ODD range delimiting method and device based on geological disaster meteorological early warning information and storage medium

Abstract

The invention relates to the field of high-precision map application, in particular to an ODD range delimiting method and device based on geological disaster meteorological early warning information and a storage medium, and the method comprises the following steps: S1, obtaining the geological disaster meteorological early warning information and storing the geological disaster meteorological early warning information in a cloud; s2, judging whether the geological disaster meteorological early warning information is merged into a calculation ODD range or not according to the state of a vehicle external information acquisition sensor; if yes, S3 is executed, and if not, the process is ended; s3, calculating an influence range and influence time by fusing geological disaster meteorological early warning information; and S4, superposing the high-precision map data, associating the influence range to a preset ODD range, modifying the preset ODD range, adding influence time, and delimiting the ODD range. A guarantee can be provided for stable and safe operation of advanced auxiliary driving, and a user can travel safely.

Description

Technical Field

[0001] The present invention relates to the application field of high-precision maps, and in particular to an ODD range delineation method, device and storage medium based on geological disaster meteorological warning information. Background Art

[0002] At present, high-precision maps can provide super-sensing distance and surrounding information, including road information such as road networks and lane networks, as well as road details and infrastructure information related to lanes, such as traffic signs, traffic lights, and especially lane restriction information. Through this information, data is provided for high-level driving assistance, and combined with the vehicle navigation system, guidance is provided for the vehicle to complete planning and control. Operational Design Domain (ODD) refers to the conditions and scope of application under which the autonomous driving system is designed to work, including vehicle speed, traffic conditions, road type, weather, environment, etc. Among them, the autonomous driving range of ODD can be made according to certain rules based on the relevant attributes of the high-precision map.

[0003] Based on the ability to apply high-precision map data, each car manufacturer currently completes L3 level autonomous driving within a limited range by making an ODD range. According to how to define the ODD range according to the principle, those skilled in the art will conduct relevant research. For example, CN114407915A, the "Processing method, device and storage medium of the operational design domain ODD" that has entered the substantive examination, associates road information with dynamic event information, and then generates an ODD dynamic layer based on the road information, and proposes that the dynamic event information includes the type of dynamic event, the location of the dynamic event, the scale of the dynamic event and one, multiple or a combination of weather conditions. However, this method only points out the type of dynamic event, and realizes the judgment of dynamic events based on the vehicle status (such as the wiper status, the heat of the wiper blade), and does not divide the ODD range based on external dynamic data, such as geological disaster meteorological warning information, to divide the ODD range according to real-time road conditions. Therefore, how to combine non-human-caused dynamic events such as geological disaster meteorological warning information, such as heavy rain, collapse, mudslide, ice and snow weather, etc., which lead to the range of inability to automatically drive, and further improve the stability and safety of driving. On this basis, the present invention aims to propose an ODD range delineation method based on geological disaster meteorological warning information. Summary of the invention

[0004] The purpose of the present invention is to provide an ODD range delineation method, device and storage medium based on geological disaster meteorological warning information, which can provide guarantee for the smooth and safe operation of advanced assisted driving and allow users to travel safely.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] In a first aspect, the present invention provides an ODD range delineation method based on meteorological disaster warning information, which comprises the following steps:

[0007] S1, obtain geological disaster meteorological warning information and store it in the cloud;

[0008] S2, judging whether to incorporate geological disaster meteorological warning information into the calculation range of ODD in combination with the state of the vehicle's external information collection sensor; if so, executing S3, if not, ending the process;

[0009] S3, integrate geological disaster meteorological warning information to calculate the impact range and impact time;

[0010] S4, superimpose high-precision map data, associate the impact range with the preset ODD range, modify the preset ODD range and add the impact time, and define the ODD range.

[0011] Furthermore, the vehicle external information collection sensor includes a rainfall sensor, a vehicle external temperature collection sensor and a vehicle external light sensor.

[0012] Further, S2 is specifically: when the external information collected by the vehicle's external information collection sensor and the geological disaster meteorological warning information are both within the preset range, it is determined that the geological disaster meteorological warning information will be incorporated into the calculation of the ODD range; otherwise, it is determined not to incorporate the geological disaster meteorological warning information into the calculation of the ODD range.

[0013] Furthermore, the geological disaster meteorological warning information described in S1 includes high temperature, rainfall, freezing rain and snow, hail, typhoon, sandstorm, landslide, mud-rock flow, ground collapse, and ground fissures.

[0014] Furthermore, the preset ODD range in S4 is generated based on the high-precision map and the ODD demand information of the vehicle.

[0015] Furthermore, it also includes S5, determining the vehicle state according to the warning release time of the geological disaster meteorological warning information and the vehicle external information collection sensor, and releasing the designated ODD range.

[0016] In a second aspect, the present invention provides an ODD range delineation device based on geological disaster meteorological warning information, which can execute the steps of the above-mentioned ODD range delineation method based on geological disaster meteorological warning information, including:

[0017] An acquisition module is used to obtain geological disaster meteorological warning information and store it in the cloud;

[0018] A determination module is used to determine whether to incorporate geological disaster meteorological warning information into the calculation range of ODD in combination with the status of the vehicle's external information collection sensor;

[0019] The calculation module is used to integrate geological disaster meteorological warning information to calculate the impact range and impact time;

[0020] The delimiting module is used to associate the impact range with the preset ODD range, modify the preset ODD range and add the impact time, and delimit the ODD range.

[0021] In a third aspect, the present invention provides a storage medium storing a computer-readable program, which, when called, can execute the steps of the ODD range delineation method based on geological disaster meteorological warning information as described above.

[0022] Beneficial effects of the present invention:

[0023] The present invention is based on geological disaster meteorological warning information, and combines the vehicle's external information collection sensor information to define the ODD range of the high-precision map, and formulates corresponding classification sources to supplement and improve the ODD range used by the high-precision map. At the same time, it can remind users that if they find geological disaster risks during driving, they should take disaster prevention and risk avoidance measures in time and pay attention to travel safety. It can also push geological disaster risk warning information to users in real time when they are traveling, allowing users to effectively plan travel routes and travel comfortably. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0025] Figure 1 This is a flow chart of the ODD range delineation method based on meteorological disaster warning information in Embodiment 1 of the present invention;

[0026] Figure 2 This is a flow chart of the ODD range delineation method based on meteorological disaster warning information in Embodiment 2 of the present invention;

[0027] Figure 3 This is a schematic diagram of the structure of the ODD range delineation device based on meteorological disaster warning information described in Example 3 of the present invention. DETAILED DESCRIPTION

[0028] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0029] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention. The drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0030] Example 1, see Figure 1 As shown, a method for defining an ODD range based on meteorological disaster warning information comprises the following steps:

[0031] S1, obtaining geological disaster meteorological warning information and storing it in the cloud. The geological disaster meteorological warning information includes high temperature, rainfall, freezing rain and snow, hail, typhoon, sandstorm, landslide, mud-rock flow, ground collapse, and ground fissure.

[0032] The meteorological risk warning of geological disasters is based on the main controlling factors of geological disasters (stratum lithology, geological structure, topography, rock and soil type, etc.) and the triggering factors (rainfall, earthquake, ice and snow melting, human activities) through model calculation. The controlling factors are the basic conditions, and the triggering factors tend to show great differences in different regions or in the same region at the same time and in different sections. The geological disaster warning levels are shown in Table 1:

[0033] Table 1 Geological disaster meteorological warning levels

[0034]

[0035] According to the location geocoding in the acquired geological disaster meteorological warning information, it is located at the road level, linked to the high-precision map road-level information, and the geological disaster meteorological warning information is stored in the cloud.

[0036] First, the meteorological and disaster information of geological disaster meteorological warning information needs to be classified. Meteorological warning information is classified into high temperature, rainfall, freezing rain and snow, hail, typhoon, and sandstorm, and the non-ODD range should be calculated according to the warning level. Warnings for geological disaster risks such as landslides, mudslides, freezing rain and snow, and hail are mainly induced by meteorological conditions. Therefore, attention should be paid to the weather conditions of the travel route, especially rainfall data, and the levels should be divided according to the rainfall flow, that is, for rainfall that occurs frequently and serves as an inducing factor, the calculation logic should be started according to the rainfall level.

[0037] For collapse, the rock loses stability due to root emptiness, fracture, crushing or local slippage, and the pre-disaster signs are block falling and frequent small collapses. In combination with the characteristics, in good weather such as cloudy or sunny, the ODD range can be limited to the lanes close to the collapse body; in bad weather such as heavy rain, the entire road range is divided into non-ODD range. The non-ODD range is defined in combination with the rainfall station data and the frequency of collapse.

[0038] For other severe weather conditions, if the wind is severe at level 4 or 5 warning level, the ODD range calculation logic will be activated.

[0039] For road areas where geological disasters have occurred, resulting in road construction and direct road interruption, they are directly added to the non-ODD area according to the current dynamic events. This embodiment does not fall within the scope of the present invention.

[0040] S2, judging whether to incorporate geological disaster meteorological warning information into the calculation range of ODD in combination with the state of the vehicle external information collection sensor; if so, executing S3, if not, ending the process. In this embodiment, the vehicle external information collection sensor includes a rainfall sensor, a vehicle external temperature collection sensor and a vehicle external light sensor.

[0041] Combine the rainfall level and the wiper status, that is, use the wiper status as a rain sensor, and the wiper is in high gear to jointly judge the geological disaster meteorological warning level, that is, if the rainfall level is at level 4 or 5, then it is determined that the geological disaster meteorological warning information is incorporated into the calculation of the ODD range. Otherwise, it is determined not to incorporate the geological disaster meteorological warning information into the calculation of the ODD range.

[0042] The temperature is divided into low temperature, normal temperature and high temperature. When the vehicle's external temperature acquisition sensor is at low temperature and the geological disaster meteorological warning level is judged to be at level 4 or 5, it is determined that the geological disaster meteorological warning information will be incorporated into the calculation of the ODD range. Otherwise, it is determined not to be incorporated into the calculation of the ODD range.

[0043] If the vehicle is at night or in a tunnel and the geological disaster weather warning level is at level 4 or 5 according to the vehicle's external light sensor, it is determined that the geological disaster weather warning information is incorporated into the calculation of the ODD range. Otherwise, it is determined that the geological disaster weather warning information is not incorporated into the calculation of the ODD range.

[0044] Combine forward vision and vehicle tire friction to determine road conditions. If there is water on the road, snow on the road, thin ice on the road, or road subsidence, and the geological disaster meteorological warning information level reaches level three or above, the geological disaster meteorological warning information will be incorporated into the calculation of the ODD range.

[0045] S3, integrates geological disaster meteorological warning information to calculate the impact range and impact time; calculates the spatial buffer zone for the geocoded location of the warning location in the geological disaster meteorological warning information, increases the safe driving section, and leaves enough driving space for safe assisted driving. The geocoded location calculated according to the logic opened by S1 and S2 is used to open spatial analysis according to the geological disaster meteorological warning level. The spatial analysis uses the high-precision map road line shape as the buffer zone analysis, mainly using the fourth level as a 10-kilometer buffer zone analysis and the fifth level as a 20-kilometer buffer zone analysis.

[0046] S4, superimposing high-precision map data, associating the impact range with the preset ODD range, modifying the preset ODD range and adding the impact time, and defining the ODD range. In this embodiment, the preset ODD range is generated based on the high-precision map and the ODD demand information of the vehicle.

[0047] The present invention is based on geological disaster meteorological warning information, and combines the vehicle's external information collection sensor information to define the ODD range of the high-precision map, and formulates corresponding classification sources to supplement and improve the ODD range used by the high-precision map. At the same time, it can remind users that if they find geological disaster risks during driving, they should take disaster prevention and risk avoidance measures in time and pay attention to travel safety. It can also push geological disaster risk warning information to users in real time when they are traveling, allowing users to effectively plan travel routes and travel comfortably.

[0048] Example 2, see Figure 2 As shown, a method for defining an ODD range based on meteorological disaster warning information, based on embodiment one, also includes S5, which determines the vehicle status according to the warning release time of the geological disaster meteorological warning information and the vehicle external information collection sensor, releases the defined ODD range, and ensures smooth use of the vehicle's high-level assisted driving functions.

[0049] Example 3, see Figure 3As shown, an ODD range delineation device based on geological disaster meteorological warning information can execute the steps of the ODD range delineation method based on geological disaster meteorological warning information described in Example 1 or Example 2 of the present invention. It includes an acquisition module, a determination module, a calculation module and a delineation module. The acquisition module is used to acquire geological disaster meteorological warning information and store it in the cloud; the determination module is used to determine whether to incorporate the geological disaster meteorological warning information into the calculation of the ODD range in combination with the state of the vehicle external information collection sensor; the calculation module is used to integrate the geological disaster meteorological warning information to calculate the impact range and impact time; the delineation module is used to associate the impact range with the preset ODD range, modify the preset ODD range and add the impact time, and delineate the ODD range.

[0050] In the fourth embodiment, the present invention discloses a storage medium storing a computer-readable program. When the computer-readable program is called, it can execute the steps of the ODD range delineation method based on geological disaster meteorological warning information described in the first or second embodiment of the present invention.

[0051] It should be noted that the storage medium shown can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable computer program. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. A computer program contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0052] The flowchart and block diagram in the accompanying drawings illustrate the possible architecture, functions and operations of the system, method and computer program product according to various embodiments of the present application. Wherein, each box in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and the above-mentioned module, program segment, or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0053] At this point, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit the technical solution. Ordinary technicians in the field should understand that those modifications or equivalent substitutions of the technical solution of the present invention that do not depart from the purpose and scope of the technical solution should be included in the scope of the claims of the present invention.

Claims

1. A method for defining the ODD range based on meteorological disaster warning information, characterized in that: The steps include: S1, obtain geological disaster meteorological warning information and store it in the cloud; S2, judging whether to incorporate geological disaster meteorological warning information into the calculation range of ODD in combination with the state of the vehicle's external information collection sensor; if so, executing S3, if not, ending the process; S3, integrate geological disaster meteorological warning information to calculate the impact range and impact time; S4, superimpose high-precision map data, associate the impact range with the preset ODD range, modify the preset ODD range and add the impact time, and define the ODD range.

2. The ODD range delineation method based on geological disaster meteorological warning information according to claim 1 is characterized by: The vehicle external information collection sensors include a rain sensor, a vehicle external temperature collection sensor and a vehicle external light sensor.

3. The ODD range delineation method based on geological disaster meteorological warning information according to claim 2 is characterized in that: S2 is specifically: when the external information collected by the vehicle's external information collection sensor and the geological disaster meteorological warning information are both within the preset range, it is determined that the geological disaster meteorological warning information will be incorporated into the calculation of the ODD range; otherwise, it is determined not to incorporate the geological disaster meteorological warning information into the calculation of the ODD range.

4. The ODD range delineation method based on geological disaster meteorological warning information according to claim 1 or 2 is characterized in that: The geological disaster meteorological warning information described in S1 includes high temperature, rainfall, freezing rain and snow, hail, typhoon, sandstorm, landslide, mud-rock flow, ground collapse and ground fissure.

5. The ODD range delineation method based on geological disaster meteorological warning information according to claim 1 or 2 is characterized in that: The preset ODD range described in S4 is generated based on the high-precision map and the ODD demand information of the vehicle.

6. The ODD range delineation method based on geological disaster meteorological warning information according to claim 1 or 2 is characterized in that: It also includes S5, determining the vehicle state according to the warning release time of the geological disaster meteorological warning information and the vehicle external information collection sensor, and releasing the designated ODD range.

7. An ODD range delineation device based on geological disaster meteorological warning information, characterized in that: The steps of the ODD range delineation method based on geological disaster meteorological warning information as described in any one of claims 1 to 6 can be performed, including: An acquisition module is used to obtain geological disaster meteorological warning information and store it in the cloud; A determination module is used to determine whether to incorporate geological disaster meteorological warning information into the calculation range of ODD in combination with the status of the vehicle's external information collection sensor; The calculation module is used to integrate geological disaster meteorological warning information to calculate the impact range and impact time; The delimiting module is used to associate the impact range with the preset ODD range, modify the preset ODD range and add the impact time, and delimit the ODD range.

8. A storage medium, characterized in that: A computer-readable program is stored therein, and when the computer-readable program is called, it can execute the steps of the ODD range delineation method based on geological disaster meteorological warning information as described in any one of claims 1 to 6.

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