Road marking performance rapid detection method and device

Abstract

The present application relates to the technical field of road surface detection, and provides a method and device for rapid detection of road surface marking performance. The method comprises: obtaining the geometric dimensions of the road surface marking based on the elevation data of the marking and the elevation data of the non-marking; obtaining the damage value of the road surface marking based on the difference between the geometric dimensions of the road surface marking and the reference geometric dimensions of the road surface marking; obtaining the reflective characteristic value of the road surface marking based on the grayscale data of the marking and the grayscale data of the non-marking; obtaining the reflective performance value of the road surface marking based on the difference between the reflective characteristic value of the road surface marking and the reference reflective characteristic value of the road surface marking; obtaining the service performance value of the road surface marking based on the damage value and the reflective performance value. The present application can accurately characterize the three-dimensional characteristics of the actual road surface marking based on the road surface elevation data and the road surface grayscale data, and detect the marking performance from the two dimensions of the damage value and the reflective performance value, thereby improving the comprehensiveness and accuracy of the road surface marking performance detection.

Description

Technical Field

[0001] The present application relates to the technical field of road surface detection, and in particular to a method and device for quickly detecting the performance of road markings. Background Art

[0002] Road markings are road traffic safety facilities consisting of various lines, arrows, and text on the road surface, usually in white or yellow. Road markings guide and control traffic by transmitting standardized information to vehicle drivers, playing an important role in modern road traffic management. At the same time, road markings are also an important source of information for unmanned driving, assisted driving and other systems.

[0003] Given the important role of road markings in traffic safety, there are strict requirements for their performance, and performance testing must be carried out regularly. At present, the road marking detection method generally collects the plane image of the road surface based on visual image technology, and detects the performance of the road marking based on the plane image. However, due to the complex road detection environment, the plane image is affected by various factors such as ambient light during the acquisition process, and the quality of the image data is difficult to guarantee. In addition, the plane image only contains two-dimensional data of the road surface and cannot accurately represent the three-dimensional characteristics of the actual road marking. As a result, the performance detection of the road marking is incomplete and the accuracy is low. Summary of the invention

[0004] The embodiments of the present application provide a method and device for rapid detection of road marking performance, which are used to solve the technical problems in the current road marking detection method that the road detection environment is complex, the plane image is affected by various factors such as ambient light during the acquisition process, the quality of the image data is difficult to guarantee, and the plane image only contains two-dimensional data of the road surface and cannot accurately represent the three-dimensional characteristics of the actual road marking, resulting in incomplete road marking performance detection and low accuracy.

[0005] In a first aspect, an embodiment of the present application provides a method for quickly detecting the performance of a road marking, comprising:

[0006] Based on the road elevation data and road grayscale data, a road marking set is obtained;

[0007] For each road marking in the road marking set, based on the road marking elevation data of the road marking in the coverage area of ​​the road marking and the non-road marking elevation data outside the coverage area and adjacent to the road marking elevation data, a geometric size of the road marking is obtained;

[0008] obtaining a damage value of the road marking line based on a difference between a geometric dimension of the road marking line and a reference geometric dimension of the road marking line;

[0009] For each road marking in the road marking set, based on the marking grayscale data of the road marking in the coverage area of ​​the road marking in the road grayscale data and the non-marking grayscale data outside the coverage area and adjacent to the marking grayscale data, a reflective characteristic value of the road marking;

[0010] Obtaining a reflective performance value of the road marking based on a difference between the reflective characteristic value of the road marking and a reference reflective characteristic value of the road marking;

[0011] Based on a comprehensive evaluation of the damage value and the reflective performance value, a service performance value of the road marking is obtained.

[0012] In one embodiment, obtaining a road marking set based on road elevation data and road grayscale data includes:

[0013] Based on elevation features and geometric features of road markings, marking a first marking set in the road elevation data;

[0014] Based on the reflective characteristics and geometric characteristics of the road surface markings, marking a second marking line set in the road surface grayscale data;

[0015] The first marking set and the second marking set are aligned and fused to obtain the road marking set.

[0016] In one embodiment, the obtaining of the geometric dimensions of the road marking based on the road marking elevation data of the coverage area of ​​the road marking and the non-road marking elevation data outside the coverage area and adjacent to the road marking elevation data comprises:

[0017] Calculate the average value of the elevation data of the marking line to obtain the representative elevation of the marking line;

[0018] Calculate the average value of the non-marked line elevation data to obtain the non-marked line representative elevation;

[0019] Obtaining the marking height of the road marking based on the absolute value of the difference between the marking representative elevation and the non-marking representative elevation;

[0020] Obtaining a marking area of ​​the road marking based on a resolution of the marking elevation data and a number of data points of the marking elevation data;

[0021] Based on the line marking height and the line marking area, a line marking volume of the road marking is obtained.

[0022] In one embodiment, obtaining the damage value of the road marking line based on the difference between the geometric size of the road marking line and the reference geometric size of the road marking line comprises:

[0023] Obtaining an area damage value of the road marking line based on a difference between a marking area of ​​the road marking line and a reference marking area of ​​the road marking line;

[0024] Obtaining a volume damage value of the road marking line based on a difference between a marking volume of the road marking line and a reference marking volume of the road marking line;

[0025] A larger value between the area damage value and the volume damage value is determined as the damage value of the road marking.

[0026] In one embodiment, obtaining the area damage value of the road marking based on the difference between the marking area of ​​the road marking and the reference marking area of ​​the road marking includes:

[0027] Calculating the ratio of the marking area of ​​the road marking to the reference marking area of ​​the road marking to obtain a marking area ratio;

[0028] If the marking area ratio is less than the area ratio threshold, then obtaining the area damage value of the road marking based on the marking area ratio and the area ratio threshold;

[0029] If the marking line area ratio is greater than or equal to the area ratio threshold, the area damage value of the road marking line is determined to be 0.

[0030] In one embodiment, obtaining the volume damage value of the road marking based on the difference between the marking volume of the road marking and the reference marking volume of the road marking includes:

[0031] Calculating a ratio of a marking volume of the road marking to a reference marking volume of the road marking to obtain a marking volume ratio;

[0032] If the marking volume ratio is less than a volume ratio threshold, then obtaining a volume damage value of the road marking based on the marking volume ratio and the volume ratio threshold;

[0033] If the marking line volume ratio is greater than or equal to a volume ratio threshold, the volume damage value of the road marking line is determined to be 0.

[0034] In one embodiment, obtaining the reflective characteristic value of the road marking based on the marking grayscale data of the road marking in the coverage area of ​​the road marking in the road grayscale data and the non-marking grayscale data outside the coverage area and adjacent to the marking grayscale data includes:

[0035] Calculate the average value of the grayscale data of the marking line to obtain the grayscale representative of the marking line;

[0036] Calculate the average value of the grayscale data of the non-marked line to obtain the representative grayscale of the non-marked line;

[0037] Based on the ratio of the representative grayscale of the marking line to the representative grayscale of the non-marking line, the reflective characteristic value of the road marking line is obtained.

[0038] In one embodiment, obtaining the reflective performance value of the road marking based on the difference between the reflective characteristic value of the road marking and the reference reflective characteristic value of the road marking includes:

[0039] Calculating a ratio of a reflective characteristic value of the road surface marking to a reference reflective characteristic value of the road surface marking to obtain a first reflective ratio;

[0040] Calculating a ratio of the first reflective ratio to a reference reflective ratio of the road marking to obtain a second reflective ratio;

[0041] If the second reflective ratio value is less than the reflective ratio threshold value, obtaining the reflective performance value of the road marking based on the second reflective ratio value and the reflective ratio threshold value;

[0042] If the second reflectance ratio value is greater than or equal to the reflectance ratio threshold, the reflectance performance value of the road marking is determined to be 1.

[0043] In one embodiment, the service performance value of the road marking is obtained based on a comprehensive evaluation of the damage value and the reflective performance value, including:

[0044] Based on the damage value and the first preset weight, and the reflective performance value and the second preset weight, a service performance value of the road marking is obtained.

[0045] In a second aspect, an embodiment of the present application provides a road marking performance rapid detection device, comprising:

[0046] The marking set acquisition module is used to obtain the road marking set based on the road elevation data and the road grayscale data;

[0047] a marking size acquisition module, configured to: for each road marking in the road marking set, obtain the geometric size of the road marking based on the marking elevation data of the coverage area of ​​the road marking in the road elevation data and the non-marking elevation data outside the coverage area and adjacent to the marking elevation data;

[0048] A damage value acquisition module, used to: obtain a damage value of the road marking line based on a difference between a geometric dimension of the road marking line and a reference geometric dimension of the road marking line;

[0049] A reflection characteristic value acquisition module is used to: for each road marking in the road marking set, obtain a reflection characteristic value of the road marking based on the marking grayscale data of the road marking in the coverage area of ​​the road marking in the road grayscale data and the non-marking grayscale data outside the coverage area and adjacent to the marking grayscale data;

[0050] A reflective performance value acquisition module, used to: obtain the reflective performance value of the road marking line based on the difference between the reflective characteristic value of the road marking line and the reference reflective characteristic value of the road marking line;

[0051] The service performance value acquisition module is used to obtain the service performance value of the road marking based on a comprehensive evaluation of the damage value and the reflective performance value.

[0052] The present application provides a method and device for rapid detection of road marking performance. A road marking set is obtained based on road elevation data and road grayscale data. For each road marking in the road marking set, the geometric dimensions of the road marking are obtained based on the marking elevation data of the road marking area covered by the road marking in the road elevation data and the non-marking elevation data adjacent to the marking elevation data outside the covered area. The damage value of the road marking is obtained based on the difference between the geometric dimensions of the road marking and the reference geometric dimensions of the road marking. The reflective characteristic value of the road marking is obtained based on the marking grayscale data of the road marking area covered by the road marking in the road grayscale data and the non-marking grayscale data adjacent to the marking grayscale data outside the covered area. The reflective performance value of the road marking is obtained based on the difference between the reflective characteristic value of the road marking and the reference reflective characteristic value of the road marking. The service performance value of the road marking is obtained based on a comprehensive evaluation of the damage value and the reflective performance value. The present application considers both the grayscale data of the horizontal plane and the elevation data of the vertical plane, and can use the grayscale data and the elevation data to accurately characterize the three-dimensional characteristics of the actual road markings. In the process of road marking performance detection, the reflective performance value of the road markings is obtained based on the grayscale data, and the damage value of the road markings is obtained based on the elevation data. The damage value and the reflective performance value are then used for comprehensive evaluation, which can improve the comprehensiveness of road marking detection while improving the accuracy of road marking service performance detection. In addition, in the process of marking positioning, the marking area is located from the grayscale data and the elevation data respectively, which is equivalent to the mutual correction and fusion of marking data of two different dimensions, thereby effectively improving the data quality, and then improving the accuracy of road marking positioning, and then indirectly improving the accuracy of road marking service performance detection. In summary, the present application can accurately characterize the three-dimensional characteristics of the actual road markings based on the road elevation data and the road grayscale data, and detect the marking performance from the two dimensions of damage value and reflective performance value, thereby improving the comprehensiveness and accuracy of road marking performance detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the technical solutions in the present application or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0054] Figure 1 This is one of the flow charts of the method for rapid detection of road marking performance provided in the embodiment of the present application;

[0055] Figure 2 This is the second flow chart of the method for rapid detection of road marking performance provided in the embodiment of the present application;

[0056] Figure 3 This is the third flow chart of the method for rapid detection of road marking performance provided in the embodiment of the present application;

[0057] Figure 4 This is the fourth flow chart of the method for rapid detection of road marking performance provided in the embodiment of the present application;

[0058] Figure 5 This is the fifth flow chart of the method for rapid detection of road marking performance provided in the embodiment of the present application;

[0059] Figure 6 This is the sixth flow chart of the method for rapid detection of road marking performance provided in the embodiment of the present application;

[0060] Figure 7 It is a schematic diagram of the structure of a road marking performance rapid detection device provided in an embodiment of the present application;

[0061] Figure 8 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0062] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0063] It should be noted that in the description of the embodiments of the present application, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements. The orientation or position relationship indicated by the terms "upper", "lower" and the like is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. Unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be a connection between the two elements. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0064] The terms "first", "second", etc. in this application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0065] Figure 1 This is one of the flow charts of the method for rapid detection of road marking performance provided in the embodiment of the present application. Figure 1 The present application embodiment provides a method for quickly detecting the performance of road markings, which may include:

[0066] 101. Obtain a road marking set based on the road elevation data and the road grayscale data;

[0067] 102. For each road marking in the road marking set, based on the marking elevation data of the road marking in the coverage area of ​​the road marking in the road elevation data and the non-marking elevation data adjacent to the marking elevation data outside the coverage area, obtain the geometric size of the road marking;

[0068] 103. Obtaining a damage value of the road marking line based on a difference between the geometric dimensions of the road marking line and a reference geometric dimension of the road marking line;

[0069] 104. For each road marking in the road marking set, based on the marking grayscale data of the road marking in the coverage area of ​​the road marking in the road grayscale data and the non-marking grayscale data outside the coverage area and adjacent to the marking grayscale data, obtain a reflective characteristic value of the road marking;

[0070] 105. Obtaining a reflective performance value of the road marking based on a difference between the reflective characteristic value of the road marking and a reference reflective characteristic value of the road marking;

[0071] 106. Based on the comprehensive evaluation of the damage value and reflective performance value, the service performance value of the road marking is obtained.

[0072] In step 101, a line scanning three-dimensional measurement sensor may be used to simultaneously acquire road surface elevation data and road surface grayscale data.

[0073] The line scanning 3D measurement sensor includes a laser and a high-speed 3D camera, and the line scanning 3D measurement sensor is installed on a vehicle-carrying platform. During the measurement process, the line scanning 3D measurement sensor continuously collects road surface elevation data and road surface grayscale data along the driving direction as the vehicle-carrying platform moves on the road surface, so as to simultaneously obtain the road surface elevation data and road surface grayscale data.

[0074] The collection spacing of the road elevation data and the road grayscale data in the road width direction can be set according to the actual situation, and is not limited here. In this embodiment, the collection spacing in the road width direction can be less than or equal to 2 mm; the collection spacing of the road elevation data and the road grayscale data in the driving direction can be set according to the actual situation, and is not limited here. In this embodiment, the collection spacing in the driving direction can be less than or equal to 5 mm. In addition, the collection range of the road elevation data and the road grayscale data in the road width direction needs to cover the entire lane.

[0075] It should be noted that one or more sets of line scanning three-dimensional measurement sensors can be used to collect road surface elevation data and road surface grayscale data.

[0076] In step 102, the non-marking line elevation data is the elevation data of the regular road surface not covered by the road marking lines.

[0077] In step 103, the reference geometric dimensions may be the designed geometric dimensions of the target type of road surface markings on the target type of road surface, wherein the target type of road surface markings are road surface markings of the same type as the road surface markings to be measured, and the target type of road surface is the same type of road surface as the road surface markings to be measured.

[0078] In step 104, the non-marking line grayscale data is the grayscale data of the regular road surface not covered by the road marking lines.

[0079] In step 105, the reference reflection characteristic value can be obtained by indoor calibration and form an experience database.

[0080] It should be noted that conventional pavement does not include pavement marking areas, pavement disease areas, or pavement manhole cover areas.

[0081] The method for rapid detection of road marking performance provided by the present embodiment obtains a road marking set based on road elevation data and road grayscale data. For each road marking in the road marking set, the geometric dimensions of the road marking are obtained based on the marking elevation data of the road marking in the coverage area in the road elevation data and the non-marking elevation data adjacent to the marking elevation data outside the coverage area. The damage value of the road marking is obtained based on the difference between the geometric dimensions of the road marking and the reference geometric dimensions of the road marking. The reflective characteristic value of the road marking is obtained based on the marking grayscale data of the road marking in the coverage area in the road grayscale data and the non-marking grayscale data adjacent to the marking grayscale data outside the coverage area. The reflective performance value of the road marking is obtained based on the difference between the reflective characteristic value of the road marking and the reference reflective characteristic value of the road marking. The service performance value of the road marking is obtained based on a comprehensive evaluation of the damage value and the reflective performance value. This embodiment simultaneously considers the grayscale data of the horizontal plane and the elevation data of the vertical plane, and can use the grayscale data and the elevation data to accurately characterize the three-dimensional characteristics of the actual road markings. In the process of road marking performance detection, the reflective performance value of the road markings is obtained based on the grayscale data, and the damage value of the road markings is obtained based on the elevation data. Then, the damage value and the reflective performance value are used for comprehensive evaluation, which can improve the comprehensiveness of road marking detection while improving the accuracy of road marking service performance detection. In addition, in the process of marking positioning, the marking area is located from the grayscale data and the elevation data respectively, which is equivalent to the mutual correction and fusion of marking data of two different dimensions, thereby effectively improving the data quality, and then improving the accuracy of road marking positioning, and then indirectly improving the accuracy of road marking service performance detection. In summary, this embodiment can accurately characterize the three-dimensional characteristics of the actual road markings based on the road elevation data and the road grayscale data, and detect the marking performance from the two dimensions of damage value and reflective performance value, thereby improving the comprehensiveness and accuracy of road marking performance detection.

[0082] Figure 2 This is the second flow chart of the method for rapid detection of road marking performance provided by the embodiment of the present application. Figure 2 In one embodiment, obtaining a road marking set based on road elevation data and road grayscale data may include:

[0083] 201. Based on elevation features and geometric features of road markings, mark a first marking set in road elevation data;

[0084] 202. Based on the reflective characteristics and geometric characteristics of the road markings, mark a second marking set in the road surface grayscale data;

[0085] 203. Align and fuse the first marking set and the second marking set to obtain a road marking set.

[0086] In step 201, the road markings are drawn on a conventional road surface, and are usually higher than the conventional road surface, which is manifested by relatively large elevation data values; at the same time, the road markings usually have more significant shape characteristics, which is manifested by the fact that the elevation data is arranged more regularly in the shape of the coverage area. Elevation data that meet the above elevation characteristics and geometric characteristics can be screened out from the road elevation data, and the coverage area of ​​these data is marked as the first marking set.

[0087] In step 202, the road markings are used to identify traffic information, and their colors need to be quite different from the regular road color, which is manifested by a relatively large grayscale data value; at the same time, the road markings usually have a more significant shape feature, which is manifested by the grayscale data being arranged more regularly in the shape of the coverage area. Grayscale data that meets the above reflective characteristics and geometric characteristics can be screened out from the road grayscale data, and the coverage area of ​​these data is marked as the second marking set.

[0088] In step 203, since the data in the first marking set and the second marking set are both screened based on the geometric features of the road markings, data with the same geometric features in the first marking set and the second marking set can be further screened out, and the coverage area of ​​these data is determined as the road marking set.

[0089] This embodiment uses the multi-dimensional data features of road markings to screen out potential road marking sets in road elevation data and road grayscale data respectively, and then screens out road markings that exist in multiple potential road marking sets as the final road marking set, which can achieve accurate positioning of the road marking area based on multi-dimensional data.

[0090] Figure 3 This is the third flow chart of the method for rapid detection of road marking performance provided by the embodiment of the present application. Figure 3 In one embodiment, obtaining the geometrical dimensions of the road markings based on the marking elevation data of the coverage area of ​​the road markings in the road elevation data and the non-marking elevation data outside the coverage area and adjacent to the marking elevation data may include:

[0091] 301. Calculate the average value of the elevation data of the marking line to obtain the representative elevation of the marking line;

[0092] 302. Calculate the average value of the non-marked line elevation data to obtain the non-marked line representative elevation;

[0093] 303. Obtaining the marking height of the road marking based on the absolute value of the difference between the elevation represented by the marking line and the elevation represented by the non-marking line;

[0094] 304. Obtaining a marking area of ​​the road marking based on the resolution of the marking elevation data and the number of data points of the marking elevation data;

[0095] 305. Based on the marking height and the marking area, the marking volume of the road marking is obtained.

[0096] In step 301 to step 303, the average value is used to obtain the representative elevation of the markings and the representative elevation of the non-markings, which can more accurately characterize all the marking elevation data in the coverage area of ​​the road markings and all the non-marking elevation data in the area adjacent to the marking elevation data outside the coverage area of ​​the road markings. Therefore, the representative elevation of the markings and the representative elevation of the non-markings can be used to more accurately obtain the elevation difference between the marking area and the conventional road surface, and determine the marking height of the road markings.

[0097] In step 304, the product of the lateral resolution of the road marking elevation data, the longitudinal resolution of the road marking elevation data and the number of data points of the road marking elevation data may be calculated to obtain the road marking area.

[0098] In step 305, the product of the marking height and the marking area may be calculated to obtain the marking volume of the road marking.

[0099] This embodiment first uses the representative elevation difference between the road marking and the conventional road surface to calculate the accurate height of the road marking, then uses the resolution of the marking elevation data and the number of data points to calculate the accurate area of ​​the road marking, and finally the accurate volume of the road marking can be obtained based on the accurate height and the accurate area.

[0100] Figure 4 This is the fourth flow chart of the method for rapid detection of road marking performance provided by the embodiment of the present application. Figure 4 In one embodiment, obtaining the damage value of the pavement marking based on the difference between the geometric dimensions of the pavement marking and the reference geometric dimensions of the pavement marking may include:

[0101] 401. Obtaining an area damage value of the road marking based on a difference between a marking area of ​​the road marking and a reference marking area of ​​the road marking;

[0102] 402. Obtaining a volume damage value of the road marking based on a difference between a marking volume of the road marking and a reference marking volume of the road marking;

[0103] 403. The larger value between the area damage value and the volume damage value is determined as the damage value of the road marking.

[0104] Step 401 is as follows:

[0105] 401a. Calculate the ratio of the marking area of ​​the road marking to the reference marking area of ​​the road marking to obtain the marking area ratio;

[0106] 401b. If the marking area ratio is less than the area ratio threshold, then based on the marking area ratio and the area ratio threshold, an area damage value of the road marking is obtained;

[0107] 401c. If the marking area ratio is greater than or equal to the area ratio threshold, the area damage value of the road marking is determined to be 0.

[0108] Assume that the line area ratio is , the area ratio threshold is The area damage value is , where the area ratio threshold is preset in advance in combination with the road marking maintenance requirements, then:

[0109] In step 401b, That is, when the marking area ratio does not reach the threshold, it is determined that the road marking is damaged in the area dimension, and the difference ratio of the marking area ratio to the area ratio threshold is determined as the area damage value.

[0110] In step 401c, That is, when the marking area ratio reaches or exceeds the threshold, it is determined that the road marking is not damaged in the area dimension, and the area damage value is 0.

[0111] Step 402 is specifically as follows:

[0112] 402a. Calculate the ratio of the marking volume of the road marking to the reference marking volume of the road marking to obtain a marking volume ratio;

[0113] 402b. If the marking volume ratio is less than the volume ratio threshold, a volume damage value of the road marking is obtained based on the marking volume ratio and the volume ratio threshold;

[0114] 402c. If the volume ratio of the road marking is greater than or equal to the volume ratio threshold, the volume damage value of the road marking is determined to be 0.

[0115] Assume that the line volume ratio is , the volume ratio threshold is The volume damage value is , where the volume ratio threshold is preset in advance in combination with the road marking maintenance requirements, then:

[0116] In step 402b, That is, when the marking volume ratio does not reach the threshold, it is determined that the road marking is damaged in the volume dimension, and the difference ratio of the marking volume ratio relative to the volume ratio threshold is determined as the volume damage value.

[0117] In step 402c, That is, when the marking volume ratio reaches or exceeds the threshold, it is determined that the road marking does not have damage in the volume dimension, and the volume damage value is 0.

[0118] In step 403, and The larger value of is determined as the damage value of the road marking, that is, the damage value of the road marking .

[0119] This embodiment measures the damage value from both the area and volume of the road marking, and selects the larger value of the area damage value and the volume damage value as the final road marking damage value, which can more strictly evaluate the damage of the road marking and avoid missing damaged areas, which would have an adverse effect on subsequent performance evaluations. Furthermore, when calculating the area damage value and the volume damage value, whether there is damage is measured based on whether the ratio of the actual value to the reference value reaches the corresponding threshold. When there is damage, the damage value is calculated using the ratio of the ratio to the threshold. When there is no damage, the damage value is determined to be 0, so that the damage values ​​in the area and volume dimensions can be more accurately measured through the multiple relationships between the actual value, the reference value and the threshold.

[0120] Figure 5 This is the fifth flow chart of the method for rapid detection of road marking performance provided in the embodiment of the present application. Figure 5 In one embodiment, obtaining the reflective characteristic value of the road marking based on the marking grayscale data of the road marking area covered by the road marking in the road grayscale data and the non-marking grayscale data outside the covered area and adjacent to the marking grayscale data may include:

[0121] 501. Calculate the average value of the grayscale data of the marking line to obtain the grayscale representative of the marking line;

[0122] 502. Calculate the average value of the grayscale data of the non-marked line to obtain the representative grayscale of the non-marked line;

[0123] 503. Based on the ratio of the grayscale representative of the marking line and the grayscale representative of the non-marking line, obtain the reflective characteristic value of the road marking line.

[0124] This embodiment uses the average value to obtain the representative grayscale of the markings and the representative grayscale of the non-markings, which can more accurately characterize all the marking grayscale data in the coverage area of ​​the road markings and all the non-marking grayscale data in the area adjacent to the marking grayscale data outside the coverage area of ​​the road markings. Therefore, the grayscale difference between the marking area and the conventional road surface can be more accurately obtained by using the representative grayscale of the markings and the representative grayscale of the non-markings, and the reflective characteristic value of the road markings can be determined.

[0125] Figure 6 This is the sixth flow chart of the method for rapid detection of road marking performance provided in the embodiment of the present application. Figure 6 In one embodiment, obtaining the reflective performance value of the road marking based on the difference between the reflective characteristic value of the road marking and the reference reflective characteristic value of the road marking may include:

[0126] 601. Calculate the ratio of the reflection characteristic value of the road surface marking to the reference reflection characteristic value of the road surface marking to obtain a first reflection ratio;

[0127] 602. Calculate the ratio of the first reflection ratio to the reference reflection ratio of the road marking to obtain a second reflection ratio;

[0128] 603. If the second reflective ratio is less than the reflective ratio threshold, obtaining a reflective performance value of the road marking based on the second reflective ratio and the reflective ratio threshold;

[0129] 604. If the second reflective ratio value is greater than or equal to the reflective ratio threshold value, the reflective performance value of the road marking is determined to be 1.

[0130] Assume that the second reflectance ratio is , the reflectance ratio threshold is , the reflective performance value is , where the reflective ratio threshold is preset in advance in combination with the functional requirements of the road markings, then:

[0131] In step 603, That is, when the second reflective ratio value does not reach the threshold value, it is determined that the reflective performance of the road marking has not reached the strongest, and the proportion of the second reflective ratio value to the reflective ratio threshold value is determined as the reflective performance value.

[0132] In step 604, That is, when the second reflective ratio reaches or exceeds the threshold, it is determined that the reflective performance of the road marking reaches the strongest, and the reflective performance value is 1.

[0133] When calculating the reflective performance value, the present embodiment first determines the first reflective ratio based on the ratio of the reflective characteristic value to the reference reflective characteristic value, and then determines the second reflective ratio based on the ratio of the first reflective ratio to the reference reflective ratio. Then, based on whether the second reflective ratio reaches a threshold, it measures whether the reflective performance has reached the strongest value. When it has not reached the strongest value, the reflective performance value is calculated using the ratio of the second reflective ratio to the threshold. When it reaches the strongest value, the reflective performance value is determined to be 1. In this way, the reflective performance value can be more accurately measured through the multiple relationships among the reflective characteristic value, the reflective ratio, the reference value and the threshold.

[0134] In one embodiment, based on a comprehensive evaluation of the damage value and the reflective performance value, the service performance value of the pavement marking is obtained, which may include:

[0135] Based on the damage value and the first preset weight, and the reflective performance value and the second preset weight, a service performance value of the road marking is obtained.

[0136] Assume that the first preset weight is , the second preset weight is , then the service performance value of the road marking is ,in, , ,and .

[0137] because is the damage value of the road marking, then The complete value of the road marking can be represented, and the service performance value of the road marking is obtained based on the complete value contribution and the reflective performance value contribution of the road marking.

[0138] This embodiment performs a weighted summation of the integrity value and the reflective performance value of the road marking, thereby being able to accurately measure the service performance of the road marking based on these two aspects.

[0139] The following is a description of a road marking performance rapid detection device provided in an embodiment of the present application. The road marking performance rapid detection device described below and the road marking performance rapid detection method described above can be referenced to each other.

[0140] Figure 7 Schematic diagram of the structure of the road marking performance rapid detection device provided in the embodiment of the present application. Figure 7 The present application provides a road marking performance rapid detection device, which may include:

[0141] The marking set acquisition module 701 is used to obtain a road marking set based on road elevation data and road grayscale data;

[0142] The marking size acquisition module 702 is used to: for each road marking in the road marking set, obtain the geometric size of the road marking based on the marking elevation data of the coverage area of ​​the road marking in the road elevation data and the non-marking elevation data outside the coverage area and adjacent to the marking elevation data;

[0143] A damage value acquisition module 703 is used to: obtain a damage value of the road marking line based on a difference between a geometric dimension of the road marking line and a reference geometric dimension of the road marking line;

[0144] The reflection characteristic value acquisition module 704 is used to: for each road marking in the road marking set, obtain the reflection characteristic value of the road marking based on the marking grayscale data of the road marking in the coverage area of ​​the road marking in the road grayscale data and the non-marking grayscale data outside the coverage area and adjacent to the marking grayscale data;

[0145] A reflective performance value acquisition module 705, configured to obtain a reflective performance value of the road marking line based on a difference between the reflective characteristic value of the road marking line and a reference reflective characteristic value of the road marking line;

[0146] The service performance value acquisition module 706 is used to obtain the service performance value of the road marking based on a comprehensive evaluation of the damage value and the reflective performance value.

[0147] The road marking performance rapid detection device provided in the present embodiment obtains a road marking set based on road elevation data and road grayscale data. For each road marking in the road marking set, the geometric dimensions of the road marking are obtained based on the marking elevation data of the road marking in the coverage area in the road elevation data and the non-marking elevation data adjacent to the marking elevation data outside the coverage area. The damage value of the road marking is obtained based on the difference between the geometric dimensions of the road marking and the reference geometric dimensions of the road marking. The reflective characteristic value of the road marking is obtained based on the marking grayscale data of the road marking in the coverage area in the road grayscale data and the non-marking grayscale data adjacent to the marking grayscale data outside the coverage area. The reflective performance value of the road marking is obtained based on the difference between the reflective characteristic value of the road marking and the reference reflective characteristic value of the road marking. The service performance value of the road marking is obtained based on a comprehensive evaluation of the damage value and the reflective performance value. This embodiment simultaneously considers the grayscale data of the horizontal plane and the elevation data of the vertical plane, and can use the grayscale data and the elevation data to accurately characterize the three-dimensional characteristics of the actual road markings. In the process of road marking performance detection, the reflective performance value of the road markings is obtained based on the grayscale data, and the damage value of the road markings is obtained based on the elevation data. Then, the damage value and the reflective performance value are used for comprehensive evaluation, which can improve the comprehensiveness of road marking detection while improving the accuracy of road marking service performance detection. In addition, in the process of marking positioning, the marking area is located from the grayscale data and the elevation data respectively, which is equivalent to the mutual correction and fusion of marking data of two different dimensions, thereby effectively improving the data quality, and then improving the accuracy of road marking positioning, and then indirectly improving the accuracy of road marking service performance detection. In summary, this embodiment can accurately characterize the three-dimensional characteristics of the actual road markings based on the road elevation data and the road grayscale data, and detect the marking performance from the two dimensions of damage value and reflective performance value, thereby improving the comprehensiveness and accuracy of road marking performance detection.

[0148] In one embodiment, the marking set acquisition module 701 is specifically used to:

[0149] Based on elevation features and geometric features of road markings, marking a first marking set in the road elevation data;

[0150] Based on the reflective characteristics and geometric characteristics of the road surface markings, marking a second marking line set in the road surface grayscale data;

[0151] The first marking set and the second marking set are aligned and fused to obtain the road marking set.

[0152] In one embodiment, the marking line size acquisition module 702 is specifically used to:

[0153] Calculate the average value of the elevation data of the marking line to obtain the representative elevation of the marking line;

[0154] Calculate the average value of the non-marked line elevation data to obtain the non-marked line representative elevation;

[0155] Obtaining the marking height of the road marking based on the absolute value of the difference between the marking representative elevation and the non-marking representative elevation;

[0156] Obtaining a marking area of ​​the road marking based on a resolution of the marking elevation data and a number of data points of the marking elevation data;

[0157] Based on the line marking height and the line marking area, a line marking volume of the road marking is obtained.

[0158] In one embodiment, the damage value acquisition module 703 is specifically used to:

[0159] Obtaining an area damage value of the road marking line based on a difference between a marking area of ​​the road marking line and a reference marking area of ​​the road marking line;

[0160] Obtaining a volume damage value of the road marking line based on a difference between a marking volume of the road marking line and a reference marking volume of the road marking line;

[0161] A larger value between the area damage value and the volume damage value is determined as the damage value of the road marking.

[0162] In one embodiment, the damage value acquisition module 703 is specifically used to:

[0163] Calculating the ratio of the marking area of ​​the road marking to the reference marking area of ​​the road marking to obtain a marking area ratio;

[0164] If the marking area ratio is less than the area ratio threshold, then obtaining the area damage value of the road marking based on the marking area ratio and the area ratio threshold;

[0165] If the marking line area ratio is greater than or equal to the area ratio threshold, the area damage value of the road marking line is determined to be 0.

[0166] In one embodiment, the damage value acquisition module 703 is specifically used to:

[0167] Calculating a ratio of a marking volume of the road marking to a reference marking volume of the road marking to obtain a marking volume ratio;

[0168] If the marking volume ratio is less than a volume ratio threshold, then obtaining a volume damage value of the road marking based on the marking volume ratio and the volume ratio threshold;

[0169] If the marking line volume ratio is greater than or equal to a volume ratio threshold, the volume damage value of the road marking line is determined to be 0.

[0170] In one embodiment, the reflective characteristic value acquisition module 704 is specifically used to:

[0171] Calculate the average value of the grayscale data of the marking line to obtain the grayscale representative of the marking line;

[0172] Calculate the average value of the grayscale data of the non-marked line to obtain the representative grayscale of the non-marked line;

[0173] Based on the ratio of the representative grayscale of the marking line to the representative grayscale of the non-marking line, the reflective characteristic value of the road marking line is obtained.

[0174] In one embodiment, the reflective performance value acquisition module 705 is specifically used to:

[0175] Calculating a ratio of a reflective characteristic value of the road surface marking to a reference reflective characteristic value of the road surface marking to obtain a first reflective ratio;

[0176] Calculating a ratio of the first reflective ratio to a reference reflective ratio of the road marking to obtain a second reflective ratio;

[0177] If the second reflective ratio value is less than the reflective ratio threshold value, obtaining the reflective performance value of the road marking based on the second reflective ratio value and the reflective ratio threshold value;

[0178] If the second reflectance ratio value is greater than or equal to the reflectance ratio threshold, the reflectance performance value of the road marking is determined to be 1.

[0179] In one embodiment, the service performance value acquisition module 706 is specifically used to:

[0180] Based on the damage value and the first preset weight, and the reflective performance value and the second preset weight, a service performance value of the road marking is obtained.

[0181] Figure 8 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application, such as Figure 8 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The processor 810 may call a computer program in the memory 830 to execute the steps of the method for rapid detection of road marking performance, for example, including:

[0182] Based on the road elevation data and road grayscale data, a road marking set is obtained;

[0183] For each road marking in the road marking set, based on the road marking elevation data of the road marking in the coverage area of ​​the road marking and the non-road marking elevation data outside the coverage area and adjacent to the road marking elevation data, a geometric size of the road marking is obtained;

[0184] obtaining a damage value of the road marking line based on a difference between a geometric dimension of the road marking line and a reference geometric dimension of the road marking line;

[0185] For each road marking in the road marking set, based on the marking grayscale data of the road marking in the coverage area of ​​the road marking in the road grayscale data and the non-marking grayscale data outside the coverage area and adjacent to the marking grayscale data, a reflective characteristic value of the road marking;

[0186] Obtaining a reflective performance value of the road marking based on a difference between the reflective characteristic value of the road marking and a reference reflective characteristic value of the road marking;

[0187] Based on a comprehensive evaluation of the damage value and the reflective performance value, a service performance value of the road marking is obtained.

[0188] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0189] On the other hand, an embodiment of the present application further provides a computer program product, the computer program product comprising a computer program, the computer program may be stored on a non-transitory computer-readable storage medium, and when the computer program is executed by a processor, the computer can execute the steps of the method for rapid detection of road marking performance provided in the above embodiments, for example, including:

[0190] Based on the road elevation data and road grayscale data, a road marking set is obtained;

[0191] For each road marking in the road marking set, based on the road marking elevation data of the road marking in the coverage area of ​​the road marking and the non-road marking elevation data outside the coverage area and adjacent to the road marking elevation data, a geometric size of the road marking is obtained;

[0192] obtaining a damage value of the road marking line based on a difference between a geometric dimension of the road marking line and a reference geometric dimension of the road marking line;

[0193] For each road marking in the road marking set, based on the marking grayscale data of the road marking in the coverage area of ​​the road marking in the road grayscale data and the non-marking grayscale data outside the coverage area and adjacent to the marking grayscale data, a reflective characteristic value of the road marking;

[0194] Obtaining a reflective performance value of the road marking based on a difference between the reflective characteristic value of the road marking and a reference reflective characteristic value of the road marking;

[0195] Based on a comprehensive evaluation of the damage value and the reflective performance value, a service performance value of the road marking is obtained.

[0196] On the other hand, an embodiment of the present application further provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program is used to cause a processor to execute the steps of the method for quickly detecting the performance of road markings provided in the above embodiments, for example, including:

[0197] Based on the road elevation data and road grayscale data, a road marking set is obtained;

[0198] For each road marking in the road marking set, based on the road marking elevation data of the road marking in the coverage area of ​​the road marking and the non-road marking elevation data outside the coverage area and adjacent to the road marking elevation data, a geometric size of the road marking is obtained;

[0199] obtaining a damage value of the road marking line based on a difference between a geometric dimension of the road marking line and a reference geometric dimension of the road marking line;

[0200] For each road marking in the road marking set, based on the marking grayscale data of the road marking in the coverage area of ​​the road marking in the road grayscale data and the non-marking grayscale data outside the coverage area and adjacent to the marking grayscale data, a reflective characteristic value of the road marking;

[0201] Obtaining a reflective performance value of the road marking based on a difference between the reflective characteristic value of the road marking and a reference reflective characteristic value of the road marking;

[0202] Based on a comprehensive evaluation of the damage value and the reflective performance value, a service performance value of the road marking is obtained.

[0203] The non-transitory computer-readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (such as CD, DVD, BD, HVD, etc.), and semiconductor storage (such as ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)), etc.

[0204] 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 they 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 scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0205] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0206] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for rapid detection of road marking performance, characterized in that: include: Based on the road elevation data and road grayscale data, a road marking set is obtained; For each road marking in the road marking set, based on the road marking elevation data of the road marking in the coverage area of ​​the road marking and the non-road marking elevation data outside the coverage area and adjacent to the road marking elevation data, the geometric size of the road marking is obtained; the geometric size includes the road marking area and the road marking volume; Based on the difference between the geometric dimensions of the road marking and the reference geometric dimensions of the road marking, a damage value of the road marking is obtained; the damage value includes an area damage value and a volume damage value; Determining a larger value between the area damage value and the volume damage value as a target damage value of the road marking; For each road marking in the road marking set, based on the marking grayscale data of the road marking in the coverage area of ​​the road marking in the road grayscale data and the non-marking grayscale data outside the coverage area and adjacent to the marking grayscale data, a reflective characteristic value of the road marking; Obtaining a reflective performance value of the road marking based on a difference between the reflective characteristic value of the road marking and a reference reflective characteristic value of the road marking; Based on a comprehensive evaluation of the target damage value and the reflective performance value, a service performance value of the road marking is obtained.

2. The method for rapid detection of road marking performance according to claim 1, characterized in that: The road marking set is obtained based on the road elevation data and the road grayscale data, including: Based on elevation features and geometric features of road markings, marking a first marking set in the road elevation data; Based on the reflective characteristics and geometric characteristics of the road surface markings, marking a second marking line set in the road surface grayscale data; The first marking set and the second marking set are aligned and fused to obtain the road marking set.

3. The method for rapid detection of road marking performance according to claim 1, characterized in that: The step of obtaining the geometric dimensions of the road marking based on the marking elevation data of the coverage area of ​​the road marking in the road elevation data and the non-marking elevation data outside the coverage area and adjacent to the marking elevation data comprises: Calculate the average value of the elevation data of the marking line to obtain the representative elevation of the marking line; Calculate the average value of the non-marked line elevation data to obtain the non-marked line representative elevation; Obtaining the marking height of the road marking based on the absolute value of the difference between the marking representative elevation and the non-marking representative elevation; Obtaining a marking area of ​​the road marking based on a resolution of the marking elevation data and a number of data points of the marking elevation data; Based on the line marking height and the line marking area, a line marking volume of the road marking is obtained.

4. The method for rapid detection of road marking performance according to claim 3, characterized in that: The obtaining of the damage value of the road marking line based on the difference between the geometrical dimension of the road marking line and the reference geometrical dimension of the road marking line comprises: Obtaining an area damage value of the road marking line based on a difference between a marking area of ​​the road marking line and a reference marking area of ​​the road marking line; Based on the difference between the marking volume of the road marking and the reference marking volume of the road marking, a volume damage value of the road marking is obtained.

5. The method for rapid detection of road marking performance according to claim 4, characterized in that: The obtaining of the area damage value of the road marking line based on the difference between the marking area of ​​the road marking line and the reference marking area of ​​the road marking line comprises: Calculating the ratio of the marking area of ​​the road marking to the reference marking area of ​​the road marking to obtain a marking area ratio; If the marking area ratio is less than the area ratio threshold, then obtaining the area damage value of the road marking based on the marking area ratio and the area ratio threshold; If the marking line area ratio is greater than or equal to the area ratio threshold, the area damage value of the road marking line is determined to be 0.

6. The method for rapid detection of road marking performance according to claim 4, characterized in that: The obtaining of the volume damage value of the road marking line based on the difference between the marking volume of the road marking line and the reference marking volume of the road marking line comprises: Calculating a ratio of a marking volume of the road marking to a reference marking volume of the road marking to obtain a marking volume ratio; If the marking volume ratio is less than a volume ratio threshold, then obtaining a volume damage value of the road marking based on the marking volume ratio and the volume ratio threshold; If the marking line volume ratio is greater than or equal to a volume ratio threshold, the volume damage value of the road marking line is determined to be 0.

7. The method for rapid detection of road marking performance according to claim 1, characterized in that: The step of obtaining the reflective characteristic value of the road marking based on the marking grayscale data of the road marking in the coverage area of ​​the road marking and the non-marking grayscale data outside the coverage area and adjacent to the marking grayscale data comprises: Calculate the average value of the grayscale data of the marking line to obtain the grayscale representative of the marking line; Calculate the average value of the grayscale data of the non-marked line to obtain the representative grayscale of the non-marked line; Based on the ratio of the representative grayscale of the marking line to the representative grayscale of the non-marking line, the reflective characteristic value of the road marking line is obtained.

8. The method for rapid detection of road marking performance according to claim 1, characterized in that: The obtaining of the reflective performance value of the road marking based on the difference between the reflective characteristic value of the road marking and the reference reflective characteristic value of the road marking comprises: Calculating a ratio of a reflective characteristic value of the road surface marking to a reference reflective characteristic value of the road surface marking to obtain a first reflective ratio; Calculating a ratio of the first reflective ratio to a reference reflective ratio of the road marking to obtain a second reflective ratio; If the second reflective ratio value is less than the reflective ratio threshold value, obtaining the reflective performance value of the road marking based on the second reflective ratio value and the reflective ratio threshold value; If the second reflectance ratio value is greater than or equal to the reflectance ratio threshold, the reflectance performance value of the road marking is determined to be 1.

9. The method for rapid detection of road marking performance according to claim 1, characterized in that: The service performance value of the road marking is obtained based on a comprehensive evaluation of the target damage value and the reflective performance value, including: Based on the target damage value and the first preset weight, and the reflective performance value and the second preset weight, a service performance value of the road marking is obtained.

10. A road marking performance rapid detection device, characterized in that: include: The marking set acquisition module is used to obtain the road marking set based on the road elevation data and the road grayscale data; a marking size acquisition module, configured to: for each road marking in the road marking set, obtain the geometric size of the road marking based on the marking elevation data of the coverage area of ​​the road marking in the road elevation data and the non-marking elevation data outside the coverage area and adjacent to the marking elevation data; the geometric size includes the marking area and the marking volume; A damage value acquisition module, used to: obtain a damage value of the road marking line based on a difference between a geometric dimension of the road marking line and a reference geometric dimension of the road marking line; the damage value includes an area damage value and a volume damage value; Determining a larger value between the area damage value and the volume damage value as a target damage value of the road marking; A reflection characteristic value acquisition module is used to: for each road marking in the road marking set, obtain a reflection characteristic value of the road marking based on the marking grayscale data of the road marking in the coverage area of ​​the road marking in the road grayscale data and the non-marking grayscale data outside the coverage area and adjacent to the marking grayscale data; A reflective performance value acquisition module, used to: obtain the reflective performance value of the road marking line based on the difference between the reflective characteristic value of the road marking line and the reference reflective characteristic value of the road marking line; The service performance value acquisition module is used to obtain the service performance value of the road marking based on a comprehensive evaluation of the target damage value and the reflective performance value.

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