depth detection method provided in this embodiment of the invention;

[0075] Figure 2 This is a schematic diagram of the structure of the water depth detection system provided in an embodiment of the present invention;

[0076] Figure 3 One of the schematic diagrams illustrating the calculation principle of road surface water depth provided in the embodiments of the present invention;

[0077] Figure 4 The second diagram illustrates the calculation principle of road surface water depth provided in this embodiment of the invention;

[0078] Figure 5 This is a schematic diagram of the structure of the water depth detection device provided in an embodiment of the present invention;

[0079] Figure 6 This is a schematic diagram of the structure of the vehicle-mounted terminal provided in an embodiment of the present invention. Detailed Implementation

[0080] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0081] This invention addresses the problem in the prior art that vehicles cannot predict the depth of water accumulation in advance to avoid vehicle flooding by providing a water depth detection method, device, vehicle-mounted terminal, and storage medium.

[0082] like Figure 1 As shown, an embodiment of the present invention provides a water depth detection method, including:

[0083] Step 101: Acquire road surface condition images captured by the visual acquisition device on the vehicle.

[0084] It should be noted that the water depth detection method provided in this embodiment of the invention is applied to a water depth detection system, the structural schematic diagram of which is shown below. Figure 2 As shown, the water depth detection system includes a visual acquisition device, which is mainly used to conduct preliminary detection of the waterlogged road surface in front of the vehicle and acquire images of the road surface condition.

[0085] Step 102: Based on the road surface condition image, the water accumulation on the road surface is detected and scanned by a detection device to obtain water accumulation treatment data.

[0086] It should be noted that the water depth detection system also includes a control module connected to the visual acquisition equipment and a water depth detection module connected to the control module.

[0087] In this step, the visual acquisition device analyzes the road surface condition image. If the analysis detects water accumulation on the road surface, it sends an indication signal to the control module. This indication signal indicates that there is water accumulation on the road surface ahead of the vehicle. Based on the indication signal, the control module sends a water depth detection command to the water depth detection module. Based on the water depth detection command, the water depth detection module controls the detection device in the water depth detection module to scan and detect the water accumulation on the road surface, thereby obtaining the water accumulation processing data.

[0088] Step 103: Process the road surface water treatment data to obtain the road surface water depth.

[0089] In this step, the water depth detection module processes the road surface water treatment data to obtain the road surface water depth.

[0090] Furthermore, the water depth detection system also includes an alarm module connected to the water depth detection module, and the method further includes:

[0091] If the water depth on the road surface exceeds a preset depth, an early warning message will be generated.

[0092] The preset depth can be set according to the size of different vehicles.

[0093] When the alarm module determines that the water depth on the road exceeds the preset depth, it generates an early warning message and displays the water depth, issuing a water wading risk warning to assist the driver in determining whether the vehicle can pass.

[0094] In an optional embodiment of the present invention, when the detection device is an ultrasonic radar, the ultrasonic radar is used to scan the road surface water to obtain road surface water treatment data, the road surface water treatment data including at least one of the following:

[0095] The first speed at which the first detection signal emitted by the detection device propagates in the air; wherein, the first detection signal is a radar detection signal;

[0096] The first time the first detection signal emitted by the detection device propagates in the air;

[0097] The second speed at which the first detection signal emitted by the detection device propagates in the accumulated water;

[0098] The second time of propagation of the first detection signal emitted by the detection device in the accumulated water;

[0099] The distance of the detection device from the ground.

[0100] In this optional embodiment, processing the road surface water treatment data to obtain the road surface water depth includes:

[0101] The detection distance of the detection device is obtained based on the first speed of the first detection signal emitted by the detection device in the air, the first time of the first detection signal emitted by the detection device in the air, the second speed of the first detection signal emitted by the detection device in the accumulated water, and the second time of the first detection signal emitted by the detection device in the accumulated water.

[0102] Based on the second speed, the second time, and the distance between the detection device and the ground, the sine value of the first angle between the first detection signal emitted by the detection device and the ground is obtained;

[0103] The depth of water accumulation on the road surface is obtained based on the detection distance of the detection device, the distance of the detection device from the ground, and the sine value of the first included angle.

[0104] Specifically, the water depth detection module also includes a calculation unit, which calculates the road surface water depth based on the obtained road surface water treatment data according to a set algorithm. Please refer to [link / reference]. Figure 3 , Figure 3 The diagram illustrates the calculation principle of road surface water depth in this optional embodiment. The specific calculation process in this optional embodiment is as follows:

[0105] The formula for calculating the detection distance s of the detection device is:

[0106] s = (v 空气 ×t 空气 +v 积水 ×t 积水 ) / 2

[0107] Among them, v 空气 t represents the first velocity of the radar detection signal in the air. 空气 v represents the first moment of radar detection signal propagation through the air. 积水 The second velocity, t, represents the propagation speed of the radar detection signal in the accumulated water. 积水 This represents the second time interval of the radar detection signal propagation in the accumulated water. To ensure test accuracy, v 空气 v 积水 Calibration can be performed based on actual test results;

[0108] According to v 空气 ×t空气 The value of sinθ is obtained by taking the ratio of sinθ to m (where m is the distance between the ultrasonic radar and the ground, i.e., the distance between the detection device and the ground). θ represents the angle between the detection signal and the ground.

[0109] The following formula can be used to calculate the depth of water accumulation on the road surface:

[0110]

[0111] Where k represents the depth of water accumulation on the road surface.

[0112] The water depth detection module also includes a storage unit, which is used to store road surface water treatment data and road surface water depth.

[0113] In another optional embodiment of the present invention, the detection device is a lidar, which is used to scan the road surface water to obtain road surface water treatment data, wherein the road surface water treatment data includes at least one of the following:

[0114] The refractive index of the second detection signal emitted by the detection device in the accumulated water, wherein the second detection signal is a blue-green laser signal;

[0115] The signal spectrum of the echo signal corresponding to the second detection signal emitted by the detection device;

[0116] The second detection signal emitted by the detection device is incident at the water surface at an angle θ.

[0117] In this optional embodiment, processing the road surface water treatment data to obtain the road surface water depth includes:

[0118] The refraction angle of the second detection signal emitted by the detection device in the accumulated water is obtained based on the refractive index of the second detection signal emitted by the detection device in the accumulated water and the incident angle of the second detection signal emitted by the detection device on the surface of the accumulated water.

[0119] Based on the signal spectrum of the echo signal corresponding to the second detection signal emitted by the detection device, determine the signal peak value of the echo signal reflected by the second detection signal at the surface and bottom of the water.

[0120] The time difference between the arrival of the second detection signal at the water surface and the bottom of the water is obtained based on the signal peak values ​​of the echo signals reflected by the second detection signal at the water surface and the bottom of the water.

[0121] The depth of water accumulation on the road surface is obtained based on the refractive index of the second detection signal emitted by the detection device in the accumulated water, the refraction angle of the second detection signal in the accumulated water, and the time difference between the arrival of the second detection signal at the surface and bottom of the accumulated water.

[0122] Specifically, the water depth detection module also includes a calculation unit, which calculates the road surface water depth based on the obtained road surface water treatment data according to a set algorithm. Please refer to [link / reference]. Figure 4 , Figure 4 This is a schematic diagram illustrating the calculation principle of road surface water depth in another optional embodiment. The specific calculation process in this optional embodiment is as follows:

[0123] Using the refractive index of blue-green laser signals in accumulated water, the sine of the refraction angle of the blue-green laser signal in the accumulated water is calculated. The calculation formula is as follows:

[0124]

[0125] Where θ represents the incident angle of the blue-green laser signal on the water surface, β represents the refraction angle of the blue-green laser signal in the water, and n represents the refractive index of the blue-green laser signal in the water. n can be calibrated according to actual experimental tests.

[0126] in:

[0127]

[0128] The depth k of the road surface water is obtained by using blue-green laser signals to propagate through accumulated water. The calculation formula is as follows:

[0129]

[0130] Wherein, Δt is the time difference between the blue-green laser signal reaching the surface and bottom of the water, determined by the difference in peak values ​​of the reflected echo signals from the water surface and the bottom of the water. In other words, Δt represents the time difference between the reflected echo signals from the water surface and the bottom of the water, C represents the speed of light in a vacuum, β represents the refraction angle of the blue-green laser signal in the water, and n represents the refractive index of the blue-green laser signal in the water.

[0131] The water depth detection module also includes a storage unit, which is used to store road surface water treatment data and road surface water depth.

[0132] In an optional embodiment of the present invention, the water depth detection module scans the surface water on the road surface using a detection device based on the road surface condition image to obtain surface water treatment data, including:

[0133] The road surface condition image is analyzed to obtain the location information of the water accumulation on the road surface. The location information of the water accumulation includes the area and position of the water accumulation. When the location information of the water accumulation indicates that the distance between the edge of the water accumulation and the vehicle is less than a preset distance, the water accumulation on the road surface is detected and scanned by a detection device to obtain water accumulation processing data.

[0134] In an optional embodiment of the present invention, the water depth detection module further includes a processing unit;

[0135] The process of detecting and scanning road surface water using a detection device to obtain road surface water treatment data includes:

[0136] After the detection device scans the water on the road surface to obtain initial processing data (i.e., scan data), the processing unit converts the initial processing into computable data and performs noise reduction processing on the initial processing data (e.g., preprocessing by filtering to achieve noise reduction) to obtain noise-reduced processed data, thereby improving the data quality. Then, a preset fitting algorithm is used to process the noise-reduced processed data (to estimate the accuracy of the echo timing) to obtain the water on the road surface processing data, thereby improving the accuracy of the water on the road surface processing data.

[0137] The water depth detection method provided in this invention is applicable to various water-crossing road sections. It can predict the water depth in advance before a vehicle crosses the water, effectively preventing the vehicle from being submerged. It also helps drivers determine whether the vehicle can pass through, assisting drivers in driving safely and reducing the phenomenon of vehicles stopping due to flooding.

[0138] like Figure 5 As shown, this embodiment of the invention also provides a water depth detection device, comprising:

[0139] The acquisition module is used to acquire road surface condition images captured by the visual acquisition device on the vehicle;

[0140] The detection module is used to detect and scan the water accumulation on the road surface based on the road surface condition image and obtain water accumulation treatment data.

[0141] The processing module is used to process the road surface water treatment data to obtain the road surface water depth.

[0142] Optionally, the road surface water treatment data includes at least one of the following:

[0143] The first speed at which the first detection signal emitted by the detection device propagates in the air;

[0144] The first time the first detection signal emitted by the detection device propagates in the air;

[0145] The second speed at which the first detection signal emitted by the detection device propagates in the accumulated water;

[0146] The second time of propagation of the first detection signal emitted by the detection device in the accumulated water;

[0147] The distance of the detection device from the ground.

[0148] Optionally, the processing module includes:

[0149] The first processing unit is used to obtain the detection distance of the detection device based on the first speed of the first detection signal emitted by the detection device in the air, the first time of the first detection signal emitted by the detection device in the air, the second speed of the first detection signal emitted by the detection device in the accumulated water, and the second time of the first detection signal emitted by the detection device in the accumulated water.

[0150] The second processing unit is used to obtain the sine value of the first angle between the first detection signal emitted by the detection device and the ground, based on the second speed, the second time, and the distance between the detection device and the ground.

[0151] The third processing unit is used to obtain the depth of water accumulation on the road surface based on the detection distance of the detection device, the distance of the detection device from the ground, and the sine value of the first included angle.

[0152] Optionally, the road surface water treatment data includes at least one of the following:

[0153] The refractive index of the second detection signal emitted by the detection device in the accumulated water;

[0154] The signal spectrum of the echo signal corresponding to the second detection signal emitted by the detection device;

[0155] The angle of incidence of the second detection signal emitted by the detection device on the water surface.

[0156] Optionally, the processing module includes:

[0157] The fourth processing unit is used to obtain the refraction angle of the second detection signal emitted by the detection device in the accumulated water based on the refractive index of the second detection signal emitted by the detection device in the accumulated water and the incident angle of the second detection signal emitted by the detection device on the surface of the accumulated water.

[0158] The fifth processing unit is used to determine the signal peak value of the echo signal reflected by the second detection signal at the surface and bottom of the water accumulation based on the signal spectrum of the echo signal corresponding to the second detection signal emitted by the detection device.

[0159] The sixth processing unit is used to obtain the time difference between the arrival of the second detection signal at the water surface and the bottom of the water based on the signal peak value of the echo signal reflected by the second detection signal at the water surface and the bottom of the water.

[0160] The seventh processing unit is used to obtain the depth of water accumulation on the road surface based on the refractive index of the second detection signal emitted by the detection device in the water accumulation, the refraction angle of the second detection signal in the water accumulation, and the time difference between the arrival of the second detection signal at the surface and bottom of the water accumulation.

[0161] Optionally, the detection module includes:

[0162] The analysis unit is used to analyze the road surface condition image to obtain the location information of water accumulation on the road surface;

[0163] The detection unit is used to scan the road surface water using the detection device when the location information of the road surface water indicates that the distance between the edge of the road surface water and the vehicle is less than a preset distance, so as to obtain the road surface water treatment data.

[0164] Optionally, the detection unit is specifically used for:

[0165] The detection device is used to scan the water on the road surface to obtain initial processing data.

[0166] The initial processed data is subjected to noise reduction processing to obtain the noise-reduced processed data;

[0167] The noise-reduced data is processed using a preset fitting algorithm to obtain the road surface water treatment data.

[0168] Optionally, the device further includes:

[0169] The information generation module is used to generate early warning information when the water depth on the road surface exceeds a preset depth.

[0170] It should be noted that the water depth detection device provided in the embodiments of the present invention is a device capable of performing the above-described water depth detection method. Therefore, all embodiments of the above-described water depth detection method are applicable to this device and can achieve the same or similar technical effects.

[0171] like Figure 6 As shown, this embodiment of the invention also provides a vehicle-mounted terminal, including: a processor 600; and a memory 610 connected to the processor 600 via a bus interface, the memory 610 being used to store programs and data used by the processor 600 when performing operations, and the processor 600 calling and executing the programs and data stored in the memory 610.

[0172] The terminal also includes a transceiver 620, which is connected to a bus interface and is used to receive and send data under the control of the processor 600.

[0173] Specifically, the processor 600 executes the following process:

[0174] Water depth detection methods include:

[0175] Acquire road surface condition images captured by the vehicle's visual acquisition device;

[0176] Based on the road surface condition image, the water accumulation on the road surface is detected and scanned by a detection device to obtain water accumulation treatment data.

[0177] The road surface water treatment data is processed to obtain the road surface water depth.

[0178] Optionally, the road surface water treatment data includes at least one of the following:

[0179] The first speed at which the first detection signal emitted by the detection device propagates in the air;

[0180] The first time the first detection signal emitted by the detection device propagates in the air;

[0181] The second speed at which the first detection signal emitted by the detection device propagates in the accumulated water;

[0182] The second time of propagation of the first detection signal emitted by the detection device in the accumulated water;

[0183] The distance of the detection device from the ground.

[0184] Optionally, the processor 600 is configured to:

[0185] The detection distance of the detection device is obtained based on the first speed of the first detection signal emitted by the detection device in the air, the first time of the first detection signal emitted by the detection device in the air, the second speed of the first detection signal emitted by the detection device in the accumulated water, and the second time of the first detection signal emitted by the detection device in the accumulated water.

[0186] Based on the second speed, the second time, and the distance between the detection device and the ground, the sine value of the first angle between the first detection signal emitted by the detection device and the ground is obtained;

[0187] The depth of water accumulation on the road surface is obtained based on the detection distance of the detection device, the distance of the detection device from the ground, and the sine value of the first included angle.

[0188] Optionally, the road surface water treatment data includes at least one of the following:

[0189] The refractive index of the second detection signal emitted by the detection device in the accumulated water;

[0190] The signal spectrum of the echo signal corresponding to the second detection signal emitted by the detection device;

[0191] The angle of incidence of the second detection signal emitted by the detection device on the water surface.

[0192] Optionally, the processor 600 is configured to:

[0193] The refraction angle of the second detection signal emitted by the detection device in the accumulated water is obtained based on the refractive index of the second detection signal emitted by the detection device in the accumulated water and the incident angle of the second detection signal emitted by the detection device on the surface of the accumulated water.

[0194] Based on the signal spectrum of the echo signal corresponding to the second detection signal emitted by the detection device, determine the signal peak value of the echo signal reflected by the second detection signal at the surface and bottom of the water.

[0195] The time difference between the arrival of the second detection signal at the water surface and the bottom of the water is obtained based on the signal peak values ​​of the echo signals reflected by the second detection signal at the water surface and the bottom of the water.

[0196] The depth of water accumulation on the road surface is obtained based on the refractive index of the second detection signal emitted by the detection device in the accumulated water, the refraction angle of the second detection signal in the accumulated water, and the time difference between the arrival of the second detection signal at the surface and bottom of the accumulated water.

[0197] Optionally, the processor 600 is configured to:

[0198] The location information of water accumulation on the road surface is obtained by analyzing the road surface condition image;

[0199] When the location information of the water accumulation on the road indicates that the distance between the edge of the water accumulation on the road and the vehicle is less than a preset distance, the detection device scans the water accumulation on the road to obtain the water accumulation treatment data.

[0200] Optionally, the processor 600 is specifically used for:

[0201] The detection device is used to scan the water on the road surface to obtain initial processing data.

[0202] The initial processed data is subjected to noise reduction processing to obtain the noise-reduced processed data;

[0203] The noise-reduced data is processed using a preset fitting algorithm to obtain the road surface water treatment data.

[0204] Optionally, the processor 600 is further configured to:

[0205] If the water depth on the road surface exceeds a preset depth, an early warning message will be generated.

[0206] Among them, Figure 6 In this context, the bus architecture may include any number of interconnected buses and bridges, specifically linking various circuits together, represented by one or more processors (processor 600) and memory (memory 610). The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. A bus interface provides a user interface 630. A transceiver 620 may be multiple elements, including transmitters and receivers, providing units for communicating with various other devices over a transmission medium. Processor 600 is responsible for managing the bus architecture and general processing, and memory 610 may store data used by processor 600 during operation.

[0207] In addition, specific embodiments of the present invention also provide a readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps of the water depth detection method as described above.

[0208] In the several embodiments provided in this application, it should be understood that the disclosed methods and apparatus can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0209] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can be physically comprised separately, or two or more units can be integrated into one unit. The integrated unit described above can be implemented in hardware or in the form of hardware plus software functional units.

[0210] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions that cause a computer device (which may be a personal computer, server, or network device, etc.) to execute partial steps of the resource selection method described in the various embodiments of the present invention, or to execute partial steps of the information transmission method described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0211] The above describes the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also within the scope of protection of the present invention.

Claims

1. A method for water depth detection, characterized in that, include: Acquire road surface condition images captured by the vehicle's visual acquisition device; Based on the road surface condition image, the water accumulation on the road surface is detected and scanned by a detection device to obtain water accumulation treatment data. The road surface water treatment data is processed to obtain the road surface water depth; The road surface water treatment data includes at least one of the following: The first speed at which the first detection signal emitted by the detection device propagates in the air; The first time the first detection signal emitted by the detection device propagates in the air; The second speed at which the first detection signal emitted by the detection device propagates in the accumulated water; The second time of propagation of the first detection signal emitted by the detection device in the accumulated water; The distance between the detection device and the ground; The process of processing the road surface water treatment data to obtain the road surface water depth includes: The detection distance of the detection device is obtained based on the first speed of the first detection signal emitted by the detection device in the air, the first time of the first detection signal emitted by the detection device in the air, the second speed of the first detection signal emitted by the detection device in the accumulated water, and the second time of the first detection signal emitted by the detection device in the accumulated water. Based on the second speed, the second time, and the distance between the detection device and the ground, the sine value of the first angle between the first detection signal emitted by the detection device and the ground is obtained; The depth of water accumulation on the road surface is obtained based on the detection distance of the detection device, the distance of the detection device from the ground, and the sine value of the first included angle.

2. The water depth detection method according to claim 1, characterized in that, The road surface water treatment data includes at least one of the following: The refractive index of the second detection signal emitted by the detection device in the accumulated water; The signal spectrum of the echo signal corresponding to the second detection signal emitted by the detection device; The angle of incidence of the second detection signal emitted by the detection device on the water surface.

3. The water depth detection method according to claim 1, characterized in that, The process of processing the road surface water treatment data to obtain the road surface water depth includes: The refraction angle of the second detection signal emitted by the detection device in the accumulated water is obtained based on the refractive index of the second detection signal emitted by the detection device in the accumulated water and the incident angle of the second detection signal emitted by the detection device on the surface of the accumulated water. Based on the signal spectrum of the echo signal corresponding to the second detection signal emitted by the detection device, determine the signal peak value of the echo signal reflected by the second detection signal at the surface and bottom of the water. The time difference between the arrival of the second detection signal at the water surface and the bottom of the water is obtained based on the signal peak values ​​of the echo signals reflected by the second detection signal at the water surface and the bottom of the water. The depth of water accumulation on the road surface is obtained based on the refractive index of the second detection signal emitted by the detection device in the accumulated water, the refraction angle of the second detection signal in the accumulated water, and the time difference between the arrival of the second detection signal at the surface and bottom of the accumulated water.

4. The water depth detection method according to claim 1, characterized in that, Based on the road surface condition image, the water accumulation on the road surface is detected and scanned by a detection device to obtain road surface water treatment data, including: The location information of water accumulation on the road surface is obtained by analyzing the road surface condition image; When the location information of the water accumulation on the road indicates that the distance between the edge of the water accumulation on the road and the vehicle is less than a preset distance, the detection device scans the water accumulation on the road to obtain the water accumulation treatment data.

5. The water depth detection method according to claim 1 or 4, characterized in that, The process of detecting and scanning road surface water using a detection device to obtain road surface water treatment data includes: The detection device is used to scan the water on the road surface to obtain initial processing data. The initial processed data is subjected to noise reduction processing to obtain the noise-reduced processed data; The noise-reduced data is processed using a preset fitting algorithm to obtain the road surface water treatment data.

6. The water depth detection method according to claim 1, characterized in that, The method further includes: If the water depth on the road surface exceeds a preset depth, an early warning message will be generated.

7. A water depth detection device, characterized in that, include: The acquisition module is used to acquire road surface condition images captured by the visual acquisition device on the vehicle; The detection module is used to detect and scan the water accumulation on the road surface based on the road surface condition image and obtain water accumulation treatment data. The processing module is used to process the road surface water treatment data to obtain the road surface water depth.

8. A vehicle-mounted terminal, characterized in that, include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the water depth detection method as described in any one of claims 1 to 6.

9. A readable storage medium, characterized in that, The readable storage medium stores a program that, when executed by a processor, implements the steps of the water depth detection method as described in any one of claims 1 to 6.

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