Bridge floor missing identification method, device and equipment in driving process and medium

Abstract

The invention discloses a bridge floor missing recognition method, device and equipment in the driving process and a medium, and relates to the technical field of intelligent driving, and the method comprises the steps: recognizing a bridge floor guardrail line when a vehicle drives into a bridge floor; if it is recognized that the bridge deck guardrail line is missing, determining two end points of the missing part, and forming two connecting lines with a vehicle based on the two end points; obtaining two included angles between the two connecting lines and a target connecting line, and calculating the length of the missing part according to the two included angles; the target connecting line is a horizontal connecting line of the vehicle and the bridge deck guardrail line. Therefore, the abnormal condition of the bridge floor can be captured in advance, response time is won for a driver, and the situation that the vehicle drives to a dangerous area without knowing the situation is avoided.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving technology, and in particular to a method, device, equipment and medium for identifying bridge deck missing during driving. Background Art

[0002] In real life, rainstorms or extremely heavy rainstorms occur from time to time. Such extreme weather may destroy bridge piers and cause part of the bridge deck to collapse. At the same time, overloading of trucks is also common, which can also cause the bridge deck to collapse under the heavy load. When a bridge deck collapse occurs, bad weather reduces visibility, insufficient light at night affects vision, vehicles ahead block vision, and the driver's own fatigue or lack of concentration are intertwined, causing the driver to fail to detect the danger ahead in time. Once a vehicle accidentally drives towards the gap in the bridge, it is very likely to cause a traffic accident, causing immeasurable losses. Summary of the invention

[0003] In view of this, the purpose of the present invention is to provide a method, device, equipment and medium for identifying bridge deck missing during driving, which can capture abnormal conditions of the bridge deck in advance, buy reaction time for the driver, and prevent the vehicle from driving into a dangerous area without knowing it. The specific scheme is as follows:

[0004] In a first aspect, the present application discloses a method for identifying bridge deck missing during driving, comprising:

[0005] When a vehicle enters the bridge deck, identify the bridge deck guardrail line;

[0006] If it is identified that the bridge deck guardrail line is missing, two endpoints of the missing part are determined, and two connecting lines are formed based on the two endpoints and the vehicle;

[0007] Two angles between the two lines and a target line are obtained, and the length of the missing portion is calculated based on the two angles; the target line is a horizontal line between the vehicle and the bridge deck guardrail line.

[0008] Optionally, if it is identified that the bridge deck guardrail line is missing, determining two endpoints of the missing portion includes:

[0009] Within the monitoring range, if it is identified that the bridge deck guardrail line is missing, the two endpoints of the missing part are determined; wherein the two endpoints are respectively the boundary points of the monitoring range or the points inside the monitoring range.

[0010] Optionally, the method for identifying bridge deck missing during driving further includes:

[0011] Determine a first boundary point based on a safe braking distance, and determine a second boundary point based on the safe braking distance and a first target length; wherein the first target length is greater than a preset missing length threshold;

[0012] The range between the first boundary point and the second boundary point is determined as the monitoring range.

[0013] Optionally, calculating the length of the missing portion according to the two included angles includes:

[0014] Determine two tangent values ​​corresponding to the two included angles, and determine a difference between the two tangent values;

[0015] The length of the missing portion is determined according to the product of the difference between the two tangent values ​​and a second target length; wherein the second target length is the length of the target line.

[0016] Optionally, after calculating the length of the missing portion according to the two included angles, the method further includes:

[0017] Determine whether the length of the missing portion is greater than the preset missing length threshold;

[0018] If the length of the missing portion is greater than the preset missing length threshold, triggering a first warning mechanism;

[0019] If the distance between the vehicle and the missing part is the safe braking distance, emergency braking is initiated.

[0020] Optionally, after calculating the length of the missing portion according to the two included angles, the method further includes:

[0021] Determine the cumulative sum of the safe braking distance and the preset missing length threshold, and when the distance between the vehicle and the end point of the bridge deck is not greater than the cumulative sum, turn off the recognition function of the bridge deck guardrail line.

[0022] Optionally, the method for identifying bridge deck missing during driving further includes:

[0023] A warning range centered on the vehicle is calculated based on the vehicle's driving speed, preset warning time and safety redundant distance, and when vehicles surrounding the vehicle enter the warning range, a second warning mechanism is triggered so that bridge deck missing warning information can be sent to surrounding vehicles through the second warning mechanism.

[0024] In a second aspect, the present application discloses a device for identifying bridge deck missing during driving, comprising:

[0025] The identification and opening module is used to identify the bridge deck guardrail line when the vehicle enters the bridge deck;

[0026] An endpoint determination module, for determining two endpoints of the missing portion if it is identified that the bridge deck guardrail line is missing, and forming two connecting lines based on the two endpoints and the vehicle;

[0027] The length calculation module is used to obtain the two angles between the two lines and the target line, and calculate the length of the missing part according to the two angles; the target line is a horizontal line between the vehicle and the bridge deck guardrail line.

[0028] In a third aspect, the present application discloses an electronic device, comprising:

[0029] Memory, used to store computer programs;

[0030] A processor is used to execute the computer program to implement the aforementioned disclosed method for identifying bridge deck missing during driving.

[0031] In a fourth aspect, the present application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned method for identifying missing bridge decks during driving is implemented.

[0032] It can be seen that the present application proposes a method for identifying bridge deck missing during driving, including: when a vehicle enters the bridge deck, identifying the bridge deck guardrail line; if it is identified that the bridge deck guardrail line is missing, then determining the two endpoints of the missing part, and forming two lines based on the two endpoints and the vehicle; obtaining two angles between the two lines and the target line, and calculating the length of the missing part based on the two angles; wherein the target line is the horizontal line between the vehicle and the bridge deck guardrail line. In summary, when the vehicle enters the bridge deck, the recognition function of the bridge deck guardrail line is turned on. Once it is identified that the bridge deck guardrail line is missing, the two endpoints of the missing part are determined, and the two lines formed by the two endpoints and the vehicle are further determined. Next, the two angles between the two lines and the target line are obtained, so as to convert the actual spatial position relationship into quantifiable angle data. Subsequently, the length of the missing part is calculated based on the two angles, thereby achieving accurate quantification of the bridge deck damage. In this way, when the driver may not be able to intuitively perceive the danger, the present application can capture the abnormal condition of the bridge deck in advance, so as to buy the driver reaction time and prevent the vehicle from driving into the dangerous area without knowing it. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0034] Figure 1 A flow chart of a method for identifying bridge deck missing during driving disclosed in the present application;

[0035] Figure 2 A schematic diagram of a vehicle driving onto a collapsed bridge surface disclosed in the present application;

[0036] Figure 3 A schematic diagram of a monitoring range disclosed in this application;

[0037] Figure 4 This is a schematic diagram of the first bridge deck missing type disclosed in this application;

[0038] Figure 5 This is a schematic diagram of the second bridge deck missing type disclosed in this application;

[0039] Figure 6 This is a schematic diagram of the third bridge deck missing type disclosed in this application;

[0040] Figure 7 This is a schematic diagram of the fourth bridge deck missing type disclosed in this application;

[0041] Figure 8 A flowchart of a specific method for identifying bridge deck missing during driving disclosed in this application;

[0042] Fig. 9 This is a schematic diagram of the structure of a bridge deck missing identification device during driving disclosed in the present application;

[0043] Fig.10 This is a structural diagram of an electronic device disclosed in this application. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] In real life, rainstorms or extremely heavy rainstorms occur from time to time. Such extreme weather may destroy bridge piers and cause part of the bridge deck to collapse. At the same time, overloading of trucks is also common, which can also cause the bridge deck to collapse under the heavy load. When a bridge deck collapse occurs, bad weather reduces visibility, insufficient light at night affects vision, vehicles ahead block vision, and the driver's own fatigue or lack of concentration are intertwined, causing the driver to fail to detect the danger ahead in time. Once a vehicle accidentally drives towards the gap in the bridge, it is very likely to cause a traffic accident, causing immeasurable losses.

[0046] To this end, an embodiment of the present application proposes a bridge deck missing identification solution during driving, which can capture abnormal conditions of the bridge deck in advance and prevent the vehicle from driving into a dangerous area without knowing it.

[0047] The present application embodiment discloses a method for identifying bridge deck missing during driving, see Figure 1 As shown, the method includes:

[0048] Step S11: When the vehicle enters the bridge deck, identify the bridge deck guardrail line.

[0049] In this embodiment, when the vehicle enters the bridge deck through GPS (Global Positioning System Navigation) or Beidou navigation, the recognition function of the bridge deck guardrail line will be triggered. Figure 2 As shown in the figure, line C represents the bridge guardrail line, and line A and line B are the left and right lane lines of the vehicle lane, which are used to regulate the driving of vehicles between different lanes in the same driving direction. It should be pointed out that if the bridge guardrail line is detected to be missing during the recognition process, a new bridge guardrail line will continue to be generated based on the previously recorded bridge guardrail line trajectory to ensure that the system continuously monitors and recognizes the overall condition of the bridge deck, thereby calculating the length of the missing part.

[0050] Step S12: If it is identified that the bridge deck guardrail line is missing, two endpoints of the missing part are determined, and two connecting lines are formed based on the two endpoints and the vehicle.

[0051] In this embodiment, within the monitoring range, if the bridge deck guardrail line is identified to be missing, the two endpoints of the missing part are determined. It can be understood that the two endpoints are respectively the boundary points of the monitoring range or the points inside the monitoring range. It should be pointed out that the monitoring range is determined based on the following method: the first boundary point is determined based on the safe braking distance, and the second boundary point is determined based on the safe braking distance and the first target length; wherein the first target length is greater than the preset missing length threshold; the range between the first boundary point and the second boundary point is determined as the monitoring range.

[0052] It should be pointed out that the driving styles of different drivers are quite different. Some drivers have more aggressive driving styles and may often speed, accelerate suddenly, and brake suddenly, while some drivers are more conservative and have stable driving behaviors. Therefore, determining the driving style type according to the driving behavior characteristics and setting different preset missing length thresholds and different safe braking distances accordingly can more accurately adapt to the actual conditions of different drivers. Specifically, the driving behavior characteristics of the driver are collected from the driving behavior data of the driver, and the corresponding driving style type is determined according to the driving behavior characteristics, and then different preset missing length thresholds and different safe braking distances are set according to different driving style types. Among them, the driving behavior characteristics include speed-related characteristics, acceleration-related characteristics, following distance-related characteristics and lane change-related characteristics, etc. The speed-related characteristics include average vehicle speed and speed fluctuation amplitude, etc., the acceleration-related characteristics include sudden acceleration frequency and sudden braking frequency, etc., the following distance-related characteristics include average following distance and following distance fluctuation, etc., and the lane change-related characteristics include lane change frequency and the use of turn signals when changing lanes, etc. The driving style types include radical, conservative and stable.

[0053] See also Figure 3 As shown, b is the safe braking distance, c is the first target length, the first target length is greater than the preset missing length threshold d, in some embodiments, d can be set to 30cm, the first boundary point is determined based on the safe braking distance, and the second boundary point is determined based on the safe braking distance and the first target length. It should be pointed out that the safe braking distance refers to the distance required for a vehicle to stop safely in an emergency under normal driving conditions. The determination of this distance takes into account multiple factors such as the vehicle's driving speed, road conditions, and vehicle braking performance. Determining the first boundary point through this distance can ensure that the vehicle has enough time for monitoring and early warning. Determining the second boundary point based on the safe braking distance and the first target length can avoid the inability to detect problems in a timely manner due to a small monitoring range. At the same time, setting the monitoring range within a reasonable range can better avoid the waste of resources caused by excessive expansion of the monitoring range, thereby improving the accuracy and timeliness of detecting important problems such as the missing bridge guardrail line.

[0054] See also Figure 4 , Figure 5 , Figure 6 and Figure 7 As shown, the range between QP is the monitoring range, that is, P is the first boundary point, Q is the second boundary point, the distance between NP is b, and S and R are points inside the monitoring range. Figure 4 It can be seen that the two endpoints are Q and R, and the two lines formed by the two endpoints and the vehicle are MQ and MR. Figure 5It can be seen that the two endpoints are S and R, and the two lines formed by the two endpoints and the vehicle are MS and MR. Figure 6 It can be seen that the two endpoints are S and P, and the two lines formed by the two endpoints and the vehicle are MS and MP. Figure 7 It can be seen that the two endpoints are Q and P, and the two connecting lines formed by the two endpoints and the vehicle are MQ and MP.

[0055] Step S13: obtaining two angles between the two lines and the target line, and calculating the length of the missing portion according to the two angles; the target line is a horizontal line between the vehicle and the bridge deck guardrail line.

[0056] In this embodiment, two angles between the two lines and the target line are obtained, and two tangent values ​​corresponding to the two angles are determined to obtain the difference between the two tangent values, and then the length of the missing part is determined according to the product of the difference between the two tangent values ​​and the second target length; wherein the second target length is the length of the target line, and the length of the target line is also the length of MN.

[0057] See also Figure 4 As shown, in the first specific implementation, the two endpoints are Q and R, and the intelligent driving system perceives that the angle between MQ and MN is , the angle between MR and MN is , the length of MN is a, and the length of the missing part is calculated according to the above calculation method .

[0058] See also Figure 5 As shown in the second specific implementation, the two endpoints are S and R, and the intelligent driving system perceives the angle between MS and MN as , the angle between MR and MN is , the length of MN is a, and the length of the missing part is calculated according to the above calculation method .

[0059] See also Figure 6 As shown, in the third specific implementation, the two endpoints are S and P, and the intelligent driving system perceives that the angle between MS and MN is , the angle between MP and MN is , the length of MN is a, and the length of the missing part is calculated according to the above calculation method .

[0060] See also Figure 7 As shown, in the fourth specific implementation, the two endpoints are Q and P, and the intelligent driving system perceives that the angle between MQ and MN is , the angle between MP and MN is , the length of MN is a, and the length of the missing part is calculated according to the above calculation method .

[0061] Further, it is determined whether the length of the missing part is greater than the preset missing length threshold d. If the length of the missing part is greater than the preset missing length threshold, the first warning mechanism is triggered. If the distance between the vehicle and the missing part is the safe braking distance, the emergency brake is activated. It should be pointed out that when the system determines that the length of the missing part of the bridge deck guardrail line is greater than the preset missing length threshold, the first warning mechanism is triggered. In this way, the driver can know in advance that there are major safety hazards on the bridge deck ahead, so that there is time to adjust the driving state, such as reducing the speed, concentrating attention, and preparing to take countermeasures, etc., effectively avoiding panic due to sudden large-scale guardrail missing, and reducing the possibility of accidents. When the distance between the vehicle and the missing part of the guardrail line reaches the safe braking distance, the emergency brake is activated, which can ensure to the greatest extent that the vehicle stops before reaching the dangerous guardrail missing area to prevent the vehicle from rushing out of the bridge deck due to inertia.

[0062] For the first warning mechanism, this embodiment can be implemented through image warning and sound warning. For image warning, when the system detects that the bridge guardrail line is missing and meets the warning conditions, a warning icon will appear on the vehicle's dashboard or central control screen. For sound warning, when the system detects that the bridge guardrail line is missing and meets the warning conditions, the in-vehicle audio will immediately play voice content, such as "The bridge guardrail line ahead is missing, please slow down" and "The bridge guardrail ahead is damaged, drive carefully", etc. Voice prompts can directly convey key information to the driver, allowing the driver to understand potential dangers at the first time.

[0063] Further, the cumulative sum of the safe braking distance and the preset missing length threshold is determined , and when the distance between the vehicle and the end of the bridge deck is not greater than the cumulative sum, the recognition function of the bridge deck guardrail line is turned off. In this way, the system reduces the collection and processing of sensor data, thereby freeing up computing resources and avoiding identifying the transition area between the bridge deck and the connecting road as an abnormal guardrail line, thereby avoiding misjudgment.

[0064] Furthermore, a warning range centered on the vehicle is calculated according to the vehicle speed v, the preset warning time t and the safety redundancy distance d, and when the surrounding vehicles of the vehicle enter the warning range, the second warning mechanism is triggered so that the bridge deck missing warning information is sent to the surrounding vehicles through the second warning mechanism. Specifically, , R is the warning radius of the warning range. The warning range is determined according to the warning radius. When surrounding vehicles enter the warning range, the vehicle sends them a bridge deck missing warning message to remind them to slow down or avoid in advance to avoid chain dangers. It should be pointed out that the second warning mechanism can also be implemented through image warning and sound warning, which will not be elaborated here.

[0065] See also Figure 8 As shown, the navigation system determines whether the vehicle enters the bridge deck. If the navigation judgment result is no, the process ends; if the judgment result is yes, the C-line recognition function is turned on. Next, the system monitors the bridge deck to determine whether there is any missing. If the bridge deck is detected to be missing, the length of the missing part is calculated and an image and sound warning is issued, and then the C-line recognition function is turned off and the process ends; if the bridge deck is not detected to be missing, the system again determines whether the vehicle is about to leave the bridge deck. If the judgment result is yes, the C-line recognition function is turned off and the process ends; if the judgment result is no, the process returns to the step of monitoring whether the bridge deck is missing, and continues to monitor in a loop until the vehicle leaves the bridge deck or the bridge deck is detected to be missing and a warning is issued. In this way, possible problems with the bridge deck can be discovered in a timely manner and early warnings can be issued, and related functions can be turned off at appropriate times to improve the efficiency and accuracy of the system.

[0066] In summary, based on the LKA (Lane Keeping Assist) function, this application identifies the bridge guardrail line C line without affecting the A lane line and the B lane line, while maintaining normal intelligent driving functions, so as to calculate the length of the missing part, so as to timely and accurately monitor the danger ahead, and issue a warning to the driver to remind him that there is danger ahead, thereby reducing the occurrence of accidents.

[0067] It can be seen that the present application proposes a method for identifying bridge deck missing during driving, including: when a vehicle enters the bridge deck, identifying the bridge deck guardrail line; if it is identified that the bridge deck guardrail line is missing, then determining the two endpoints of the missing part, and forming two lines based on the two endpoints and the vehicle; obtaining two angles between the two lines and the target line, and calculating the length of the missing part based on the two angles; wherein the target line is the horizontal line between the vehicle and the bridge deck guardrail line. In summary, when the vehicle enters the bridge deck, the recognition function of the bridge deck guardrail line is turned on. Once it is identified that the bridge deck guardrail line is missing, the two endpoints of the missing part are determined, and the two lines formed by the two endpoints and the vehicle are further determined. Next, the two angles between the two lines and the target line are obtained, so as to convert the actual spatial position relationship into quantifiable angle data. Subsequently, the length of the missing part is calculated based on the two angles, thereby achieving accurate quantification of the bridge deck damage. In this way, when the driver may not be able to intuitively perceive the danger, the present application can capture the abnormal condition of the bridge deck in advance, so as to buy the driver reaction time and prevent the vehicle from driving into the dangerous area without knowing it.

[0068] Correspondingly, the embodiment of the present application also discloses a bridge deck missing recognition device during driving, see Fig. 9 As shown, the device comprises:

[0069] The identification and opening module 11 is used to identify the bridge deck guardrail line when the vehicle enters the bridge deck;

[0070] The endpoint determination module 12 is used to determine two endpoints of the missing part if it is identified that the bridge deck guardrail line is missing, and form two connecting lines based on the two endpoints and the vehicle;

[0071] The length calculation module 13 is used to obtain two angles between the two lines and the target line, and calculate the length of the missing part according to the two angles; the target line is a horizontal line between the vehicle and the bridge deck guardrail line.

[0072] Among them, for more specific working processes of the above-mentioned modules, please refer to the corresponding contents disclosed in the aforementioned embodiments, which will not be repeated here.

[0073] It can be seen that the present application proposes a method for identifying bridge deck missing during driving, including: when a vehicle enters the bridge deck, identifying the bridge deck guardrail line; if it is identified that the bridge deck guardrail line is missing, then determining the two endpoints of the missing part, and forming two lines based on the two endpoints and the vehicle; obtaining two angles between the two lines and the target line, and calculating the length of the missing part based on the two angles; wherein the target line is the horizontal line between the vehicle and the bridge deck guardrail line. In summary, when the vehicle enters the bridge deck, the recognition function of the bridge deck guardrail line is turned on. Once it is identified that the bridge deck guardrail line is missing, the two endpoints of the missing part are determined, and the two lines formed by the two endpoints and the vehicle are further determined. Next, the two angles between the two lines and the target line are obtained, so as to convert the actual spatial position relationship into quantifiable angle data. Subsequently, the length of the missing part is calculated based on the two angles, thereby achieving accurate quantification of the bridge deck damage. In this way, when the driver may not be able to intuitively perceive the danger, the present application can capture the abnormal condition of the bridge deck in advance, so as to buy the driver reaction time and prevent the vehicle from driving into the dangerous area without knowing it.

[0074] Furthermore, an embodiment of the present application also provides an electronic device. Fig.10 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content in the diagram cannot be regarded as any limitation on the scope of use of the present application.

[0075] Fig.10A schematic diagram of the structure of an electronic device 20 provided in an embodiment of the present application. The electronic device 20 may specifically include: at least one processor 21, at least one memory 22, a display screen 23, an input / output interface 24, a communication interface 25, a power supply 26, and a communication bus 27. The memory 22 is used to store a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the method for identifying bridge deck missing during driving disclosed in any of the aforementioned embodiments. In addition, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0076] In this embodiment, the power supply 26 is used to provide working voltage for each hardware device on the electronic device 20; the communication interface 25 can create a data transmission channel between the electronic device 20 and the external device, and the communication protocol it follows is any communication protocol that can be applied to the technical solution of the present application, and is not specifically limited here; the input and output interface 24 is used to obtain external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs and is not specifically limited here.

[0077] In addition, the memory 22, as a carrier for storing resources, may be a read-only memory, a random access memory, a disk or an optical disk, etc., and the resources stored thereon may include a computer program 221, and the storage method may be temporary storage or permanent storage. In addition to including a computer program that can be used to complete the bridge deck missing identification method during driving performed by the electronic device 20 disclosed in any of the aforementioned embodiments, the computer program 221 may further include a computer program that can be used to complete other specific tasks.

[0078] Furthermore, an embodiment of the present application also discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, the aforementioned method for identifying missing bridge decks during driving is implemented.

[0079] For the specific steps of the method, reference may be made to the corresponding contents disclosed in the aforementioned embodiments, which will not be described in detail here.

[0080] The various embodiments in this application are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other. For the device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0081] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0082] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0083] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0084] The above is a detailed introduction to the method, device, equipment, and storage medium for identifying bridge deck missing during driving provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the ideas of the present application, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A method for identifying bridge deck missing during driving, characterized in that: include: When a vehicle enters the bridge deck, identify the bridge deck guardrail line; If it is identified that the bridge deck guardrail line is missing, two endpoints of the missing part are determined, and two connecting lines are formed based on the two endpoints and the vehicle; Two angles between the two lines and a target line are obtained, and the length of the missing portion is calculated based on the two angles; the target line is a horizontal line between the vehicle and the bridge deck guardrail line.

2. The method for identifying bridge deck missing during driving according to claim 1, characterized in that: If it is identified that the bridge deck guardrail line is missing, two endpoints of the missing part are determined, including: Within the monitoring range, if it is identified that the bridge deck guardrail line is missing, the two endpoints of the missing part are determined; wherein the two endpoints are respectively the boundary points of the monitoring range or the points inside the monitoring range.

3. The method for identifying bridge deck missing during driving according to claim 1, characterized in that: Also includes: Determine a first boundary point based on a safe braking distance, and determine a second boundary point based on the safe braking distance and a first target length; wherein the first target length is greater than a preset missing length threshold; The range between the first boundary point and the second boundary point is determined as the monitoring range.

4. The method for identifying bridge deck missing during driving according to any one of claims 1 to 3, characterized in that: The calculating the length of the missing portion according to the two included angles comprises: Determine two tangent values ​​corresponding to the two included angles, and determine a difference between the two tangent values; The length of the missing portion is determined according to the product of the difference between the two tangent values ​​and a second target length; wherein the second target length is the length of the target line.

5. The method for identifying bridge deck missing during driving according to claim 3, characterized in that: After calculating the length of the missing part according to the two included angles, the method further includes: Determine whether the length of the missing portion is greater than the preset missing length threshold; If the length of the missing portion is greater than the preset missing length threshold, triggering a first warning mechanism; If the distance between the vehicle and the missing part is the safe braking distance, emergency braking is initiated.

6. The method for identifying bridge deck missing during driving according to claim 3, characterized in that: After calculating the length of the missing part according to the two included angles, the method further includes: Determine the cumulative sum of the safe braking distance and the preset missing length threshold, and when the distance between the vehicle and the end point of the bridge deck is not greater than the cumulative sum, turn off the recognition function of the bridge deck guardrail line.

7. The method for identifying bridge deck missing during driving according to claim 1, characterized in that: Also includes: A warning range centered on the vehicle is calculated based on the vehicle's driving speed, preset warning time and safety redundant distance, and when vehicles surrounding the vehicle enter the warning range, a second warning mechanism is triggered so that bridge deck missing warning information can be sent to surrounding vehicles through the second warning mechanism.

8. A device for identifying bridge deck missing during driving, characterized in that: include: The identification and opening module is used to identify the bridge deck guardrail line when the vehicle enters the bridge deck; An endpoint determination module, for determining two endpoints of the missing portion if it is identified that the bridge deck guardrail line is missing, and forming two connecting lines based on the two endpoints and the vehicle; The length calculation module is used to obtain the two angles between the two lines and the target line, and calculate the length of the missing part according to the two angles; the target line is a horizontal line between the vehicle and the bridge deck guardrail line.

9. An electronic device, characterized in that: include: Memory, used to store computer programs; A processor is used to execute the computer program to implement the method for identifying bridge deck missing during driving as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: Used to store a computer program; wherein, when the computer program is executed by a processor, the method for identifying bridge deck missing during driving as described in any one of claims 1 to 7 is implemented.

Images