Traffic road emergency indication method, system and storage medium

Abstract

The embodiments of the present application relate to the field of traffic management technology, and disclose a traffic road emergency indication method, system and storage medium. The method 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 road section, thereby generating a more conservative and safe first target moving range information. 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, corresponding emergency indication information is generated according to the first target moving range information or the second target moving range information, thereby reminding the driver to safely drive through the target traffic 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 waterlogging. Some of these waterlogged roads may also have a certain slope due to the terrain or design. This sloping surface, corresponding to waterlogging, not only increases driving difficulty but also poses significant safety hazards. Specifically, due to the reflection and refraction of light from the water surface, drivers find it difficult to accurately judge the underwater road conditions. This is especially true when obstacles such as potholes, rocks, and missing manhole covers are present, as these obstacles tend to accumulate and become difficult to detect on the sloped areas below the water surface. Therefore, when a vehicle enters such a flooded, sloping section, unable to see and avoid underwater obstacles in advance, drivers are often forced to rely on experience and intuition, greatly increasing the risk of a collision. A collision with an underwater obstacle can not only result in damage to the vehicle, but can also lead to serious consequences such as loss of control and rollover, 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 objectives, in a first aspect, embodiments of the present application provide 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, a laser radar sensor, and an indicator light projection device provided for road testing. 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. The indicator light projection device is used to project indication information. The method includes:

[0005] 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;

[0006] Obtaining the movement range of the obstacle in the width direction of the target traffic section according to the emergency instruction to obtain initial movement range information;

[0007] 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;

[0008] 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 safely pass through the target traffic section;

[0009] 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;

[0010] A second emergency indication message is generated based on the width information of the target traffic section and the second target moving range information, and the indication message is re-projected through the indicator light projection device. The second emergency indication message is used to re-instruct traffic vehicles to avoid the obstacle in order to safely pass through the target traffic section.

[0011] In a possible implementation, before obtaining the emergency instruction instruction of the target traffic section, the following steps are included:

[0012] When the water depth value of the target traffic section is greater than or equal to a first water depth threshold, determining whether there is an obstacle in the target traffic section;

[0013] 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;

[0014] It is determined 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 an emergency instruction instruction for the target traffic section is generated.

[0015] 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:

[0016] Acquire multiple laser point cloud data collected by the laser radar sensor within a preset time period;

[0017] Performing point cloud data stitching on the multiple laser point cloud data to obtain target point cloud data;

[0018] Identifying the outer contour of the obstacle in the target point cloud data to obtain an obstacle movement area;

[0019] 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.

[0020] In a possible implementation, performing a primary correction on the initial movement range information according to the accumulated water depth information and the obstacle height information to obtain the first target movement range information includes:

[0021] 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.

[0022] In a possible implementation, 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 to obtain the first target movement range information includes:

[0023] Determining that a ratio of the water depth value to the second water depth threshold is less than or equal to a ratio threshold, and a ratio of the obstacle height value to the obstacle height threshold is less than or equal to a ratio threshold, and expanding the initial moving range by a first preset ratio to obtain first target moving range information;

[0024] 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 first target moving range information, wherein the first preset ratio is greater than the second preset ratio.

[0025] In a possible implementation, generating the first emergency indication information according to the width information of the target traffic section and the first target movement range information, and projecting the indication information through the indicator light projection device, includes:

[0026] Re-determining the traffic lane line according to the position information of the first target moving range in the width direction of the target traffic section;

[0027] 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 movement area.

[0028] In a possible implementation, performing a secondary correction on the initial movement range information according to the road surface inclination of the target traffic section to obtain the second target movement range information includes:

[0029] 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;

[0030] It is determined that the road surface inclination of the target traffic section is less than an inclination threshold, and the initial moving range is expanded by a fourth preset ratio to obtain second target moving range information, wherein the third preset ratio is greater than the fourth preset ratio.

[0031] In a possible implementation, generating the second emergency indication information according to the width information of the target traffic section and the second target movement range information, and projecting the indication information through the indicator light projection device, includes:

[0032] Re-determining the traffic lane line according to the position information of the second target moving range in the width direction of the target traffic section;

[0033] 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.

[0034] In a possible implementation, the method further includes:

[0035] 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-mounted terminal within a preset distance range through the wireless communication module to remind the driver to avoid obstacles.

[0036] 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, 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, 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.

[0037] In a third aspect, an embodiment of the present application further provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the steps of the method described in the first aspect are performed.

[0038] Different from the prior art, the traffic road emergency indication method provided by 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 secondary 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 road 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 water 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

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0040] Figure 1 A schematic diagram of the planar state of a target traffic section in some embodiments of the present application;

[0041] Figure 2 This is a flowchart of a traffic road emergency indication method in some embodiments of the present application;

[0042] Figure 3 This is a schematic diagram of a specific flow of step S200 of the traffic road emergency indication method in some embodiments of the present application;

[0043] Figure 4 This is a schematic diagram of the hardware structure of the traffic road emergency indication system in some embodiments of the present application.

[0044] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0045] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0046] 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 various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0047] In addition, the descriptions of "first", "second", etc. in the present invention are only 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 they must be based on the ability of ordinary technicians in this field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0048] During the rainy season or after heavy rain, many low-lying or poorly drained sections of urban roads are prone to waterlogging. Some of these waterlogged roads may also have a certain slope due to the terrain or design. This sloping surface, corresponding to waterlogging, not only increases driving difficulty but also poses significant safety hazards. Specifically, due to the reflection and refraction of light from the water surface, drivers find it difficult to accurately judge the underwater road conditions. This is especially true when obstacles such as potholes, rocks, and missing manhole covers are present, as these obstacles tend to accumulate and become difficult to detect on the sloped areas below the water surface. Therefore, when a vehicle enters such a flooded, sloping section, unable to see and avoid underwater obstacles in advance, drivers are often forced to rely on experience and intuition, greatly increasing the risk of a collision. A collision with an underwater obstacle can not only result in damage to the vehicle, but can also lead to serious consequences such as loss of control and rollover, seriously threatening the lives of the driver and passengers.

[0049] 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, or it can project various warning icons by utilizing a large number of LED lamp beads.

[0050] Specifically, the infrared detection device 100 can be installed at the edge of the target traffic section or at 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 properties of infrared rays to perform non-contact measurement of the road surface to obtain real-time water depth information, which can be the average water depth at multiple locations. The infrared sensor can penetrate a water layer of a certain thickness, and the reflected signal is processed and converted into a specific numerical value of the water depth. The measured data is transmitted to the system control center via wireless or wired means, providing a key basis for subsequent decision support.

[0051] The LiDAR sensor 200 can be mounted above the road surface, such as on a streetlight pole, traffic sign, or dedicated bracket, to achieve a wider field of view and more accurate obstacle detection. Leveraging the rapid scanning and reflection of a laser beam, LiDAR can monitor and accurately measure the position, size, shape, and movement of obstacles within 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 through an algorithm to identify the specific attributes of obstacles and predict their possible movement range, providing the basis for generating safe range of motion information.

[0052] The indicator light projection device 300 can be installed in front of flooded areas on a road section, allowing drivers to see warning information in advance. Based on instructions from the system control center, the indicator light projection device 300 can immediately generate corresponding emergency warning information and project it onto or above the road surface using high-brightness LED lights or laser beams. This information may include avoidance routes, speed reduction instructions, and no-entry signs, aiming to guide drivers through the target road section safely.

[0053] 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 order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than here. Figure 2 The method includes the following steps S100 to S600:

[0054] S100: Acquire 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;

[0055] The emergency instruction command refers to the instruction for triggering the emergency instruction. The emergency instruction command may be sent from the outside, or may be automatically triggered by the traffic road emergency instruction system based on the acquired sensor data after processing and analysis.

[0056] In one embodiment, before the step S100: obtaining the emergency indication 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, 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, the basic information of the obstacle including obstacle height information; determining that the height value of the obstacle is greater than or equal to a preset proportion value of the water depth value of the target traffic section, and generating the emergency indication instruction of the target traffic section.

[0057] 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 initiates a comprehensive scan of the target traffic section to detect whether there are obstacles, or to 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 the presence of an obstacle on the target road section, the system further obtains the specific height of the obstacle and compares it with the depth of the accumulated water to determine whether the obstacle's height reaches or exceeds a preset percentage of the accumulated water depth (such as 50%, 60%, or 100%, depending on factors such as road type and vehicle traffic conditions). If the obstacle's height is greater than or equal to the preset percentage of the accumulated water depth, the driver will not be able to clearly see the obstacle in the water, indicating a significant traffic safety hazard on the target road section and requiring immediate emergency instructions.

[0058] S200, obtaining initial movement range information of the obstacle in the width direction of the target traffic section according to the emergency instruction;

[0059] 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, the embodiment of the present application, while generating emergency indication instructions, further analyzes and obtains the initial movement range information of these obstacles in the width direction of the target traffic section to provide key data support for subsequent movement range correction and road traffic emergency instructions.

[0060] 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:

[0061] S210, acquiring a plurality of laser point cloud data collected by the laser radar sensor within a preset time period;

[0062] S220, performing point cloud data splicing on the plurality of laser point cloud data to obtain target point cloud data;

[0063] S230, identifying the outer contour of the obstacle in the target point cloud data to obtain an obstacle movement area;

[0064] 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.

[0065] Specifically, in the embodiment of the present application, the lidar sensor 200 continuously scans the target traffic section within a preset time period, collecting laser point cloud data (this data contains the three-dimensional coordinate information of obstacles in the road space) at multiple time points (e.g., a complete movement cycle). The collected laser point cloud data is then preprocessed, including denoising and filtering, to improve data quality. A point cloud stitching algorithm (such as the ICP algorithm or the NDT algorithm) is then used to precisely align and fuse the laser point cloud data from different time points in three-dimensional space, forming a continuous and complete target point cloud data. This point cloud data fusion eliminates misalignment and discontinuities between point cloud data caused by sensor movement or environmental changes. Within the target point cloud data, the outer contours of obstacles are identified using image processing techniques such as cluster analysis and edge detection. These contours represent the moving position of the obstacle in three-dimensional space. Based on the outer contours of the obstacle and combined with information on its temporal variation, the obstacle's movement area (i.e., the obstacle movement zone) across the width of the target traffic section is determined. This area encompasses all possible locations where the obstacle could move, providing crucial data for subsequent analysis. Furthermore, the obstacle's relative position within the width of the target road section can be extracted from the obstacle's movement zone. This information includes the distance from the obstacle edge to the road edge and the width coverage of the obstacle's movement.

[0066] S300, performing a primary correction on the initial movement range information according to the accumulated water depth information and the obstacle height information to obtain first target movement range information;

[0067] 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. By appropriately increasing the safety margin to expand the movement range of the obstacle, a more conservative and safe first target movement range information is generated to ensure that traffic vehicles have enough space to avoid waterlogged areas and obstacles and pass through the target traffic section smoothly.

[0068] In one embodiment, the step S300 of performing a primary correction on the initial movement range information according to the water depth information and the obstacle height information to obtain the first target movement range information includes:

[0069] 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.

[0070] 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 indicates that the water is shallow and the obstacle is small, the resistance of the water to the obstacle is relatively small, and the probability of the obstacle being subjected to a large movement range by an external force is high. Therefore, in this case, the initial movement range is expanded by a first preset ratio to obtain the first target movement range information, for example, by 20% (10% on each side of the initial movement range). 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 indicates that the water is deep and the obstacle is large, the resistance of the water to the obstacle is relatively large, and the probability of the obstacle being subjected to a large movement range by an external force is low. Therefore, in this case, the initial movement range is expanded by a second preset ratio to obtain the first target movement range information, where the first preset ratio is greater than the second preset ratio, for example, by 10% (5% on each side of the initial movement range).

[0071] S400, generating first emergency instruction information based on the width information of the target traffic section and the first target moving range information, and projecting the instruction information through the indicator light projection device, wherein the first emergency instruction information is used to instruct traffic vehicles to avoid the obstacle to pass through the target traffic section;

[0072] like Figure 1 As shown, the L1 road segment is the obstacle movement zone, while the L2 and L3 road segments are the safe driving zones. Due to the slope of the L2 and L1 road segments, obstacles tend to accumulate in the lowest depressions of the sloped road surface, specifically on the L1 road segment. Therefore, after obtaining the relatively safe first target movement range information, the system generates first emergency indication information based on the width of the target traffic segment and the first target movement range information for indication projection.

[0073] 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.

[0074] Specifically, the left and right boundaries CD1 and CD2 of the first target movement range are first accurately mapped onto the physical space of the target traffic section. Then, combined with the width information of the road section, the traffic lanes are intelligently replanned. If sufficient space is found between road boundary A1 and the left boundary CD1 of the movement range to accommodate another lane, a new lane C1 is redefined within this space to increase traffic efficiency and ensure safety. Similarly, if sufficient space is found between road boundary B1 and the right boundary CD2 of the movement range, a new lane D1 is redefined in this area to ensure smooth traffic flow. After the lane replanning is complete, the indicator light projection device 300 is used to project clearly visible virtual lane lines directly above the redefined traffic lanes C1, CD1, CD2, and D1. The width between these virtual lane lines can be slightly smaller than the distance between the original lane lines on the road surface. Simultaneously, the indicator light projection device 300 projects a virtual obstacle indication image directly in front of the obstacle movement 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.

[0075] 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;

[0076] It is understandable that as time goes by, the waterlogging condition on the road surface may change. For example, the drainage system of urban roads is promptly treated, resulting in the waterlogging on the target traffic section gradually becoming lower. In the process of gradually decreasing waterlogging, the movement range of the obstacle may also change. Therefore, when the lidar sensor 200 detects that the movement range of the obstacle 400 in the width direction of the target traffic section exceeds the first target movement range, it is considered that the waterlogging on the road surface is gradually decreasing. The movement range of the obstacle 400 in the width direction of the target traffic section exceeds the first target movement range. If no intervention is performed, the safe passage of traffic vehicles will be affected. Therefore, in this embodiment of the present application, when the lidar sensor 200 detects that the movement range of the obstacle 400 in the width direction of the target traffic section exceeds the first target movement range, the initial movement range is further amplified and corrected.

[0077] In one embodiment, step S500: performing a secondary correction on the initial moving range information according to the road surface inclination of the target traffic section to obtain second target moving range information, 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 proportion to obtain 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 second target moving range information, wherein the third preset proportion is greater than the fourth preset proportion.

[0078] Specifically, as the water level in the target road section gradually decreases, the obstacle's range of movement changes, influenced by the component of gravity along the slope and water pressure. The greater the road's inclination, the greater the component of gravity along the slope, and the greater the distance the obstacle rolls downward.

[0079] Therefore, in this embodiment of the present application, when the road inclination of the target traffic section is greater than or equal to the inclination threshold, a larger ratio (the third preset ratio) is used to expand the initial movement range to more fully account for the maximum distance the obstacle may roll. When the road inclination of the target traffic section is less than the inclination threshold, the initial movement range is expanded by a smaller ratio (the fourth preset ratio) to ensure a sufficient safety margin even on relatively flat road sections. It should be noted that the fourth preset ratio is greater than the second and first preset ratios mentioned above.

[0080] 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 to obtain a more accurate and safe second target movement range, thereby ensuring the safety and smoothness of the traffic system.

[0081] S600. Generate second emergency indication information based on the width information of the target traffic section and the second target moving range information, and re-project the indication information through the indicator light projection device. The second emergency indication information is used to re-instruct traffic vehicles to avoid the obstacle to pass through the target traffic section.

[0082] 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: re-determining 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, the indicator light projection device displays an indication image prohibiting the target vehicle type from passing directly in front of the adjacent passing lane line, and projects an obstacle virtual indication image in the obstacle moving area.

[0083] 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 movement range to the physical space of the target traffic section. Then, combined with the width information of the road section, the traffic lane lines are intelligently replanned. Since the movement range of the obstacle is expanded, that is, the distance between the left boundary line CD1 and the right boundary line CD2 is larger, there is a high probability that the traffic space of other lanes will be occupied. Therefore, during the replanning process, the system will verify 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 specially mark them and take corresponding warning measures.

[0084] For example, if it is found that the width between boundary line A1 and the left boundary line CD1 of the moving range does not meet the passage width threshold of the target vehicle type, the indicator light projection device will display an indication image prohibiting the passage of the target vehicle type directly in front of the passage lane line. For example, if the spatial distance between 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 will display an indication image prohibiting the passage of large trucks directly in front of boundary line A1 and the left boundary line CD1 of the moving range. At the same time, a virtual obstacle indication image is projected directly in front of the obstacle movement area by the indicator light projection device 300. This provides drivers with immediate warning information, guiding them to slow down, change lanes, or take other avoidance measures in advance to ensure safe passage through the target traffic section.

[0085] In another embodiment, the traffic road emergency indication method of the present application further includes:

[0086] 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-mounted terminal within a preset distance range through the wireless communication module to remind the driver to avoid obstacles.

[0087] Specifically, when the lidar sensor 200 detects an obstacle and generates the first or second emergency indication information based on the detection data, the system encodes the generated emergency indication information. The wireless communication module then transmits the encoded emergency indication information as a wireless signal. These signals reach all vehicle-mounted terminals within a preset distance range (e.g., 50 meters from the obstacle). Upon receiving the wireless signal, the vehicle-mounted terminal decodes the signal and restores the original emergency indication information. The vehicle-mounted terminal then displays the received emergency indication information to the driver in the form of graphics, text, or audio, reminding them to avoid the obstacle.

[0088] 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 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 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 time, 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, corresponding emergency indication information is generated to project the indication information, thereby reminding the driver to safely drive through the target traffic section.

[0089] Please see the attached Figure 4 , Figure 4 Schematic diagram of the hardware structure of the traffic road emergency indication system provided in 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.

[0090] Among them, 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, controlling 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 of a target traffic section, wherein the emergency indication instruction carries water depth information and obstacle height information of the target traffic section; obtaining the movement range of the obstacle in the width direction of the target traffic section according to the emergency indication instruction to obtain initial movement range information; 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 performing a primary correction on the initial movement range information according to the width information of the target traffic section and the first target movement range information. The first emergency instruction information is generated based on the surrounding information, and the instruction information is projected through the indicator light projection device, the first emergency instruction information is used to instruct traffic vehicles to avoid the obstacle 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 second target movement range information; second emergency instruction information is generated based on the width information of the target traffic section and the second target movement range information, and the instruction information is re-projected through the indicator light projection device, the second emergency instruction information is used to re-instruct traffic vehicles to avoid the obstacle to pass through the target traffic section.

[0091] 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 any combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0092] Memory 110, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as the program instructions / modules corresponding to the traffic road emergency indication method in the embodiments of the present application. Processor 120 can implement the traffic road emergency indication method in any of the above-mentioned method embodiments by executing the non-transitory software programs, instructions, and modules stored in memory 110.

[0093] 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.

[0094] In summary, the traffic road emergency indication system of the present application adopts the technical solution of any 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.

[0095] The present application also provides a computer-readable storage medium, such as a memory device including program code. The program code can be executed by a processor to implement the traffic road emergency indication method described 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, or an optical data storage device.

[0096] The present application also provides a computer program product comprising one or more program codes stored in a computer-readable storage medium. A processor of the traffic emergency indication system reads the program code from the computer-readable storage medium and executes the program code to perform the steps of the traffic emergency indication method provided in the above embodiment.

[0097] Those skilled in the art will understand that all or part of the steps of implementing the above embodiments can be completed by hardware, or by hardware related to program code, and the program can be stored in a computer-readable storage medium. The above-mentioned storage medium can be a read-only memory, a disk or an optical disk, etc.

[0098] 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 separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0099] Through the description of the above embodiments, it is clear to those skilled in the art that each embodiment can be implemented by means of software plus a general hardware platform, or of course by hardware. It is understood by those skilled in the art that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0100] 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 transformations made by using the contents of the present invention description and drawings under the inventive concept of the present invention, or direct / indirect application 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 provided for road testing. 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. 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, and the emergency instruction refers to an instruction for triggering the emergency instruction; Acquiring initial movement range information by acquiring the movement range of the obstacle in the width direction of the target traffic section according to the emergency instruction, where there is an inclined road surface in the width direction of the target traffic section; 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; generating first emergency instruction information according to the width information of the target traffic section and the first target moving range information, and projecting the instruction information through the indicator light projection device, wherein the first emergency instruction information is used to instruct traffic vehicles to avoid the obstacle 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 movement range of the obstacle in the width direction of the target traffic section exceeding the first target movement range indicating a reduction in surface water on the road, determining that the road surface inclination of the target traffic section is greater than or equal to an inclination threshold, expanding the initial movement range by a third preset proportion to obtain second target movement range information, determining that the road surface inclination of the target traffic section is less than the inclination threshold, expanding the initial movement range by a fourth preset proportion to obtain second target movement range information, wherein the third preset proportion is greater than the fourth preset proportion; A second emergency indication message is generated based on the width information of the target traffic section and the second target moving range information, and the indication message is re-projected through the indicator light projection device. The second emergency indication message is used to re-instruct traffic vehicles to avoid the obstacle to pass through the target traffic section.

2. The traffic road emergency indication method according to claim 1, characterized in that: Before obtaining 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 a 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; It is determined 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 an emergency instruction instruction for the target traffic section is generated.

3. The traffic road emergency indication method according to claim 2, characterized in that: Obtaining the movement range of the obstacle in the width direction of the target traffic section to obtain initial movement range information includes: Acquire multiple 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; Identifying the outer contour of the obstacle in the target point cloud data to obtain an 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 traffic road emergency indication method according to claim 2, characterized in that: 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.

5. The traffic road emergency indication method according to claim 4, characterized in that: The first target movement 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: Determining that a ratio of the water depth value to the second water depth threshold is less than or equal to a ratio threshold, and a ratio of the obstacle height value to the obstacle height threshold is less than or equal to a ratio threshold, and expanding 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 first target moving range information, wherein the first preset ratio is greater than the second preset ratio.

6. The traffic road emergency indication method according to 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, includes: Re-determining 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 movement area.

7. The traffic road emergency indication method according to 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, includes: Re-determining 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.

8. The traffic road emergency indication method according to 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-mounted terminal within a preset distance range through the wireless communication module to remind the driver to avoid obstacles.

9. 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 arranged 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 according to any one of claims 1 to 8.

10. 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 8 are executed.

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