Traffic road emergency indication method and system and storage medium

Abstract

The embodiment of the invention relates to the technical field of traffic management, and discloses a traffic road emergency indication method and system and a storage medium, and the method comprises the steps: firstly, after the movement range of an obstacle in the width direction of a target road section is detected, increasing the safety margin according to the accumulated water depth information and the obstacle height information, so as to enlarge the movement range; then, when it is detected that the actual moving range of the obstacle exceeds the first target moving range, secondary correction is conducted on the initial moving range information according to the road surface gradient of the target traffic road section, and second target moving range information is obtained; therefore, the safety margin is further increased to amplify the movement range, and more conservative and safer second target movement range information is generated; and finally, corresponding emergency indication information is generated according to the first target movement range information or the second target movement range information, so that a driver is reminded to safely drive and pass through the target traffic road section.

Description

Technical Field

[0001] The present invention relates to the technical field of traffic management, and in particular to a traffic road emergency indication method, system and storage medium. Background Art

[0002] During the rainy season or after heavy rain, many low-lying or poorly drained sections of urban roads are prone to water accumulation, and some waterlogged roads may also be accompanied by a certain degree of inclination due to terrain or design reasons. This inclined road surface corresponding to water accumulation not only increases the difficulty of driving, but also hides huge safety hazards. Specifically, due to the reflection and refraction of the water surface, it is difficult for drivers to accurately judge the underwater road conditions, especially when there are obstacles such as potholes, stones, and missing manhole covers on the road surface. These obstacles are easy to accumulate at the inclined position of the road surface under the water surface and are difficult to detect. Therefore, when a vehicle enters such a waterlogged inclined section, since it is impossible to see and avoid underwater obstacles in advance, the driver can only rely on experience and intuition to operate, which greatly increases the risk of collision. Once a vehicle collides with an underwater obstacle, it may not only cause damage to the vehicle, but also cause serious consequences such as loss of control and rollover of the vehicle, seriously threatening the lives of the driver and passengers. Summary of the invention

[0003] The main purpose of the present invention is to provide a traffic road emergency indication method, system and storage medium, aiming to solve the technical problem in the prior art that inclined roads easily cause obstacles to accumulate and affect the safe passage of vehicles.

[0004] To achieve the above-mentioned purpose, in a first aspect, an embodiment of the present application provides a traffic road emergency indication method, which is applied to a traffic road emergency indication system, wherein the traffic road emergency indication system includes an infrared detection device, a laser radar sensor, and an indicator light projection device arranged on a road test, wherein the infrared detection device is used to monitor the depth of water accumulation in a target traffic section, the laser radar sensor is used to monitor the obstacle status of the target traffic section, and the indicator light projection device is used to project indication information, and the method includes: Obtaining an emergency instruction for a target traffic section, wherein the emergency instruction carries water depth information and obstacle height information for the target traffic section; Acquire the moving range of the obstacle in the width direction of the target traffic section according to the emergency instruction to obtain initial moving range information; Performing a primary correction on the initial moving range information according to the accumulated water depth information and the obstacle height information to obtain first target moving range information; Generate first emergency indication information according to the width information of the target traffic section and the first target moving range information, and project the indication information through the indicator light projection device, wherein the first emergency indication information is used to instruct traffic vehicles to avoid the obstacle to safely pass through the target traffic section; In response to the movement range of the obstacle in the width direction of the target traffic section exceeding the first target movement range, the initial movement range information is secondary corrected according to the road surface inclination of the target traffic section to obtain second target movement range information; The second emergency indication information is generated according to the width information of the target traffic section and the second target moving range information, and the indication information is re-projected through the indicator light projection device. The second emergency indication information is used to re-instruct traffic vehicles to avoid the obstacle to safely pass through the target traffic section.

[0005] In a possible implementation, before acquiring the emergency instruction instruction of the target traffic section, the following steps are included: When the water depth value of the target traffic section is greater than or equal to the first water depth threshold, determining whether there is an obstacle in the target traffic section; Determining that an obstacle exists in the target traffic section, and obtaining basic information of the obstacle, wherein the basic information of the obstacle includes obstacle height information; Determine that the height value of the obstacle is greater than or equal to a preset proportional value of the water depth value of the target traffic section, and generate an emergency instruction for the target traffic section.

[0006] In a possible implementation, obtaining the movement range of the obstacle in the width direction of the target traffic section to obtain initial movement range information includes: Acquire a plurality of laser point cloud data collected by the laser radar sensor within a preset time period; Performing point cloud data stitching on the multiple laser point cloud data to obtain target point cloud data; Identify the outer contour of the obstacle in the target point cloud data to obtain the obstacle movement area; An initial moving range is obtained according to the relative position information of the obstacle moving area in the width direction of the target traffic section.

[0007] In a possible implementation, the initial movement range information is initially corrected according to the water depth information and the obstacle height information to obtain the first target movement range information, including: When the water depth value of the target traffic section is less than or equal to the second water depth threshold, and the height value of the obstacle is less than or equal to the obstacle height threshold, an initial correction is performed based on the ratio of the water depth value to the second water depth threshold and the ratio of the obstacle height value to the obstacle height threshold to obtain the first target moving range information, wherein the second water depth threshold is less than the first water depth threshold.

[0008] In a possible implementation, performing an initial calibration according to a ratio of the water depth value to the second water depth threshold and a ratio of the obstacle height value to the obstacle height threshold to obtain the first target moving range information includes: Determine that the ratio of the water depth value to the second water depth threshold is less than or equal to the ratio threshold, and the ratio of the obstacle height value to the obstacle height threshold is less than or equal to the ratio threshold, and expand the initial moving range by a first preset ratio to obtain first target moving range information; Determine that the ratio of the water depth value to the second water depth threshold is greater than the ratio threshold, and the ratio of the obstacle height value to the obstacle height threshold is greater than the ratio threshold, and expand the initial moving range by a second preset ratio to obtain the first target moving range information, wherein the first preset ratio is greater than the second preset ratio.

[0009] In a possible implementation, the generating of the first emergency indication information according to the width information of the target traffic section and the first target moving range information, and projecting the indication information through the indicator light projection device, includes: Re-determine the traffic lane line according to the position information of the first target moving range in the width direction of the target traffic section; The indicator light projection device projects the traffic lane line above the traffic lane line, and projects the obstacle virtual indication image right in front of the obstacle moving area.

[0010] In a possible implementation, performing secondary correction on the initial moving range information according to the road surface inclination of the target traffic section to obtain the second target moving range information includes: Determining that the road surface inclination of the target traffic section is greater than or equal to an inclination threshold, and expanding the initial moving range by a third preset ratio to obtain second target moving range information; Determine that the road surface inclination of the target traffic section is less than an inclination threshold, expand the initial moving range by a fourth preset ratio to obtain second target moving range information, wherein the third preset ratio is greater than the fourth preset ratio.

[0011] In a possible implementation, the generating of the second emergency indication information according to the width information of the target traffic section and the second target moving range information, and projecting the indication information through the indicator light projection device, includes: Re-determine the traffic lane line according to the position information of the second target moving range in the width direction of the target traffic section; When the width value of the adjacent traffic lane line does not meet the traffic width threshold of the target vehicle type, the indicator light projection device displays an indication image prohibiting the target vehicle type from passing directly in front of the adjacent traffic lane line, and projects an obstacle virtual indication image directly in front of the obstacle movement area.

[0012] In a possible implementation, the method further includes: While the indicator light projection device is projecting the indication information, the first emergency indication information or the second emergency indication information is sent to the vehicle terminal within a preset distance range through the wireless communication module to remind the driver to avoid obstacles.

[0013] In the second aspect, an embodiment of the present application also provides a traffic road emergency indication system, including an infrared detection device, a laser radar sensor and an indicator light projection device arranged for road testing, the infrared detection device is used to monitor the depth of water accumulation in the target traffic section, the laser radar sensor is used to monitor the obstacle status of the target traffic section, and the indicator light projection device is used to project indication information; it also includes a memory and a processor, the memory is used to store program code, and the processor is used to call the program code to execute the method described in the first aspect.

[0014] In a third aspect, an embodiment of the present application further provides a storage medium on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method described in the first aspect are performed.

[0015] Different from the prior art, the traffic road emergency indication method provided in the embodiment of the present application first obtains the emergency indication instruction of the target traffic section, and then obtains the moving range of the obstacle in the width direction of the target traffic section according to the emergency indication instruction to obtain the initial moving range information; then the initial moving range information is initially corrected according to the water depth information and the obstacle height information to obtain the first target moving range information; then the first emergency indication information is generated according to the width information of the target traffic section and the first target moving range information to project the indication information; if the moving range of the obstacle in the width direction of the target traffic section exceeds the first target moving range, the initial moving range information is secondarily corrected according to the road surface inclination of the target traffic section to obtain the second target moving range information; finally, the second emergency indication information is generated according to the width information of the target traffic section and the second target moving range information to re-project the indication information. That is, first, after detecting the moving range of the obstacle in the width direction of the target traffic section, the safety margin is increased according to the water depth information and the obstacle height information to enlarge the moving range, thereby generating a more conservative and safe first target moving range information to ensure that traffic vehicles have enough space to avoid obstacles in the waterlogged area and pass the target traffic section smoothly; then when it is detected that the actual moving range of the obstacle exceeds the first target moving range, the initial moving range information is secondary corrected according to the road surface inclination of the target traffic section to obtain the second target moving range information, thereby further increasing the safety margin to enlarge the moving range, thereby generating a more conservative and safe second target moving range information; finally, according to the width information of the target traffic section and the first target moving range information or the second target moving range information, the corresponding emergency indication information is generated to project the indication information, thereby reminding the driver to safely drive through the target traffic section. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0017] Figure 1 A schematic diagram of the plane state of a target traffic section in some embodiments of the present application; Figure 2 A schematic diagram of a flow chart of a traffic road emergency indication method in some embodiments of the present application; Figure 3 This is a specific flow chart of step S200 of the traffic road emergency indication method in some embodiments of the present application; Figure 4This is a schematic diagram of the hardware structure of the traffic road emergency indication system in some embodiments of the present application.

[0018] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0021] In addition, the descriptions of "first", "second", etc. in the present invention are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, "and / or" in the full text includes three solutions. Taking A and / or B as an example, it includes technical solution A, technical solution B, and technical solution that satisfies both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0022] During the rainy season or after heavy rain, many low-lying or poorly drained sections of urban roads are prone to water accumulation, and some waterlogged roads may also be accompanied by a certain degree of inclination due to terrain or design reasons. This inclined road surface corresponding to water accumulation not only increases the difficulty of driving, but also hides huge safety hazards. Specifically, due to the reflection and refraction of the water surface, it is difficult for drivers to accurately judge the underwater road conditions, especially when there are obstacles such as potholes, stones, and missing manhole covers on the road surface. These obstacles are easy to accumulate at the inclined position of the road surface under the water surface and are difficult to detect. Therefore, when a vehicle enters such a waterlogged inclined section, since it is impossible to see and avoid underwater obstacles in advance, the driver can only rely on experience and intuition to operate, which greatly increases the risk of collision. Once a vehicle collides with an underwater obstacle, it may not only cause damage to the vehicle, but also cause serious consequences such as loss of control and rollover of the vehicle, seriously threatening the lives of the driver and passengers.

[0023] In response to the above problems, the present application proposes a traffic road emergency indication method, which is applied to a traffic road emergency indication system. The traffic road emergency indication system includes an infrared detection device 100, a laser radar sensor 200 and an indicator light projection device 300 arranged on a road test. The infrared detection device 100 is used to monitor the water depth H of the target traffic section. The laser radar sensor 200 is used to monitor the status of obstacles 400 in the target traffic section, including whether there are obstacles, the shape, volume or height of the obstacles and other information; the indicator light projection device 300 is used to project indication information. For example, the indicator light projection device 300 can project various warning icons through virtual reality technology, and can also project various warning icons by utilizing a large number of LED lamp beads.

[0024] Specifically, the infrared detection device 100 can be installed at the edge of the target traffic section or a specific monitoring point to ensure that the water accumulation on the road surface can be accurately captured. The infrared detection device 100 uses the penetrating and reflective characteristics of infrared rays to perform non-contact measurement of the road surface to obtain real-time water accumulation depth information, which can be the average water accumulation depth at multiple locations. The infrared sensor can penetrate a water layer of a certain thickness, and the reflected signal is converted into a specific value of the water accumulation depth after processing. The measured data is transmitted to the system control center via wireless or wired means, providing a key basis for subsequent decision support.

[0025] The laser radar sensor 200 can be installed at a position higher than the road surface, such as a street light pole, traffic sign pole or a special bracket, to obtain a wider field of view and more accurate obstacle detection capabilities. Using the principle of rapid scanning and reflection of laser beams, the laser radar can monitor and accurately measure the position, size, shape and movement status of obstacles in the target traffic section in real time. Its high accuracy and real-time performance provide the system with detailed information about obstacles. The data collected by the sensor is processed by an algorithm to identify the specific attributes of the obstacle and predict its possible range of movement, providing a basis for generating safe range of movement information.

[0026] The indicator light projection device 300 can be set in front of the flooded area of ​​the traffic section so that the driver can see the indication information in advance. According to the indication instructions sent by the system control center, the indicator light projection device 300 can immediately generate corresponding emergency indication information and project it onto the road surface or above the road surface through a high-brightness LED light or laser beam. This information may include avoidance paths, deceleration prompts, no-entry signs, etc., with the purpose of guiding the driver to safely pass the target section.

[0027] like Figure 1-Figure 3 As shown, the following takes the traffic road emergency indication system executing the traffic road emergency indication method as an example for explanation. It should be noted that although the logical sequence is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than here. Figure 2 The method includes the following steps S100 to S600: S100, obtaining an emergency instruction for a target traffic section, wherein the emergency instruction carries water depth information and obstacle height information for the target traffic section; The emergency instruction refers to an instruction for triggering an emergency instruction, which may be sent from the outside, or automatically triggered by the traffic road emergency instruction system based on acquired sensor data after processing and analysis.

[0028] In one embodiment, before the step S100: obtaining the emergency instruction for the target traffic section, it includes: when the water depth value of the target traffic section is greater than or equal to the first water depth threshold, judging whether there is an obstacle in the target traffic section; determining that there is an obstacle in the target traffic section, obtaining basic information of the obstacle, wherein the basic information of the obstacle includes obstacle height information; determining that the height value of the obstacle is greater than or equal to a preset ratio value of the water depth value of the target traffic section, and generating the emergency instruction for the target traffic section.

[0029] Specifically, in the embodiment of the present application, the infrared detection device 100 continuously monitors the water accumulation situation of the target traffic section and obtains the water depth value in real time. The system processor compares the monitored water depth value with the preset first water depth threshold. The threshold can be set according to factors such as road design standards, vehicle traffic capacity and safety requirements, and is used to determine whether the water accumulation has reached a level that may affect traffic safety. If the water depth value is greater than or equal to the first water depth threshold, it means that there is a potential traffic safety hazard in the section, and it is necessary to further determine whether there are other risk factors. After confirming that the water depth exceeds the standard, the laser radar sensor 200 starts a comprehensive scan of the target traffic section to detect whether there are obstacles, or confirm whether the obstacles are moving. The embodiment of the present application can use the high-precision data of the laser radar to identify basic information such as the location, shape and size of the obstacle. After determining that there is an obstacle in the target traffic section, the system further obtains the specific height information of the obstacle, and then compares the height value of the obstacle with the depth value of the accumulated water to determine whether the height of the obstacle reaches or exceeds the preset proportion value of the accumulated water depth (such as 50%, 60% or 100%, etc., the specific proportion is set according to factors such as road type and vehicle traffic conditions). If the height value of the obstacle is greater than or equal to the preset proportion value of the accumulated water depth, it means that the driver will not be able to see the obstacle in the water clearly, which means that there is an obvious traffic safety hazard in the target section, and an emergency instruction needs to be generated immediately.

[0030] S200, obtaining the moving range of the obstacle in the width direction of the target traffic section according to the emergency instruction to obtain initial moving range information; It can be understood that obstacles, such as solid obstacles such as stones and urban garbage, may exhibit a certain degree of fluidity during water erosion or vehicle driving, and their movement range is directly related to the safety status of the target traffic section. Therefore, when generating emergency indication instructions, the embodiment of the present application further analyzes and obtains the initial movement range information of these obstacles in the width direction of the target traffic section, so as to provide key data support for subsequent movement range correction and road traffic emergency instructions.

[0031] In one embodiment, step S200: obtaining the movement range of the obstacle in the width direction of the target traffic section to obtain initial movement range information includes: S210, acquiring a plurality of laser point cloud data collected by the laser radar sensor within a preset time period; S220, performing point cloud data splicing on the plurality of laser point cloud data to obtain target point cloud data; S230, identifying the outer contour of the obstacle in the target point cloud data to obtain an obstacle movement area; S240: Obtain an initial moving range according to the relative position information of the obstacle moving area in the width direction of the target traffic section.

[0032] Specifically, in the embodiment of the present application, the laser radar sensor 200 continuously scans the target traffic section within a preset time period and collects laser point cloud data (these data contain the three-dimensional coordinate information of obstacles in the road space) at multiple time points (for example, a complete movement cycle). Then, the collected multiple laser point cloud data are preprocessed, including denoising, filtering, etc., to improve the data quality. Then, the laser point cloud data at different time points are accurately aligned and fused in three-dimensional space using a point cloud splicing algorithm (such as an ICP algorithm, an NDT algorithm, etc.) to form continuous and complete target point cloud data. In this way, the dislocation and break between point cloud data caused by sensor movement or environmental changes can be eliminated through the fusion of point cloud data. In the target point cloud data, the outer contour lines of the obstacles are identified through image processing technologies such as cluster analysis and edge detection. These contour lines represent the moving position of the obstacles in three-dimensional space. Based on the outer contour lines of the obstacles, combined with the change information in the time dimension, the moving area of ​​the obstacles in the width direction of the target traffic section (i.e., the obstacle moving area) is determined. This area includes all possible positions where the obstacle may move to, and is an important data basis for subsequent analysis. Furthermore, the relative position information of the obstacle in the width direction of the target traffic section can be extracted from the obstacle movement area. This information includes the distance from the edge of the obstacle to the edge of the road, the movement coverage of the obstacle in the width direction, etc.

[0033] S300, performing a primary correction on the initial moving range information according to the accumulated water depth information and the obstacle height information to obtain first target moving range information; It can be understood that within a certain period of time, the movement range of an obstacle is generally relatively stable, that is, it is within the initial movement range. However, in order to ensure that traffic vehicles can safely pass through the target traffic section, the embodiment of the present application comprehensively considers the potential impact of the depth of water accumulation and the height of the obstacle, and performs an initial correction on the initial movement range information. The movement range of the obstacle is enlarged by appropriately increasing the safety margin, thereby generating a more conservative and safe first target movement range information to ensure that traffic vehicles have enough space to avoid waterlogged areas and obstacles and pass the target traffic section smoothly.

[0034] In one embodiment, the step S300: performing a primary correction on the initial moving range information according to the water depth information and the obstacle height information to obtain the first target moving range information includes: When the water depth value of the target traffic section is less than or equal to the second water depth threshold, and the height value of the obstacle is less than or equal to the obstacle height threshold, an initial correction is performed based on the ratio of the water depth value to the second water depth threshold and the ratio of the obstacle height value to the obstacle height threshold to obtain the first target moving range information, wherein the second water depth threshold is less than the first water depth threshold.

[0035] Specifically, when the ratio of the water depth value to the second water depth threshold is less than or equal to the ratio threshold, and the ratio of the obstacle height value to the obstacle height threshold is less than or equal to the ratio threshold, it means that the water is shallow, the obstacle is small, the resistance of the water to the obstacle is relatively small, and the probability that the obstacle is subjected to a larger moving range by the external force is large. Therefore, in this case, the initial moving range is expanded by a first preset ratio to obtain the first target moving range information, for example, 20% is expanded on the basis of the initial moving range (the initial moving range is expanded by 10% on both sides); when the ratio of the water depth value to the second water depth threshold is greater than the ratio threshold, and the ratio of the obstacle height value to the obstacle height threshold is greater than the ratio threshold, it means that the water is deep, the obstacle is large, the resistance of the water to the obstacle is relatively large, and the probability that the obstacle is subjected to a larger moving range by the external force is small. Therefore, in this case, the initial moving range is expanded by a second preset ratio to obtain the first target moving range information, wherein the first preset ratio is greater than the second preset ratio, for example, 10% is expanded on the basis of the initial moving range (the initial moving range is expanded by 5% on both sides).

[0036] S400, generating first emergency indication information according to the width information of the target traffic section and the first target moving range information, and projecting the indication information through the indicator light projection device, wherein the first emergency indication information is used to instruct traffic vehicles to avoid the obstacle to pass through the target traffic section; like Figure 1 As shown, the L1 road section is the road section in the obstacle moving area, and the L2 and L3 road sections are the road sections in the safe driving area. Since the L2 road section and the L1 road section have inclined roads, obstacles are easily accumulated at the lowest depression of the inclined road section, that is, at the position of the L1 road section. Therefore, after obtaining the safer first target moving range information, the system can generate the first emergency indication information based on the width information of the target traffic section and the first target moving range information to project the indication information.

[0037] In one embodiment, the first emergency indication information is generated based on the width information of the target traffic section and the first target moving range information, and the indication information is projected through the indicator light projection device, including: redetermining the passing lane line based on the position information of the first target moving range in the width direction of the target traffic section; projecting the passing lane line above the passing lane line through the indicator light projection device, and projecting a virtual obstacle indication image directly in front of the obstacle moving area.

[0038] Specifically, the left boundary line CD1 and the right boundary line CD2 of the first target moving range are first accurately mapped to the physical space of the target traffic section. Then, in combination with the width information of the road section, the traffic lane line is intelligently replanned. If it is found that there is enough space between the road boundary line A1 and the left boundary line CD1 of the moving range to accommodate another lane, a new lane line C1 is re-determined in this space to increase traffic efficiency and ensure safety. Similarly, if there is enough space between the road boundary line B1 and the right boundary line CD2 of the moving range, a lane line D1 is re-planned in this area to ensure smooth traffic. After the lane line is re-planned, the indicator light projection device 300 is used to project clearly visible virtual lane lines directly above the re-determined traffic lane lines C1, CD1, CD2 and D1. The traffic width between these virtual lane lines can be slightly lower than the distance between the original lane lines on the road surface. At the same time, a virtual obstacle indication image is projected by the indicator light projection device 300 in front of the obstacle moving area. Provide drivers with instant warning information to guide them to slow down, change lanes or take other avoidance measures in advance to ensure safe passage through the target traffic section.

[0039] S500, in response to the movement range of the obstacle in the width direction of the target traffic section exceeding the first target movement range, performing a secondary correction on the initial movement range information according to the road surface inclination of the target traffic section to obtain second target movement range information; It is understandable that as time goes by, the waterlogging condition of the road surface may change. For example, the drainage system of urban roads is promptly processed, resulting in the gradual decrease of waterlogging in the target traffic section. In the process of gradually decreasing waterlogging, the moving range of the obstacle may also change. Therefore, when the laser radar sensor 200 detects that the moving range of the obstacle 400 in the width direction of the target traffic section exceeds the first target moving range, it is considered that the waterlogging on the road surface is gradually reduced; and the moving range of the obstacle 400 in the width direction of the target traffic section exceeds the first target moving range. If no intervention is performed, it will affect the safe passage of traffic vehicles. Therefore, in the embodiment of the present application, when the laser radar sensor 200 detects that the moving range of the obstacle 400 in the width direction of the target traffic section exceeds the first target moving range, the initial moving range is further enlarged and corrected.

[0040] In one embodiment, the step S500: performs secondary correction on the initial moving range information according to the road surface inclination of the target traffic section to obtain the second target moving range information, including: determining that the road surface inclination of the target traffic section is greater than or equal to the inclination threshold, and expanding the initial moving range by a third preset proportion to obtain the second target moving range information; determining that the road surface inclination of the target traffic section is less than the inclination threshold, and expanding the initial moving range by a fourth preset proportion to obtain the second target moving range information, wherein the third preset proportion is greater than the fourth preset proportion.

[0041] Specifically, as the water level in the target traffic section gradually decreases, the range of movement of the obstacle changes, and the range of movement of the obstacle is affected by the component of gravity along the slope and the water pressure. The greater the slope of the road, the greater the component of gravity along the slope, and the greater the distance the obstacle rolls down.

[0042] Therefore, in the embodiment of the present application, when the road surface inclination of the target traffic section is greater than or equal to the inclination threshold, a larger ratio (third preset ratio) is used to expand the initial movement range to more fully consider the maximum distance that the obstacle may roll; when the road surface inclination of the target traffic section is less than the inclination threshold, the initial movement range is expanded by a smaller ratio, and a smaller ratio (fourth preset ratio) is used to expand the initial movement range to ensure that sufficient safety margin can be maintained even on relatively flat sections. It should be noted that the fourth preset ratio is greater than the second preset ratio and the first preset ratio mentioned above.

[0043] In this way, in the embodiment of the present application, when the lidar sensor captures an abnormal change in the movement range of an obstacle, the system will immediately start the adjustment program, respond in a timely manner, and use different preset ratios to perform secondary corrections on the initial movement range according to the different inclinations of the road surface, so as to obtain a more accurate and safe second target movement range, thereby ensuring the safety and smoothness of the traffic system.

[0044] S600, generating second emergency indication information according to the width information of the target traffic section and the second target moving range information, and re-projecting the indication information through the indicator light projection device, wherein the second emergency indication information is used to re-instruct traffic vehicles to avoid the obstacle to pass through the target traffic section.

[0045] In one embodiment, the step S600: generates second emergency indication information based on the width information of the target traffic section and the second target moving range information, and projects the indication information through the indicator light projection device, including: redetermining the passing lane line based on the position information of the second target moving range in the width direction of the target traffic section; when the width value of the adjacent passing lane line does not meet the passing width threshold of the target vehicle type, displaying an indication image prohibiting the target vehicle type from passing directly in front of the adjacent passing lane line through the indicator light projection device, and projecting an obstacle virtual indication image in the obstacle moving area.

[0046] Specifically, the embodiment of the present application first accurately maps the left boundary line CD1 and the right boundary line CD2 of the second target moving range to the physical space of the target traffic section. Then, combined with the width information of the road section, the traffic lane line is intelligently replanned. Since the moving range of the obstacle is enlarged, that is, the distance between the left boundary line CD1 and the right boundary line CD2 is large, there is a great probability that the traffic space of other lanes will be occupied. Therefore, during the replanning process, the system will check the width values ​​of each lane in real time to ensure that they meet the preset traffic width threshold. For lanes that do not meet the conditions, the system will make special marks and take corresponding warning measures.

[0047] For example, if it is found that the width threshold of the target vehicle type is not met between the boundary line A1 and the left boundary line CD1 of the moving range, an indicator light projection device is used to display an indication image prohibiting the target vehicle type from passing in front of the passing lane line. For example, if the space distance between the boundary line A1 and the left boundary line CD1 of the moving range is only 1.5m, which does not meet the passage of large trucks, the indicator light projection device 300 is used to display an indication image prohibiting the passage of large trucks in front of the boundary line A1 and the left boundary line CD1 of the moving range. At the same time, a virtual indication image of the obstacle is projected by the indicator light projection device 300 in front of the obstacle moving area. Provide drivers with immediate warning information to guide them to slow down, change lanes or take other avoidance measures in advance to ensure safe passage through the target traffic section.

[0048] In another embodiment, the traffic road emergency indication method of the present application further includes: While the indicator light projection device is projecting the indication information, the first emergency indication information or the second emergency indication information is sent to the vehicle terminal within a preset distance range through the wireless communication module to remind the driver to avoid obstacles.

[0049] Specifically, when the laser radar sensor 200 detects an obstacle and generates the first or second emergency indication information based on the detection data, the system will encode the generated emergency indication information. The encoded emergency indication information is sent out in the form of a wireless signal through the wireless communication module. These signals will cover all vehicle-mounted terminals within a preset distance range (for example, 50 meters from the obstacle). After receiving the wireless signal, the vehicle-mounted terminal will decode it and restore the original emergency indication information. The vehicle-mounted terminal will then display the received emergency indication information to the driver in the form of graphics, text or sound, reminding them to avoid obstacles.

[0050] Based on this, the traffic road emergency indication method of the present application first increases the safety margin to enlarge the moving range according to the water depth information and the obstacle height information after detecting the moving range of the obstacle in the width direction of the target traffic section, thereby generating a more conservative and safe first target moving range information to ensure that traffic vehicles have enough space to avoid obstacles in the water accumulation area and pass the target traffic section smoothly; then when it is detected that the actual moving range of the obstacle exceeds the first target moving range, the system responds and adjusts in a timely manner, and performs a secondary correction on the initial moving range information according to the road surface inclination of the target traffic section to obtain the second target moving range information, thereby further increasing the safety margin to enlarge the moving range, thereby generating a more conservative and safe second target moving range information; finally, according to the width information of the target traffic section and the first target moving range information or the second target moving range information, the corresponding emergency indication information is generated to project the indication information, thereby reminding the driver to safely drive through the target traffic section.

[0051] Please see attached Figure 4 , Figure 4 A schematic diagram of the hardware structure of a traffic road emergency indication system provided for some embodiments of the present application; the traffic road emergency indication system provided in the embodiments of the present application also includes a memory 110 and a processor 120, wherein the memory 110 is used to store program code, and the processor 120 is used to call the program code to execute the method described above.

[0052] The processor 120 is used to provide computing and control capabilities to control the traffic road emergency indication system to perform corresponding tasks, for example, to control the traffic road emergency indication system to perform the traffic road emergency indication method in any of the above method embodiments, the method comprising: obtaining an emergency indication instruction for a target traffic section, wherein the emergency indication instruction carries water depth information and obstacle height information for the target traffic section; obtaining an initial movement range information of the obstacle in the width direction of the target traffic section according to the emergency indication instruction; performing a primary correction on the initial movement range information according to the water depth information and obstacle height information to obtain first target movement range information; and obtaining a first target movement range information according to the width information of the target traffic section and the first target movement range information. The first emergency indication information is generated based on the obstacle information, and the indication information is projected through the indicator light projection device, the first emergency indication information is used to instruct traffic vehicles to avoid the obstacle so as to pass through the target traffic section; in response to the movement range of the obstacle in the width direction of the target traffic section exceeding the first target movement range, the initial movement range information is secondary corrected according to the road surface inclination of the target traffic section to obtain the second target movement range information; the second emergency indication information is generated based on the width information of the target traffic section and the second target movement range information, and the indication information is re-projected through the indicator light projection device, the second emergency indication information is used to re-instruct traffic vehicles to avoid the obstacle so as to pass through the target traffic section.

[0053] The processor 120 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0054] The memory 110 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as program instructions / modules corresponding to the traffic road emergency indication method in the embodiment of the present application. The processor 120 can implement the traffic road emergency indication method in any of the above method embodiments by running the non-transitory software programs, instructions and modules stored in the memory 110.

[0055] Specifically, the memory 110 may include a volatile memory (VM), such as a random access memory (RAM); the memory 110 may also include a non-volatile memory (NVM), such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD) or other non-transitory solid-state storage device; the memory 110 may also include a combination of the above types of memory.

[0056] In summary, the traffic road emergency indication system of the present application adopts the technical solution of any one of the above-mentioned traffic road emergency indication method embodiments, and therefore, has at least the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be described one by one here.

[0057] The embodiment of the present application also provides a computer-readable storage medium, such as a memory including a program code, and the program code can be executed by a processor to complete the traffic road emergency indication method in the above embodiment. For example, the computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CDROM), a magnetic tape, a floppy disk, and an optical data storage device.

[0058] The present application also provides a computer program product, which includes one or more program codes stored in a computer-readable storage medium. The processor of the traffic road emergency indication system reads the program code from the computer-readable storage medium, and the processor executes the program code to complete the steps of the traffic road emergency indication method provided in the above embodiment.

[0059] A person skilled in the art will appreciate that all or part of the steps for implementing the above embodiments may be accomplished by hardware or by hardware associated with a program code, and the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a disk or an optical disk, etc.

[0060] It should be noted that the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0061] Through the description of the above embodiments, it can be clearly understood by those skilled in the art that each embodiment can be implemented by means of software plus a general hardware platform, or by hardware. It can be understood by those skilled in the art that all or part of the processes in the above embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0062] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A traffic road emergency indication method, applied to a traffic road emergency indication system, characterized in that: The traffic road emergency indication system includes an infrared detection device, a laser radar sensor and an indicator light projection device arranged on the road test, wherein the infrared detection device is used to monitor the depth of water accumulation in the target traffic section, the laser radar sensor is used to monitor the obstacle status of the target traffic section, and the indicator light projection device is used to project indication information. The method includes: Obtaining an emergency instruction for a target traffic section, wherein the emergency instruction carries water depth information and obstacle height information for the target traffic section; Acquire the moving range of the obstacle in the width direction of the target traffic section according to the emergency instruction to obtain initial moving range information; Performing a primary correction on the initial moving range information according to the accumulated water depth information and the obstacle height information to obtain first target moving range information; Generate first emergency indication information according to the width information of the target traffic section and the first target moving range information, and project the indication information through the indicator light projection device, wherein the first emergency indication information is used to instruct traffic vehicles to avoid the obstacle to safely pass through the target traffic section; In response to the movement range of the obstacle in the width direction of the target traffic section exceeding the first target movement range, the initial movement range information is secondary corrected according to the road surface inclination of the target traffic section to obtain second target movement range information; The second emergency indication information is generated according to the width information of the target traffic section and the second target moving range information, and the indication information is re-projected through the indicator light projection device. The second emergency indication information is used to re-instruct traffic vehicles to avoid the obstacle to safely pass through the target traffic section.

2. The method for traffic road emergency indication as claimed in claim 1, characterized in that: Before obtaining the emergency instruction instruction of the target traffic section, it includes: When the water depth value of the target traffic section is greater than or equal to the first water depth threshold, determining whether there is an obstacle in the target traffic section; Determining that an obstacle exists in the target traffic section, and obtaining basic information of the obstacle, wherein the basic information of the obstacle includes obstacle height information; Determine that the height value of the obstacle is greater than or equal to a preset proportional value of the water depth value of the target traffic section, and generate an emergency instruction for the target traffic section.

3. The method for traffic road emergency indication as claimed in claim 2, characterized in that: Acquiring the moving range of the obstacle in the width direction of the target traffic section to obtain initial moving range information includes: Acquire a plurality of laser point cloud data collected by the laser radar sensor within a preset time period; Performing point cloud data stitching on the multiple laser point cloud data to obtain target point cloud data; Identify the outer contour of the obstacle in the target point cloud data to obtain the obstacle movement area; An initial moving range is obtained according to the relative position information of the obstacle moving area in the width direction of the target traffic section.

4. The method for traffic road emergency indication as claimed in claim 2, characterized in that: The first target moving range information is obtained by initially correcting the initial moving range information according to the water depth information and the obstacle height information, including: When the water depth value of the target traffic section is less than or equal to the second water depth threshold, and the height value of the obstacle is less than or equal to the obstacle height threshold, an initial correction is performed based on the ratio of the water depth value to the second water depth threshold and the ratio of the obstacle height value to the obstacle height threshold to obtain the first target moving range information, wherein the second water depth threshold is less than the first water depth threshold.

5. The method for traffic road emergency indication as claimed in claim 4, characterized in that: The first target moving range information is obtained by performing an initial calibration based on a ratio of the water depth value to the second water depth threshold and a ratio of the obstacle height value to the obstacle height threshold, including: Determine that the ratio of the water depth value to the second water depth threshold is less than or equal to the ratio threshold, and the ratio of the obstacle height value to the obstacle height threshold is less than or equal to the ratio threshold, and expand the initial moving range by a first preset ratio to obtain first target moving range information; Determine that the ratio of the water depth value to the second water depth threshold is greater than the ratio threshold, and the ratio of the obstacle height value to the obstacle height threshold is greater than the ratio threshold, and expand the initial moving range by a second preset ratio to obtain the first target moving range information, wherein the first preset ratio is greater than the second preset ratio.

6. The method for traffic road emergency indication as claimed in claim 1, characterized in that: The generating of the first emergency indication information according to the width information of the target traffic section and the first target moving range information, and projecting the indication information through the indicator light projection device, comprises: Re-determine the traffic lane line according to the position information of the first target moving range in the width direction of the target traffic section; The indicator light projection device projects the traffic lane line above the traffic lane line, and projects the obstacle virtual indication image right in front of the obstacle moving area.

7. The method for traffic road emergency indication as claimed in claim 1, characterized in that: The second target moving range information is obtained by performing a secondary correction on the initial moving range information according to the road surface inclination of the target traffic section, including: Determining that the road surface inclination of the target traffic section is greater than or equal to an inclination threshold, and expanding the initial moving range by a third preset ratio to obtain second target moving range information; Determine that the road surface inclination of the target traffic section is less than an inclination threshold, expand the initial moving range by a fourth preset ratio to obtain second target moving range information, wherein the third preset ratio is greater than the fourth preset ratio.

8. The method for traffic road emergency indication as claimed in claim 1, characterized in that: The generating of the second emergency indication information according to the width information of the target traffic section and the second target moving range information, and projecting the indication information through the indicator light projection device, comprises: Re-determine the traffic lane line according to the position information of the second target moving range in the width direction of the target traffic section; When the width value of the adjacent traffic lane line does not meet the traffic width threshold of the target vehicle type, the indicator light projection device displays an indication image prohibiting the target vehicle type from passing directly in front of the adjacent traffic lane line, and projects an obstacle virtual indication image directly in front of the obstacle movement area.

9. The method for traffic road emergency indication as claimed in claim 1, characterized in that: The method further comprises: While the indicator light projection device is projecting the indication information, the first emergency indication information or the second emergency indication information is sent to the vehicle terminal within a preset distance range through the wireless communication module to remind the driver to avoid obstacles.

10. A traffic road emergency indication system, characterized in that: It includes an infrared detection device, a laser radar sensor and an indicator light projection device for road testing, wherein the infrared detection device is used to monitor the depth of water accumulation in the target traffic section, the laser radar sensor is used to monitor the obstacle status of the target traffic section, and the indicator light projection device is used to project indication information; it also includes a memory and a processor, wherein the memory is used to store program code, and the processor is used to call the program code to execute the method described in any one of claims 1 to 9.

11. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 9 are performed.

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