Vehicle driving road integrity detection and early warning system and method and vehicle

Abstract

The invention discloses a vehicle driving road integrity detection and early warning system and method and a vehicle, and relates to the technical field of intelligent vehicles and driving, and the system comprises a laser radar and an infrared imager which are respectively used for carrying out pavement integrity scanning operation on a vehicle driving road; the rainfall sensor and the light sensor are respectively used for detecting rainfall information and illumination intensity information in real time; the logic controller is used for generating and issuing a control instruction of the running states of the laser radar and the infrared imager on the vehicle according to the detected rainfall information and illumination intensity information in combination with preset control logic; wherein the operation state comprises a cruise state and a continuous state; the processor is used for generating a road surface integrity state image according to the road surface scanning information received in real time, identifying an abnormal road surface and an area thereof, and generating alarm information according to an identification result; the alarm device is used for receiving the alarm information and giving an alarm. According to the invention, traveling road surface abnormity warning can be realized, and the detection precision and the driving safety are effectively improved.

Description

Technical Field

[0001] The present invention relates to the field of intelligent vehicles and driving technology, and in particular to a vehicle traveling road integrity detection and early warning system, method and vehicle. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] With the rapid development of intelligent vehicle driving, the use of on-board sensors to interact with the outside world to perceive the surrounding environment has become a common function of current vehicle driving. This function can provide more useful information for driving, facilitate vehicle driving and improve driving safety. At present, during driving, laser radar is mostly used to detect the real-time distance between the front vehicle and the front vehicle, and timely alarm is issued when the safe distance is exceeded. However, there is currently no solution for detecting abnormal conditions such as road collapse. Existing vehicles cannot effectively detect and identify abnormal conditions of the road ahead, which will cause the vehicle to fall and other situations, and cannot effectively ensure driving safety.

[0004] To this end, in the prior art, a laser radar can be installed to detect the road condition ahead. However, a single detection method may result in detection errors, and its detection and recognition effect is poor. In addition, a camera or other visual sensor can be installed on the front side of the vehicle to detect the road condition in real time during driving. However, the visual recognition algorithm is complex and costly, and its recognition effect is poor in poor lighting conditions (such as driving at night). Summary of the invention

[0005] To address the deficiencies of the above-mentioned prior art, the present invention provides a vehicle road integrity detection and warning system, method and vehicle. A group of infrared imagers and laser radars are arranged on the vehicle, and logical control and information processing are performed on the infrared imagers and laser radars according to the actual driving process. The infrared imagers and laser radars are controlled to perform imaging scanning of the road surface in the traveling direction in a cruising state or a continuous state. According to the two types of scanning results, a road surface integrity status image is drawn and an abnormal road surface warning ahead is issued, thereby effectively improving the detection accuracy and driving safety.

[0006] In a first aspect, the present invention provides a vehicle travel road integrity detection and warning system.

[0007] A vehicle travel road integrity detection and early warning system, comprising:

[0008] A laser radar is used to scan the road surface integrity of the road on which the vehicle is traveling; the laser radar is installed on the top of the vehicle through a laser radar cruise bracket, and the laser radar cruise bracket has a built-in laser radar cruise control motor, which is used to execute a corresponding operating state according to a control instruction issued by a logic controller;

[0009] An infrared imager is used to scan the road surface integrity of the road on which the vehicle is traveling; the infrared imager is respectively installed on both sides of the front of the vehicle through an infrared imaging cruise bracket, and the infrared imaging cruise bracket has a built-in infrared imaging cruise control motor, which is used to execute a corresponding operating state according to a control instruction issued by a logic controller;

[0010] Rainfall sensor, used to detect rainfall information in real time;

[0011] Light sensor, used to detect light intensity information in real time;

[0012] The logic controller is used to generate and issue control instructions for the operating status of the laser radar and infrared imager on the vehicle based on the detected rainfall information and light intensity information in combination with the preset control logic.

[0013] According to a further technical solution, the operating state includes a cruising state and a continuous state;

[0014] The cruising state is: when the horizontal angle is the reference 0° state, the cruising bracket is driven to rotate by controlling the motor, thereby driving the laser radar and the infrared imager to perform reciprocating cruising ground scanning operations according to the scanning angle from the horizontal downward 10° and then back to the horizontal 0° position, and the reciprocating cruising ground scanning operations are performed every set time;

[0015] The continuous state is: when the horizontal angle is the reference 0° state, the cruise bracket is driven to rotate by controlling the motor, thereby driving the laser radar and infrared imager to perform continuous ground scanning operations according to the fixed scanning angles corresponding to the current scene.

[0016] A further technical solution is that when the horizontal angle is a reference 0° state, the fixed scanning angle range is 5 to 10° horizontally downward;

[0017] When the detected rainfall information is moderate or below, and the detected light intensity information is medium, the fixed scanning angle is 5° horizontally downward;

[0018] When the detected rainfall information is moderate or above, and the detected light intensity information is low, the fixed scanning angle is 10° horizontally downward.

[0019] A further technical solution is to classify rainfall information into light rain, moderate rain, heavy rain and rainstorm according to the amount of rainfall, wherein moderate rainfall and below include light rain and moderate rain, and moderate rainfall and above include heavy rain and rainstorm;

[0020] According to the size of the light intensity, the light intensity information is divided into high, medium and low. The high light intensity is during the day, the medium light intensity is during the sunrise and sunset period and at night with auxiliary lighting, and the low light intensity is at night.

[0021] According to a further technical solution, the control logic of the logic controller includes:

[0022] When the vehicle is moving, when rainfall information is detected, the laser radar is started to operate continuously to continuously scan the road surface, and the infrared imager is started to operate continuously to continuously scan the road surface;

[0023] When no rainfall information is detected, the laser radar is started to operate in a cruise state to perform a cruise scanning operation on the road surface, and the infrared imager is started to operate in a cruise state to perform a cruise scanning operation on the road surface;

[0024] When the light intensity information is detected as high light intensity, that is, when it is detected as daytime conditions, the laser radar cruise state is started to perform a cruise scanning operation on the road surface, and the infrared imager is started to enter the cruise state to perform a cruise scanning operation on the road surface;

[0025] When the light intensity information is detected as medium or low light intensity, that is, when it is detected as a night condition, the lidar is started to operate in a continuous state to continuously scan the road surface, and the infrared imager is started to operate in a continuous state to continuously scan the road surface.

[0026] According to a further technical solution, the control logic of the logic controller includes:

[0027] When rainfall information is detected and night conditions are triggered, the lidar and infrared imager are started to operate continuously;

[0028] When rainfall information is detected and daytime conditions are triggered, the lidar and infrared imager are started to operate continuously;

[0029] When no rainfall information is detected and the daytime condition is triggered, the lidar and infrared imager are started to enter the cruise state;

[0030] When no rainfall information is detected and night conditions are triggered, the lidar and infrared imager are started to operate in a continuous state.

[0031] In a further technical solution, the system further comprises a processor and an alarm device disposed inside the vehicle;

[0032] The processor is used to generate a road surface integrity status image based on road surface scanning information received in real time from the laser radar and infrared imager, identify abnormal road surfaces and areas thereof based on the generated image, and generate warning information based on the identification result;

[0033] The alarm device is used to receive alarm information and issue image, icon, and voice alarms.

[0034] In a second aspect, the present invention provides a method for detecting and warning the integrity of a vehicle's travel path.

[0035] A vehicle travel road integrity detection and early warning method, comprising:

[0036] Real-time detection of rainfall information and light intensity information during vehicle movement;

[0037] According to the rainfall information and the light intensity information, combined with the preset control logic, a control instruction for the operating state of the laser radar and the infrared imager on the vehicle is generated; the operating state includes a cruising state and a continuous state;

[0038] According to the operation state control instruction, the laser radar and the infrared imager are respectively controlled to start and execute the corresponding operation state to perform the road surface scanning operation of the vehicle traveling road;

[0039] Based on real-time road scanning information, road anomaly detection and abnormality alarm are performed.

[0040] A further technical solution is that the cruise state is: when the horizontal angle is the reference 0° state, the cruise bracket is driven to rotate by controlling the motor, thereby driving the laser radar and the infrared imager to perform reciprocating cruise ground scanning operations according to the scanning angle from the horizontal downward 10° and then back to the horizontal 0° position, and the reciprocating cruise ground scanning operation is performed every set time;

[0041] The continuous state is: when the horizontal angle is the reference 0° state, the cruise bracket is driven to rotate by controlling the motor, thereby driving the laser radar and infrared imager to perform continuous ground scanning operations according to the fixed scanning angles corresponding to the current scene.

[0042] In a third aspect, the present invention further provides a vehicle, comprising a vehicle road integrity detection and early warning system proposed in the first aspect, or executing a vehicle road integrity detection and early warning method proposed in the second aspect.

[0043] One or more of the above technical solutions have the following beneficial effects:

[0044] 1. The present invention provides a vehicle road integrity detection and warning system, method and vehicle. A group of infrared imagers and laser radars are arranged on the vehicle. The infrared imagers and laser radars are logically controlled and information processed according to the actual driving process. The infrared imagers and laser radars are controlled to perform imaging scanning of the road surface in the traveling direction in a cruising state or a continuous state. The road surface integrity state image is drawn according to the two types of scanning results and an abnormal road surface warning is issued ahead, thereby effectively improving the detection accuracy and driving safety.

[0045] 2. The present invention arranges a group of infrared imagers at the positions of the left and right headlights on the front side of the vehicle respectively, so as to scan and image the left and right road surfaces respectively, and adds a ground scanning mode to the laser radar on the roof of the vehicle, so as to realize three-dimensional scanning and imaging of the road surface in the driving direction. Scanning in two ways can effectively cover the entire road surface, and comprehensive recognition based on the two scanning results can effectively improve the accuracy of road surface abnormality recognition.

[0046] 3. The present invention also detects the driving environment in real time through the rain sensor and light sensor set on the vehicle, and according to the current environmental state detected, through independent domain control, the roof laser radar and the infrared imager above the headlight are logically controlled and information processed, so that the laser radar and infrared imager perform cruise state operation or continuous state operation, so as to achieve high-precision road surface abnormality recognition for a variety of different situations; among them, facing different situations, such as in the case of no rain and daytime, the field of vision is relatively moderate at this time, so the cruise ground scanning mode is enabled, and the front ground is scanned and identified intermittently to reduce the vehicle risk caused by the change of road conditions, and the scanning and identification of the front of the vehicle can be taken into account at the same time to avoid the risk brought by the vehicle in front; and in the case of rain, fog and night, the field of vision and environmental factors have a greater impact at this time, so the continuous ground scanning mode is enabled, and the front ground is continuously scanned and identified, and when the vehicle is driving slowly in extreme weather, facing the identification of the vehicle in front and the identification of ground changes, the ground changes with greater impact are preferentially continuously identified, so as to ensure the safety of driving. Through the different ground scanning modes under the above different situations, the safety of vehicle driving can be further improved.

[0047] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0049] Figure 1It is a structural front view of a vehicle travel road integrity detection and early warning system in an embodiment of the present invention;

[0050] Figure 2 It is a structural side view of a vehicle travel road integrity detection and early warning system in an embodiment of the present invention;

[0051] Figure 3 The figure is a logical control diagram of vehicle road integrity detection and early warning in an embodiment of the present invention.

[0052] Among them, 1. Laser radar; 2. Laser radar cruise bracket; 3. Left infrared imager; 4. Left infrared imaging cruise bracket; 5. Rainfall sensor and light sensor; 6. Right infrared imager; 7. Right infrared imaging cruise bracket; 8. Infrared imaging cruise control motor; 9. Laser radar cruise control motor. DETAILED DESCRIPTION

[0053] It should be noted that the following detailed descriptions are exemplary only, are intended to describe specific embodiments, are intended to provide further explanation of the present invention, and are not intended to limit exemplary embodiments according to the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those of ordinary skill in the art to which the present invention belongs. In addition, it should also be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0054] Embodiment 1

[0055] This embodiment provides a vehicle road integrity detection and warning system, such as Figure 1 and Figure 2 As shown, the system includes a laser radar 1, a laser radar cruise bracket 2, a laser radar cruise control motor, an infrared imager, an infrared imaging cruise bracket, an infrared imaging cruise control motor 8, a rain sensor, a light sensor and a logic controller.

[0056] Among them, a laser radar is set to perform a road integrity scanning operation on the road where the vehicle is traveling. The laser radar is installed on a laser radar cruise bracket 2, and then installed on the top of the vehicle through the laser radar cruise bracket 2. The laser radar cruise bracket 2 has a built-in laser radar cruise control motor 9. The laser radar cruise control motor 9 is electrically connected to the logic controller and can be driven according to the control instructions issued by the logic controller. The laser radar cruise control motor 9 can then be driven to rotate the laser radar cruise bracket 2 and drive the laser radar to perform multi-angle ground scanning operations, so that the laser radar executes the corresponding operating state.

[0057] Similarly, an infrared imager is provided for scanning the road surface integrity of the vehicle's traveling road. In the present embodiment, two infrared imagers are provided, namely, a left infrared imager 3 and a right infrared imager 6. Each infrared imager is mounted on a corresponding infrared imaging cruise bracket (i.e., a left infrared imaging cruise bracket 4 and a right infrared imaging cruise bracket 7), and is respectively mounted above the left and right headlights in front of the vehicle through the infrared imaging cruise bracket. The infrared imaging cruise brackets are equipped with infrared imaging cruise control motors 8, which are electrically connected to the logic controller and can be driven according to control instructions issued by the logic controller. The infrared imaging cruise control motor 8 can then be driven to rotate the infrared imaging cruise bracket and drive the infrared imager to perform multi-angle ground scanning operations, so that the infrared imager executes the corresponding operating state.

[0058] In addition, the embodiment also provides a rain sensor and a light sensor 5 on the outside of the vehicle. Figure 3 As shown, the rain sensor is used to detect the rainfall information in real time, and the light sensor is used to detect the light intensity information in real time; a logic controller is set in the vehicle, and the logic controller is electrically connected to the rain sensor and the light sensor 5, and is used to generate control instructions for the operating status of the laser radar and the infrared imager on the vehicle according to the detected rainfall information and light intensity information, combined with the preset control logic.

[0059] Issued.

[0060] In this embodiment, the operating states of the laser radar and the infrared imager are set, and the operating states include a cruising state and a continuous state, which are respectively:

[0061] (1) The cruising state is: when the horizontal angle is the reference 0° state, the cruising bracket is driven to rotate by controlling the motor, thereby driving the laser radar and the infrared imager to perform reciprocating cruising ground scanning operations according to the scanning angle from the horizontal downward 10° and then back to the horizontal 0° position, and the reciprocating cruising ground scanning operation is performed every set time (set to every 1 second in this embodiment);

[0062] Specifically, in the cruise state, the laser radar cruise control motor built into the laser radar cruise bracket starts the cruise state according to the cruise state control instruction, driving the laser radar to move downward 10° from the reference 0° and then return to the 0° reference position, performing a reciprocating cruise ground scanning operation once per second; similarly, the infrared imaging cruise control motors built into the left infrared imaging cruise bracket and the right infrared imaging cruise bracket start the cruise state according to the cruise state control instruction, driving the left infrared imager and the right infrared imager respectively to move downward 10° from the reference 0° and then return to the 0° reference position, performing a reciprocating cruise ground scanning operation once per second.

[0063] (2) The continuous state is: when the horizontal angle is 0° as the reference, the motor is controlled to drive the cruise bracket to rotate, thereby driving the laser radar and infrared imager to perform continuous ground scanning operations according to the fixed scanning angles corresponding to the current situation.

[0064] In this embodiment, in order to ensure the effective implementation of the continuous state, different scenarios are pre-set, namely: according to the amount of rainfall, the rainfall information is divided into light rain, moderate rain, heavy rain and rainstorm, moderate rainfall and below include light rain and moderate rain, and moderate rainfall and above include heavy rain and rainstorm; according to the size of the light intensity, the light intensity information is divided into high, medium and low, high light intensity is during the day, medium light intensity is during the sunrise and sunset period and at night with auxiliary lighting, low light intensity is at night, among which medium and low light intensities are collectively referred to as night.

[0065] Furthermore, in the continuous state, when the horizontal angle is a reference 0° state, the range of the fixed scanning angle is 5 to 10° horizontally downward.

[0066] Specifically, when the detected rainfall information is moderate or below, and when the detected light intensity information is medium, the fixed scanning angle is 5° horizontally downward. At this time, the laser radar cruise control motor built into the laser radar cruise bracket starts the continuous state according to the continuous state control instruction, and controls the laser radar to continuously scan the ground at a fixed angle of 5° downward from the reference 0°, and the infrared imaging cruise control motors built into the left infrared imaging cruise bracket and the right infrared imaging cruise bracket start the continuous state according to the continuous state control instruction, and control the left infrared imager and the right infrared imager to perform continuous ground scanning at a fixed angle position of 5° downward from the reference 0°.

[0067] Similarly, when the detected rainfall information is moderate or above, and when the detected light intensity information is low, the fixed scanning angle is 10° horizontally downward. At this time, the laser radar cruise control motor built into the laser radar cruise bracket starts the continuous state according to the continuous state control instruction, and controls the laser radar to continuously scan the ground at a fixed angle of 10° downward from the reference 0°, and the infrared imaging cruise control motors built into the left infrared imaging cruise bracket and the right infrared imaging cruise bracket start the continuous state according to the continuous state control instruction, and control the left infrared imager and the right infrared imager to perform continuous ground scanning at a fixed angle position of 10° downward from the reference 0°.

[0068] Based on the above settings, in this embodiment, the control logic of the logic controller is:

[0069] (1) When the vehicle is moving, when rainfall information is detected, the rain sensor starts to transmit a working signal to the logic controller, and the logic controller sends a control instruction to the laser radar and infrared imager and its cruise control motor according to the preset conditions. After receiving the control instruction sent by the logic controller, the laser radar is started to operate in a continuous state to continuously scan the road surface, and the infrared imager is started to enter a continuous state to continuously scan the road surface;

[0070] (2) When no rainfall information is detected during the vehicle's movement, the rain sensor turns off the working signal and transmits it to the logic controller. The logic controller sends a control command to the laser radar and infrared imager and their cruise control motor according to preset conditions. After receiving the control command sent by the logic controller, the laser radar is started to operate in a cruise state to perform a cruise scanning operation on the road surface, and the infrared imager is started to operate in a cruise state to perform a cruise scanning operation on the road surface;

[0071] (3) When the vehicle is moving, when the light intensity information is detected to be high, that is, when it is detected to be daytime, the light sensor turns off the continuous working signal transmission to the logic controller, and the logic controller sends a control instruction to the laser radar and infrared imager and its cruise control motor according to the preset conditions. After receiving the control instruction sent by the logic controller, the laser radar is started to operate in the cruise state to perform a cruise scanning operation on the road surface, and the infrared imager is started to enter the cruise state to perform a cruise scanning operation on the road surface;

[0072] (4) When the vehicle is moving and the light intensity information is detected to be medium or low, that is, when it is detected to be at night, the light sensor starts to transmit the continuous working signal to the logic controller. The logic controller sends control instructions to the laser radar and infrared imager and its cruise control motor according to the preset conditions. After receiving the control instructions sent by the logic controller, the laser radar is started to operate in a continuous state to continuously scan the road surface, and the infrared imager is started to operate in a continuous state to continuously scan the road surface.

[0073] In addition, when facing various complex situations, the control logic of the logic controller is:

[0074] When rainfall information is detected and night conditions are triggered, the lidar and infrared imager are started to operate continuously;

[0075] When rainfall information is detected and daytime conditions are triggered, the lidar and infrared imager are started to operate continuously;

[0076] When no rainfall information is detected and the daytime condition is triggered, the lidar and infrared imager are started to enter the cruise state;

[0077] When no rainfall information is detected and night conditions are triggered, the lidar and infrared imager are started to operate in a continuous state.

[0078] Through the design of the above control logic, the laser radar and infrared imager scan in different states under different conditions. In normal weather, the original laser radar maintains its ability to identify the road ahead and the vehicle ahead. In rainless and daytime conditions, its field of view is relatively moderate, so the cruise ground scanning mode is enabled to intermittently scan and identify the ground ahead to reduce vehicle risks caused by changes in road conditions. At the same time, it can also take into account the scanning and identification of the front of the vehicle to avoid the risks brought by the vehicle ahead. In rainy, foggy and nighttime conditions, its field of view and environmental factors have a greater impact at this time, so the continuous ground scanning mode is enabled. By continuously scanning and identifying the ground ahead, when the vehicle is driving slowly in extreme weather, when faced with the identification of the vehicle ahead and the identification of ground changes, it can give priority to continuously identifying ground changes with a greater impact, thereby ensuring driving safety.

[0079] Furthermore, the system proposed in this embodiment also includes a processor and an alarm device arranged inside the vehicle, wherein the processor is used to generate a road integrity status image based on the road scanning information received in real time from the laser radar and infrared imager, and to identify abnormal road surfaces and their areas based on the generated image, and to generate alarm information based on the identification result; the alarm device is used to receive the alarm information and issue image, icon, and voice alarms. Through this setting, after identifying the abnormal road surface, the driver and passengers can be reminded through images, icons, voice reminders, etc., to achieve the purpose of avoiding danger.

[0080] Embodiment 2

[0081] This embodiment provides a method for detecting and warning the integrity of a vehicle's travel path, including:

[0082] Real-time detection of rainfall information and light intensity information during vehicle movement;

[0083] According to the rainfall information and the light intensity information, combined with the preset control logic, a control instruction for the operating state of the laser radar and the infrared imager on the vehicle is generated; the operating state includes a cruising state and a continuous state;

[0084] According to the operation state control instruction, the laser radar and the infrared imager are respectively controlled to start and execute the corresponding operation state to perform the road surface scanning operation of the vehicle traveling road;

[0085] Based on real-time road scanning information, road anomaly detection and abnormality alarm are performed.

[0086] Furthermore, the above-mentioned cruising state is: when the horizontal angle is the reference 0° state, the cruising bracket is driven to rotate by controlling the motor, thereby driving the laser radar and the infrared imager to perform reciprocating cruising ground scanning operations according to the scanning angle from the horizontal downward 10° and then back to the horizontal 0° position, and the reciprocating cruising ground scanning operations are performed once every set time;

[0087] The above-mentioned continuous state is: when the horizontal angle is the reference 0° state, the cruise bracket is driven to rotate by controlling the motor, thereby driving the laser radar and infrared imager to perform continuous ground scanning operations according to the fixed scanning angles corresponding to the current situation.

[0088] Embodiment 3

[0089] This embodiment provides a vehicle, including a vehicle road integrity detection and early warning system proposed in Embodiment 1, or executing a vehicle road integrity detection and early warning method proposed in Embodiment 2.

[0090] The steps involved in the above embodiments 2 to 3 correspond to those in embodiment 1. For the specific implementation methods, please refer to the relevant description part of embodiment 1.

[0091] Those skilled in the art should understand that the modules or steps of the present invention described above can be implemented by a general-purpose computer device, or alternatively, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. The present invention is not limited to any specific combination of hardware and software.

[0092] The above description is only a preferred embodiment of the present invention. Although the specific implementation mode of the present invention is described in conjunction with the accompanying drawings, it is not a limitation of the protection scope of the present invention. Those skilled in the art should understand that on the basis of the technical solution of the present invention, various modifications or variations that can be made by those skilled in the art without creative work are still within the protection scope of the present invention.

Claims

1. A vehicle road integrity detection and warning system, characterized in that: include: LiDAR, used to scan the road surface integrity of the road where the vehicle is traveling; The laser radar is installed on the top of the vehicle through a laser radar cruise bracket, and the laser radar cruise bracket has a built-in laser radar cruise control motor for executing a corresponding operating state according to a control instruction issued by a logic controller; An infrared imager is used to scan the road surface integrity of the road on which the vehicle is traveling; the infrared imager is respectively installed on both sides of the front of the vehicle through an infrared imaging cruise bracket, and the infrared imaging cruise bracket has a built-in infrared imaging cruise control motor, which is used to execute a corresponding operating state according to a control instruction issued by a logic controller; Rainfall sensor, used to detect rainfall information in real time; Light sensor, used to detect light intensity information in real time; The logic controller is used to generate and issue control instructions for the operating status of the laser radar and infrared imager on the vehicle based on the detected rainfall information and light intensity information in combination with the preset control logic.

2. A vehicle road integrity detection and warning system as claimed in claim 1, characterized in that: The operating state includes a cruising state and a continuous state; The cruising state is: when the horizontal angle is the reference 0° state, the cruising bracket is driven to rotate by controlling the motor, thereby driving the laser radar and the infrared imager to perform reciprocating cruising ground scanning operations according to the scanning angle from the horizontal downward 10° and then back to the horizontal 0° position, and the reciprocating cruising ground scanning operations are performed every set time; The continuous state is: when the horizontal angle is the reference 0° state, the cruise bracket is driven to rotate by controlling the motor, thereby driving the laser radar and infrared imager to perform continuous ground scanning operations according to the fixed scanning angles corresponding to the current scene.

3. A vehicle road integrity detection and warning system as claimed in claim 1, characterized in that: When the horizontal angle is 0° as the reference, the fixed scanning angle range is 5 to 10° downward from the horizontal; When the detected rainfall information is moderate or below, and the detected light intensity information is medium, the fixed scanning angle is 5° horizontally downward; When the detected rainfall information is moderate or above, and the detected light intensity information is low, the fixed scanning angle is 10° horizontally downward.

4. A vehicle road integrity detection and warning system as claimed in claim 1, characterized in that: According to the amount of rainfall, rainfall information is divided into light rain, moderate rain, heavy rain and rainstorm. Moderate rainfall and below include light rain and moderate rain, and moderate rainfall and above include heavy rain and rainstorm. According to the size of the light intensity, the light intensity information is divided into high, medium and low. The high light intensity is during the day, the medium light intensity is during the sunrise and sunset period and at night with auxiliary lighting, and the low light intensity is at night.

5. A vehicle road integrity detection and warning system as claimed in claim 1, characterized in that: The control logic of the logic controller includes: When the vehicle is moving, when rainfall information is detected, the laser radar is started to operate continuously to continuously scan the road surface, and the infrared imager is started to operate continuously to continuously scan the road surface; When no rainfall information is detected, the laser radar is started to operate in a cruise state to perform a cruise scanning operation on the road surface, and the infrared imager is started to operate in a cruise state to perform a cruise scanning operation on the road surface; When the light intensity information is detected as high light intensity, that is, when it is detected as daytime conditions, the laser radar cruise state is started to perform a cruise scanning operation on the road surface, and the infrared imager is started to enter the cruise state to perform a cruise scanning operation on the road surface; When the light intensity information is detected as medium or low light intensity, that is, when it is detected as a night condition, the lidar is started to operate in a continuous state to continuously scan the road surface, and the infrared imager is started to operate in a continuous state to continuously scan the road surface.

6. A vehicle road integrity detection and warning system as claimed in claim 5, characterized in that: The control logic of the logic controller includes: When rainfall information is detected and night conditions are triggered, the lidar and infrared imager are started to operate continuously; When rainfall information is detected and daytime conditions are triggered, the lidar and infrared imager are started to operate continuously; When no rainfall information is detected and the daytime condition is triggered, the lidar and infrared imager are started to enter the cruise state; When no rainfall information is detected and night conditions are triggered, the lidar and infrared imager are started to operate in a continuous state.

7. A vehicle road integrity detection and warning system as claimed in claim 1, characterized in that: The system also includes a processor and an alarm device disposed inside the vehicle; The processor is used to generate a road surface integrity status image based on road surface scanning information received in real time from the laser radar and infrared imager, identify abnormal road surfaces and areas thereof based on the generated image, and generate warning information based on the identification result; The alarm device is used to receive alarm information and issue image, icon, and voice alarms.

8. A vehicle road integrity detection and early warning method, characterized in that: include: Real-time detection of rainfall information and light intensity information during vehicle movement; According to the rainfall information and the light intensity information, combined with the preset control logic, a control instruction for the operating state of the laser radar and the infrared imager on the vehicle is generated; the operating state includes a cruising state and a continuous state; According to the operation state control instruction, the laser radar and the infrared imager are respectively controlled to start and execute the corresponding operation state to perform the road surface scanning operation of the vehicle traveling road; Based on real-time road scanning information, road anomaly detection and abnormality alarm are performed.

9. A vehicle road integrity detection and early warning method as claimed in claim 8, characterized in that: The cruising state is: when the horizontal angle is the reference 0° state, the cruising bracket is driven to rotate by controlling the motor, thereby driving the laser radar and the infrared imager to perform reciprocating cruising ground scanning operations according to the scanning angle from the horizontal downward 10° and then back to the horizontal 0° position, and the reciprocating cruising ground scanning operations are performed every set time; The continuous state is: when the horizontal angle is the reference 0° state, the cruise bracket is driven to rotate by controlling the motor, thereby driving the laser radar and infrared imager to perform continuous ground scanning operations according to the fixed scanning angles corresponding to the current scene.

10. A vehicle, characterized in that: It comprises a vehicle road integrity detection and early warning system as described in any one of claims 1-7, or executes a vehicle road integrity detection and early warning method as described in any one of claims 8-9.

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