A vehicle travel road integrity detection and early warning system, method and vehicle

Abstract

The application discloses a kind of vehicle road integrity detection and early warning system, method and vehicle, it is related to intelligent vehicle and driving technical field, including: laser radar and infrared imager, respectively for carrying out road surface integrity scanning operation to vehicle road;Rainfall sensor and light sensor, respectively for real-time detection rainfall information and illumination intensity information;Logic controller, for according to the rainfall information and illumination intensity information of detection, in combination with preset control logic, the control instruction of the running state of laser radar and infrared imager on vehicle is generated and is issued;Wherein the running state includes cruise state and continuous state;Processor, for generating road surface integrity state image and identifying abnormal road surface and its area according to real-time received road surface scanning information, generates alarm information according to identification result;Alarm device is used to receive alarm information and alarm.The application can realize the abnormal alarm of advancing road surface, effectively improve detection accuracy and driving safety.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of intelligent vehicles and driving technology, and particularly relates to a vehicle travel road integrity detection and early warning system and method and vehicle. BACKGROUND

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

[0003] With the rapid development of intelligent vehicle driving, the use of vehicle-mounted sensors to interact with the outside world to perceive surrounding environment information has become a common function of current vehicle driving, which can provide more useful information for driving, facilitate vehicle driving and improve driving safety. At present, in the driving process, laser radar is mostly used to detect the real-time distance of the preceding vehicle and the distance from the preceding vehicle, and timely warning is performed when the safe distance is exceeded. However, there is currently no scheme for detecting abnormal conditions such as road collapse and the like. The existing vehicle cannot effectively detect and identify the abnormal conditions of the front road, which will lead to the occurrence of vehicle falling and the like, and cannot effectively guarantee the driving safety.

[0004] Therefore, in the prior art, another laser radar can be provided to detect the road surface conditions in front of the vehicle. However, a single detection method may have detection errors, and the detection and identification effect is poor. In addition, a camera or other visual sensor can be provided on the front side of the vehicle to detect the road surface conditions in the driving process in real time. However, the visual recognition algorithm is complex and the cost is high, and in the case of poor light conditions (such as night driving), the recognition effect is poor. SUMMARY

[0005] To solve the above problems of the prior art, the present application provides a vehicle travel road integrity detection and early warning system and method and vehicle. A set of infrared imagers and laser radars are arranged on the vehicle, and the infrared imagers and laser radars are logically controlled and information processed according to the actual situation of the driving process. The infrared imagers and laser radars are controlled to perform road surface imaging scanning in the travel direction in the cruise state or the continuous state. The road surface integrity state image is drawn according to the two types of scanning results, and the front road surface anomaly is alarmed, thereby effectively improving the detection accuracy and driving safety.

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

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

[0008] A laser radar is used for road surface integrity scanning operation of a road on which a vehicle travels; the laser radar is installed on a top of the vehicle through a laser radar cruise support, the laser radar cruise support is internally provided with a laser radar cruise control motor, and the laser radar cruise control motor is used for executing a corresponding operation state according to a control instruction issued by a logic controller;

[0009] An infrared imager is used for road surface integrity scanning operation of a road on which a vehicle travels; the infrared imager is installed on two sides in front of a vehicle head through infrared imaging cruise supports, the infrared imaging cruise supports are internally provided with infrared imaging cruise control motors, and the infrared imaging cruise control motors are used for executing a corresponding operation state according to a control instruction issued by a logic controller;

[0010] A rain sensor is used for real-time detection of rain information;

[0011] A light sensor is used for real-time detection of light intensity information;

[0012] A logic controller is used for generating a control instruction of operation states of the laser radar and the infrared imager on the vehicle according to the detected rain information and the light intensity information, and issuing the control instruction according to a preset control logic.

[0013] Further technical solutions, the operation state includes a cruise state and a continuous state;

[0014] The cruise state is that, in a state in which a horizontal angle is a reference 0°, a cruise support is driven to rotate through a control motor, and then the laser radar and the infrared imager are driven to perform reciprocating cruise ground scanning operation according to a scanning angle from a horizontal direction to a downward direction by 10° and then back to a horizontal 0° position, and the reciprocating cruise ground scanning operation is performed once every set time;

[0015] The continuous state is that, in a state in which a horizontal angle is a reference 0°, a cruise support is driven to rotate through a control motor, and then the laser radar and the infrared imager are driven to perform continuous ground scanning operation according to a fixed scanning angle corresponding to a current situation.

[0016] Further technical solutions, in a state in which a horizontal angle is a reference 0°, a range of the fixed scanning angle is from a horizontal direction to a downward direction by 5-10°;

[0017] When the detected rain information is moderate rain and below, and the detected light intensity information is moderate, the fixed scanning angle is from a horizontal direction to a downward direction by 5°;

[0018] When the detected rain information is moderate rain and above, and the detected light intensity information is low, the fixed scanning angle is from a horizontal direction to a downward direction by 10°.

[0019] Further technical solutions, according to the size of the rainfall, the rainfall information is divided into light rain, moderate rain, heavy rain and heavy rain, rainfall moderate and below include light rain and moderate rain, rainfall moderate above include heavy rain and heavy rain;

[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 daytime, the medium light intensity is sunrise and sunset period and night with auxiliary light state, and the low light intensity is night.

[0021] Further technical solutions, the control logic of the logic controller includes:

[0022] During the vehicle driving, when the rainfall information is detected, the laser radar continuous state operation is started to perform continuous scanning operation on the road surface, and the infrared imager enters the continuous state operation to perform continuous scanning operation on the road surface;

[0023] When the rainfall information is not detected, the laser radar cruise state operation is started to perform cruise scanning operation on the road surface, and the infrared imager enters the cruise state operation to perform cruise scanning operation on the road surface;

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

[0025] When the light intensity information is detected as medium or low light intensity, that is, night condition is detected, the laser radar continuous state operation is started to perform continuous scanning operation on the road surface, and the infrared imager enters the continuous state operation to perform continuous scanning operation on the road surface.

[0026] Further technical solutions, the control logic of the logic controller includes:

[0027] When the rainfall information is detected and the night condition is triggered, the laser radar and the infrared imager enter the continuous state operation;

[0028] When the rainfall information is detected and the daytime condition is triggered, the laser radar and the infrared imager enter the continuous state operation;

[0029] When the rainfall information is not detected and the daytime condition is triggered, the laser radar and the infrared imager enter the cruise state operation;

[0030] When the rainfall information is not detected and the night condition is triggered, the laser radar and the infrared imager enter the continuous state operation.

[0031] Further, the system further comprises a processor and an alarm device arranged in the vehicle interior.

[0032] The processor is configured to generate a road surface integrity state image according to the real-time received road surface scanning information of the laser radar and the infrared imager, identify abnormal road surface and its area according to the generated image, and generate alarm information according to the identification result.

[0033] The alarm device is configured to receive the alarm information and perform image, icon and voice alarm.

[0034] In a second aspect, the application provides a vehicle road integrity detection and early warning method.

[0035] The vehicle road integrity detection and early warning method comprises the following steps.

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

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

[0038] According to the running state control instruction, the laser radar and the infrared imager are respectively controlled to start and execute corresponding running states to perform road surface scanning work of the vehicle travel road.

[0039] According to the real-time road surface scanning information, road surface anomaly detection and abnormal alarm are performed.

[0040] Further, the cruising state is that, in a horizontal angle as a reference 0° state, a motor driving cruising support is controlled to rotate, and then the laser radar and the infrared imager are driven to perform reciprocating cruising ground scanning work according to a scanning angle from horizontal downward 10° to horizontal 0° position, and the reciprocating cruising ground scanning work is performed every set time.

[0041] The continuous state is that, in a horizontal angle as a reference 0° state, a motor driving cruising support is controlled to rotate, and then the laser radar and the infrared imager are driven to perform continuous ground scanning work according to a fixed scanning angle corresponding to a current scene.

[0042] In a third aspect, the application further provides a vehicle comprising the vehicle road integrity detection and early warning system of the first aspect or performing the vehicle road integrity detection and early warning method of the second aspect.

[0043] The above one or more technical solutions have the following beneficial effects:

[0044] 1. The application provides a vehicle road integrity detection and early warning system, method and vehicle, which comprises a set of infrared imagers and laser radars arranged on the vehicle, and the infrared imagers and laser radars are logically controlled and information processed according to the actual situation of driving, the infrared imagers and laser radars are controlled to perform road surface imaging scanning in the driving direction in the cruising state or the continuous state, the road surface integrity state image is drawn according to the scanning results of the two types, and the front road surface anomaly warning is performed, so that the detection accuracy and driving safety are effectively improved.

[0045] 2. The application comprises a set of infrared imagers arranged at the left and right positions of the vehicle head, so as to respectively scan and image the left and right road surfaces, and the laser radar on the vehicle roof is additionally provided with a ground scanning mode, so as to realize the stereoscopic scanning and imaging of the road surface in the driving direction, the whole road surface can be effectively covered by scanning in two ways, and the accuracy of road surface anomaly identification can be effectively improved by comprehensively identifying the scanning results of the two ways.

[0046] 3. The application also detects the driving environment in real time through the rain sensor and light sensor arranged on the vehicle, and logically controls and information processes the infrared imagers above the vehicle headlights and the laser radar on the vehicle roof according to the current environmental state detected, so that the laser radar and infrared imagers perform cruising state operation or continuous state operation, thereby realizing high-precision road surface anomaly identification for various different situations; for different situations, such as in the case of no rain and daytime, the field of view is relatively moderate at this time, so the cruising ground scanning mode is enabled, the front ground is scanned and identified intermittently, so as to reduce the risk of the vehicle caused by road condition changes, and the scanning and identification of the front of the vehicle can be taken into account, so as to avoid the risk brought by the front driving vehicle; in the case of rain, fog and night, the field of view and environmental factors are greatly affected at this time, so the continuous ground scanning mode is enabled, the front ground is scanned and identified continuously, so as to face the front vehicle identification and ground change identification when the vehicle drives slowly in extreme weather, and the ground change with greater influence is continuously identified in priority, so as to ensure the safety of driving. Through the different ground scanning modes in the above different situations, the safety of vehicle driving can be further improved.

[0047] The advantages of the additional aspects of the application will be partially given in the following description, partially will become obvious from the following description, or will be known by the practice of the application. BRIEF DESCRIPTION OF DRAWINGS

[0048] The drawings accompanying the specification of the application serve to provide a further understanding of the application, the illustrative embodiments of the application and the description thereof serve to explain the application, and do not constitute an improper limitation of the application.

[0049] Figure 1Structure front view of vehicle road integrity detection and early warning system in the embodiment of the present application;

[0050] Figure 2 Structure side view of vehicle road integrity detection and early warning system in the embodiment of the present application;

[0051] Figure 3 Logic control schematic diagram of vehicle road integrity detection and early warning in the embodiment of the present application.

[0052] Wherein, 1, laser radar; 2, laser radar cruise support; 3, left infrared imager; 4, left infrared imaging cruise support; 5, rain sensor and light sensor; 6, right infrared imager; 7, right infrared imaging cruise support; 8, infrared imaging cruise control motor; 9, laser radar cruise control motor. DETAILED DESCRIPTION

[0053] It should be noted that the following detailed description is exemplary only and is intended to describe specific embodiments of the present application, which are intended to provide further illustration of the present application, and is not intended to limit the exemplary embodiments according to the present application. Unless otherwise indicated, all technical and scientific terms used herein have the same meaning as generally understood by those skilled in the art to which the present application belongs. In addition, it should be understood that when the terms "comprise" and / or "include" are used in the present specification, they refer to the presence of a feature, step, operation, device, component and / or their combination.

[0054] Embodiment one

[0055] The present embodiment provides a vehicle road integrity detection and early warning system, as shown in Figure 1 and Figure 2 The system includes laser radar 1, laser radar cruise support 2, light radar cruise control motor, infrared imager, infrared imaging cruise support, infrared imaging cruise control motor 8, rain sensor, light sensor and logic controller.

[0056] The laser radar is provided for road surface integrity scanning operation of the vehicle road, the laser radar is installed on the laser radar cruise support 2, and the laser radar cruise support 2 is installed on the top of the vehicle, and the laser radar cruise support 2 is built-in laser radar cruise control motor 9, the laser radar cruise control motor 9 is electrically connected with the logic controller, and the laser radar cruise control motor 9 can be driven according to the control instruction issued by the logic controller, so as to drive the laser radar cruise support 2 to rotate, and drive the laser radar to perform multi-angle scanning operation on the ground, so that the laser radar performs corresponding operation state.

[0057] Similarly, the infrared imager is arranged for road surface integrity scanning of the road on which the vehicle travels. In this embodiment, two infrared imagers are arranged, i.e. the left infrared imager 3 and the right infrared imager 6. Each infrared imager is mounted on a corresponding infrared imaging cruise support, i.e. the left infrared imaging cruise support 4 and the right infrared imaging cruise support 7, and is mounted above the left and right headlamps in front of the vehicle head through the infrared imaging cruise support. The infrared imaging cruise support is internally provided with an infrared imaging cruise control motor 8. The infrared imaging cruise control motor 8 is electrically connected with the logic controller and can drive the infrared imaging cruise control motor 8 according to the control instruction issued by the logic controller, thereby driving the infrared imaging cruise support to rotate and driving the infrared imager to perform multi-angle ground scanning, so that the infrared imager executes the corresponding operating state.

[0058] In addition, a rain sensor and a light sensor 5 are arranged on the outside of the vehicle, as shown in Figure 3 . The rain sensor is used to detect rain information in real time, and the light sensor is used to detect light intensity information in real time. A logic controller is arranged in the vehicle, which is electrically connected with the rain sensor and the light sensor 5, and is used to generate a control instruction of the operating state of the laser radar and the infrared imager on the vehicle according to the detected rain information and light intensity information, combined with a preset control logic, and

[0059] issues the control instruction.

[0060] In this embodiment, the operating state of the laser radar and the infrared imager is arranged, which includes a cruise state and a continuous state, which are respectively:

[0061] (1) Cruise state: in the state of horizontal angle as reference 0°, the cruise support is driven to rotate by the control motor, thereby driving the laser radar and the infrared imager to perform reciprocating cruise ground scanning according to the scanning angle from horizontal to 10° downward and back to the horizontal 0° position, and the reciprocating cruise ground scanning is performed once every set time (1 second in this embodiment);

[0062] Specifically, in the cruise state, the laser radar cruise control motor built in the laser radar cruise support starts the cruise state according to the cruise state control instruction, and drives the laser radar to perform reciprocating cruise ground scanning once every second according to the mode of 0° reference to 10° downward and back to the 0° reference position. Similarly, the infrared imaging cruise control motors built in the left and right infrared imaging cruise supports control start the cruise state according to the cruise state control instruction, and respectively drive the left and right infrared imagers to perform reciprocating cruise ground scanning once every second according to the mode of 0° reference to 10° downward and back to the 0° reference position.

[0063] (2) the continuous state is that, in the state of the horizontal angle as the reference 0°, the motor driving cruise support is controlled to rotate, and then the laser radar and the infrared imager are driven to continuously scan the ground according to the fixed scanning angle corresponding to the current situation.

[0064] In the embodiment, in order to ensure the effective implementation of the continuous state, different situations are preset, that is, according to the size of the rainfall, the rainfall information is divided into light rain, moderate rain, heavy rain and heavy rain, and the moderate rainfall and below include light rain and moderate rain, and the moderate rainfall and above include heavy rain and heavy rain; according to the size of the light intensity, the light intensity information is divided into high, medium and low, the high light intensity is the daytime, the medium light intensity is the sunrise and sunset period and the night with auxiliary light, and the low light intensity is the night, wherein the medium and low light intensity are collectively referred to as night.

[0065] Further, in the continuous state, in the state of the horizontal angle as the reference 0°, the range of the fixed scanning angle is 5-10° downward horizontally.

[0066] Specifically, when the detected rainfall information is moderate rainfall and below, and when the detected light intensity information is medium, the fixed scanning angle is 5° downward horizontally. At this time, the laser radar cruise control motor built in the laser radar cruise support starts the continuous state according to the continuous state control instruction, controls the laser radar to continuously scan the ground according to the fixed angle of 0° downward 5°, and the infrared imaging cruise control motor built in the left and right infrared imaging cruise supports starts the continuous state according to the continuous state control instruction, controls the left and right infrared imagers to continuously scan the ground according to the fixed angle position of 0° downward 5°, respectively.

[0067] Similarly, when the detected rainfall information is moderate rainfall and above, and when the detected light intensity information is low, the fixed scanning angle is 10° downward horizontally. At this time, the laser radar cruise control motor built in the laser radar cruise support starts the continuous state according to the continuous state control instruction, controls the laser radar to continuously scan the ground according to the fixed angle of 0° downward 10°, and the infrared imaging cruise control motor built in the left and right infrared imaging cruise supports starts the continuous state according to the continuous state control instruction, controls the left and right infrared imagers to continuously scan the ground according to the fixed angle position of 0° downward 10°, respectively.

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

[0069] (1) In the process of vehicle driving, when the rainfall information is detected, the rainfall sensor starts to transmit the working signal to the logic controller, and the logic controller issues the control instruction to the laser radar, the infrared imager and the cruise control motor according to the preset condition. After receiving the control instruction issued by the logic controller, the laser radar starts to run in the continuous state to continuously scan the road surface, and the infrared imager starts to run in the continuous state to continuously scan the road surface.

[0070] (2) In the process of vehicle driving, when the rainfall information is not detected, the rainfall sensor stops transmitting the working signal to the logic controller, and the logic controller issues the control instruction to the laser radar, the infrared imager and the cruise control motor according to the preset condition. After receiving the control instruction issued by the logic controller, the laser radar starts to run in the cruise state to cruise scan the road surface, and the infrared imager starts to run in the cruise state to cruise scan the road surface.

[0071] (3) In the process of vehicle driving, when the light intensity information is detected as high light intensity, that is, the daytime condition is detected, the light sensor stops transmitting the continuous working signal to the logic controller, and the logic controller issues the control instruction to the laser radar, the infrared imager and the cruise control motor according to the preset condition. After receiving the control instruction issued by the logic controller, the laser radar starts to run in the cruise state to cruise scan the road surface, and the infrared imager starts to run in the cruise state to cruise scan the road surface.

[0072] (4) In the process of vehicle driving, when the light intensity information is detected as medium or low light intensity, that is, the nighttime condition is detected, the light sensor starts to transmit the continuous working signal to the logic controller, and the logic controller issues the control instruction to the laser radar, the infrared imager and the cruise control motor according to the preset condition. After receiving the control instruction issued by the logic controller, the laser radar starts to run in the continuous state to continuously scan the road surface, and the infrared imager starts to run in the continuous state to continuously scan the road surface.

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

[0074] When the rainfall information is detected and the nighttime condition is triggered, the laser radar and the infrared imager start to run in the continuous state;

[0075] When the rainfall information is detected and the daytime condition is triggered, the laser radar and the infrared imager start to run in the continuous state;

[0076] When the rainfall information is not detected and the daytime condition is triggered, the laser radar and the infrared imager start to run in the cruise state;

[0077] When the rainfall information is not detected and the night condition is triggered, the laser radar and the infrared imager are started to run in the continuous state.

[0078] Through the design of the above control logic, the laser radar and the infrared imager are scanned in different states under different conditions. Under normal weather, the original laser radar is maintained to identify the front road surface and the front vehicle. In the daytime without rain, the field of view is relatively moderate, so the cruise-to-ground scanning mode is enabled to reduce the risk of vehicle caused by road conditions, while the scanning and identification of the front vehicle are also considered to avoid the risk caused by the front driving vehicle. In the rain, fog and night, the field of view and environmental factors are greatly affected, so the continuous-to-ground scanning mode is enabled to continuously scan and identify the front ground, which can identify the front vehicle and the ground changes in the case of slow vehicle driving in extreme weather, and give priority to continuous identification of the ground changes with greater impact, thereby ensuring the safety of driving.

[0079] Further, the system provided in the embodiment further includes a processor and an alarm device arranged in the vehicle interior, wherein the processor is configured to generate a road surface integrity state image according to the real-time received road surface scanning information of the laser radar and the infrared imager, identify abnormal road surface and its area according to the generated image, and generate alarm information according to the identification result; and the alarm device is configured to receive the alarm information and perform image, icon and voice alarm. Through this setting, the driver and passengers can be reminded by image, icon, voice and other ways after the abnormal road surface is identified, so as to avoid the occurrence of danger.

[0080] Embodiment Two

[0081] The embodiment provides a vehicle driving road integrity detection and early warning method, which comprises the following steps:

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

[0083] According to the rainfall information and the light intensity information, a control instruction of a running state of a laser radar and an infrared imager on the vehicle is generated in combination with a preset control logic; the running state includes a cruise state and a continuous state;

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

[0085] According to the real-time road surface scanning information, road surface anomaly detection and abnormal alarm are performed.

[0086] Further, the cruise state is that: in the state of the horizontal angle as the reference 0°, the cruise bracket is driven to rotate by the motor, and then the laser radar and the infrared imager are driven to perform the reciprocating cruise scanning operation on the ground according to the scanning angle from the horizontal to 10° downward and then back to the horizontal 0° position, and the reciprocating cruise scanning operation on the ground is performed once every set time.

[0087] The continuous state is that: in the state of the horizontal angle as the reference 0°, the cruise bracket is driven to rotate by the motor, and then the laser radar and the infrared imager are driven to perform the continuous scanning operation on the ground according to the fixed scanning angle corresponding to the current situation.

[0088] Embodiment three

[0089] The embodiment provides a vehicle, which comprises the vehicle road integrity detection and early warning system provided in the embodiment one or performs the vehicle road integrity detection and early warning method provided in the embodiment two.

[0090] The steps involved in the above embodiments two to three correspond to the embodiment one, and the specific implementation manners can be referred to the related description part of the embodiment one.

[0091] Those skilled in the art should understand that the modules or steps of the present application can be realized by a general computer device, and alternatively, they can be realized by program codes executable by the computing device, so that they can be stored in the storage device and executed by the computing device, or they can be respectively manufactured into integrated circuit modules, or a plurality of modules or steps among them can be manufactured into a single integrated circuit module. The present application is not limited to any specific combination of hardware and software.

[0092] The above description is only the preferred embodiments of the present application, and the specific implementation manners of the present application are described in combination with the drawings, but the present application is not limited to the above description. Those skilled in the art should understand that various modifications or changes made on the basis of the technical solutions of the present application without creative labor are still within the protection scope of the present application.

Claims

1. A system for detecting and warning of road integrity for vehicles, characterized in that, include: LiDAR is used to scan the road surface integrity of the road where vehicles are traveling. The lidar is mounted on the top of the vehicle via a lidar cruise bracket. The lidar cruise bracket has a built-in lidar cruise control motor, which is used to execute the corresponding operating state according to the control commands issued by the logic controller. An infrared imager is used to scan the road surface integrity of the road in which the vehicle is traveling. The infrared imager is installed on both sides of the front of the vehicle via an infrared imaging cruise bracket. The infrared imaging cruise bracket has a built-in infrared imaging cruise control motor, which is used to execute the corresponding operating state according to the control instructions issued by the logic controller. Rain gauges are used to detect rainfall information in real time; light sensors are used to detect light intensity information in real time. The logic controller, based on detected rainfall and light intensity information and in conjunction with preset control logic, generates control commands for the operating status of the vehicle's lidar and infrared imager, including: During vehicle operation, when rainfall information is detected, the LiDAR system continuously scans the road surface, and the infrared imager also continuously scans the road surface. When no rainfall information is detected, the LiDAR system cruises through the road surface, and the infrared imager also cruises through the road surface. When high light intensity is detected (daytime conditions), the LiDAR system cruises through the road surface, and the infrared imager also cruises through the road surface. When medium or low light intensity is detected (nighttime conditions), the LiDAR system continuously scans the road surface, and the infrared imager also cruises through the road surface. The operating states include a cruise state and a continuous state. The cruise state is as follows: with the horizontal angle as the reference 0°, the cruise support is rotated by controlling the motor, thereby driving the lidar and infrared imager to perform reciprocating cruise scanning operations from the horizontal downwards by 10° and back to the horizontal 0° position, and the reciprocating cruise scanning operation is performed once every set time interval. The continuous state is as follows: with the horizontal angle as the reference 0°, the cruise support is rotated by controlling the motor, thereby driving the lidar and infrared imager to perform continuous ground scanning operations according to the fixed scanning angle corresponding to the current situation.

2. The vehicle road integrity detection and early warning system as described in claim 1, characterized in that, With the horizontal angle as the reference of 0°, the fixed scanning angle range is 5~10° downward from the horizontal. When the detected rainfall information is moderate or below, and the detected light intensity information is moderate, the fixed scanning angle is 5° downward from the horizontal. When the detected rainfall information is moderate or above, and the detected light intensity information is low, the fixed scanning angle is 10° downwards horizontally.

3. The vehicle road integrity detection and early warning system as described in claim 1, characterized in that, Based on the amount of rainfall, rainfall information is divided into light rain, moderate rain, heavy rain, and rainstorm. Moderate and below rainfall includes light rain and moderate rain, while above moderate rainfall includes heavy rain and rainstorm. Based on the intensity of light, the light intensity information is divided into high, medium, and low. High light intensity is during the day, medium light intensity is during sunrise and sunset and at night when there is auxiliary lighting, and low light intensity is at night.

4. The vehicle road integrity detection and early warning system as described in claim 1, characterized in that, The control logic of the logic controller includes: When rainfall information is detected and nighttime conditions are triggered, the lidar and infrared imager are activated and put into continuous operation. When rainfall information is detected and daytime conditions are triggered, the lidar and infrared imager are activated and put into continuous operation. When no rainfall information is detected and daytime conditions are triggered, the lidar and infrared imager are activated to enter cruise mode. When no rainfall information is detected and nighttime conditions are triggered, the lidar and infrared imager are activated and put into continuous operation.

5. The vehicle road integrity detection and early warning system as described in claim 1, characterized in that, The system also includes a processor and an alarm device located inside the vehicle; The processor is used to generate a road integrity status image based on the road surface scanning information received in real time from the lidar and infrared imager, identify abnormal road surfaces and their areas based on the generated image, and generate alarm information based on the identification results. The alarm device is used to receive alarm information and issue image, icon, and voice alarms.

6. A method for detecting and warning of road integrity for vehicles, employing a road integrity detection and warning system as described in any one of claims 1-5, characterized in that, include: Real-time monitoring of rainfall and light intensity information during vehicle movement; Based on rainfall and light intensity information, and combined with preset control logic, control commands are generated to determine the operating status of the vehicle's lidar and infrared imager; the operating status includes cruise mode and continuous mode. According to the operation status control command, the lidar and infrared imager are started and executed in accordance with the corresponding operation status to carry out road surface scanning operations on the road where the vehicle is traveling; Based on real-time road surface scanning information, road surface anomaly detection and alarm are performed.

7. The method for detecting and warning of road integrity for vehicles as described in claim 6, characterized in that, The cruise state is as follows: with the horizontal angle as the reference 0°, the cruise support is rotated by controlling the motor, which in turn drives the lidar and infrared imager to perform reciprocating cruise scanning operations from the horizontal downward 10° and back to the horizontal 0° position, and the reciprocating cruise scanning operation is performed once every set time. The continuous state is as follows: with the horizontal angle as the reference 0°, the cruise support is rotated by controlling the motor, which in turn drives the lidar and infrared imager to perform continuous ground scanning operations according to the fixed scanning angle corresponding to the current situation.

8. A vehicle, characterized in that, Includes a vehicle road integrity detection and early warning system as described in any one of claims 1-5, or performs a vehicle road integrity detection and early warning method as described in any one of claims 6-7.

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