Road collapse identification method, device and system and automobile

Abstract

The invention relates to a road collapse identification method, device and system and an automobile. The method comprises the following steps: acquiring the acceleration, angular velocity, position information and horizontal information of the automobile; recording acceleration, angular velocity, position information and horizontal information according to a time sequence; according to the recorded accelerated speed, angular speed, position information and horizontal information, whether the road where the automobile is located collapses or not is determined; and determining an alarm level according to the collapse degree of the collapse. The technical problem that road collapse early warning is not timely is solved.

Description

Technical Field

[0001] The present application relates to the field of road detection, and in particular to a method, device, system and vehicle for identifying road collapse. Background Art

[0002] With the acceleration of modern urbanization, the construction of road infrastructure is also developing continuously. However, over time and with the constant traffic, road quality inevitably deteriorates, leading to problems such as collapse. Road collapse not only poses a serious threat to driving safety but can also cause traffic accidents and congestion. Traditional road maintenance methods are unable to detect potential collapse risks in a timely manner. Therefore, a method and system that can monitor road collapse in real time is urgently needed. Summary of the Invention

[0003] The present application provides a road collapse identification method, device, system and vehicle to solve the technical problem of untimely road collapse warning.

[0004] In a first aspect, the present application provides a method for identifying road collapse, comprising: obtaining the acceleration, angular velocity, position information and horizontal information of a vehicle; recording the above acceleration, angular velocity, position information and horizontal information in chronological order; determining whether there is a collapse on the road where the above vehicle is located based on the recorded acceleration, angular velocity, position information and horizontal information; and determining an alarm level based on the degree of collapse.

[0005] In the second aspect, the present application provides a road collapse identification device, including: an acquisition module for acquiring the acceleration, angular velocity, position information and horizontal information of a car; a recording module for recording the above acceleration, angular velocity, position information and horizontal information in chronological order; a first determination module for determining whether there is a collapse on the road where the above car is located based on the recorded acceleration, angular velocity, position information and horizontal information; a second determination module for determining the alarm level based on the degree of collapse of the above collapse.

[0006] In a third aspect, the present application provides a car comprising the above-mentioned road collapse identification device.

[0007] In a fourth aspect, the present application provides a road collapse identification system, comprising: multiple cars and a server; the server is used to obtain the acceleration, angular velocity, position information and horizontal information of the car; the acceleration, angular velocity, position information and horizontal information are recorded in chronological order; based on the recorded acceleration, angular velocity, position information and horizontal information, it is determined whether there is a collapse on the road where the car is located; and based on the degree of collapse, an alarm level is determined.

[0008] In a fifth aspect, the present application provides a road collapse identification device, comprising: at least one communication interface; at least one bus connected to the at least one communication interface; at least one processor connected to the at least one bus; and at least one memory connected to the at least one bus, wherein the processor is configured to execute a road collapse identification method by executing executable instructions in the memory.

[0009] In a sixth aspect, the present application further provides a computer storage medium storing computer executable instructions, wherein the computer executable instructions are used to execute any of the above-mentioned methods for identifying road collapses in the present application.

[0010] The technical solution provided by the embodiments of the present application has the following advantages over the prior art: the method provided by the embodiments of the present application can obtain the acceleration, angular velocity, position information, and horizontal information of a vehicle; record the acceleration, angular velocity, position information, and horizontal information in chronological order; determine whether the road where the vehicle is located has collapsed based on the recorded acceleration, angular velocity, position information, and horizontal information; and determine the alarm level based on the degree of collapse. This allows for automatic detection of road collapses, improving road detection efficiency. Collapses can be detected as long as a vehicle is present, improving road safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0012] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0013] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0014] Figure 1 A flowchart of a method for identifying road collapse provided in an embodiment of the present application;

[0015] Figure 2 A flowchart of another method for identifying road collapse provided in an embodiment of the present application;

[0016] Figure 3A flowchart of another method for identifying road collapse provided in an embodiment of the present application;

[0017] Figure 4 A flowchart of another method for identifying road collapse provided in an embodiment of the present application;

[0018] Figure 5 A flowchart of another method for identifying road collapse provided in an embodiment of the present application;

[0019] Figure 6 A schematic diagram of a road collapse identification device provided in an embodiment of the present application;

[0020] Figure 7 A schematic diagram of a road collapse identification device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0021] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0022] The disclosure below provides many different embodiments or examples for implementing different configurations of the present invention. To simplify the disclosure of the present invention, the components and configurations of specific examples are described below. Of course, these are merely examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numerals and / or letters in different examples. Such repetition is for the purpose of simplicity and clarity and does not in itself indicate the relationship between the various embodiments and / or configurations discussed.

[0023] In order to solve the technical problem of untimely road collapse warning in the prior art, the present application provides a road collapse identification method, device, system and vehicle, which can achieve the effect of efficient road collapse detection.

[0024] Figure 1 A flowchart of a road collapse identification method provided in an embodiment of the present application is shown in FIG. Figure 1 Shown, including:

[0025] S102, obtaining the acceleration, angular velocity, position information and horizontal information of the vehicle;

[0026] S104, recording acceleration, angular velocity, position information and horizontal information in chronological order;

[0027] S106, determining whether the road where the vehicle is located has collapsed based on the recorded acceleration, angular velocity, position information, and horizontal information;

[0028] S108: Determine an alarm level according to the degree of collapse.

[0029] This application can be used in the process of detecting road collapses. Since a road collapse cannot be detected immediately after it occurs, and if no cars are passing by, the collapse rarely affects the movement of cars, so using cars to detect road collapses can detect the collapse as soon as the first car passes by, thereby providing a reminder service to subsequent vehicles or road maintenance units. While detecting road collapses immediately, it also improves road safety.

[0030] In this embodiment, the acceleration, angular velocity, positional information, and horizontal information of the vehicle can be obtained by sensors on the vehicle, or by a mobile phone in the vehicle. After the mobile phone is placed on the vehicle, it can move with the vehicle, so that the mobile phone can also collect data such as the acceleration, angular velocity, positional information, and horizontal information of the vehicle. Alternatively, the above data can be collected and obtained by sensors on the vehicle, and duplicate data can be compared to verify the accuracy of the data.

[0031] The collected data is recorded in chronological order. For example, changes in acceleration are recorded in chronological order. Changes in angular velocity are also recorded in chronological order, as are changes in position and horizontal information. This recorded data can be used for subsequent road collapse detection.

[0032] For the data detected by the car, data within a certain time period can be stored. If the data beyond the time period is not collapsed, it can be deleted without being saved.

[0033] When determining whether a road collapse exists based on recorded acceleration, angular velocity, position information, and horizontal information, all four items of data can be used. If any of the four items of data is incomplete, the other three or two items of data can be used to determine whether a road collapse exists. If only one item of data is used, its accuracy is low and it should not be used to determine a road collapse.

[0034] To determine whether a road has collapsed, a detection method can monitor data changes. If a significant fluctuation in the data is detected at a certain point in time, it can be assumed that the road has collapsed at that point in time. While monitoring data changes, the data differences can be compared to determine whether the data has fluctuated significantly. Furthermore, the data can be recorded as a curve, with the data on the y-axis corresponding to the time axis, forming a continuous curve. By identifying the curve, it can be determined whether the data has fluctuated significantly.

[0035] When a road collapse is detected, an alert level can be determined based on the severity of the collapse. Multiple levels of alerts can be assigned, each with its own corresponding alerting method. For example, a minor collapse can be ignored, while a moderate collapse can alert following vehicles. A severe collapse is immediately reported to the relevant authorities. Communication between vehicles can be accomplished through a server.

[0036] The method provided in the embodiments of the present application can obtain a vehicle's acceleration, angular velocity, positional information, and horizontal information; record these acceleration, angular velocity, positional information, and horizontal information in chronological order; determine whether a road collapse exists on the vehicle based on the recorded acceleration, angular velocity, positional information, and horizontal information; and determine an alarm level based on the extent of the collapse. This allows for automatic detection of road collapses, improving road detection efficiency. Collapses can be detected as long as a vehicle is present, improving road safety.

[0037] In this embodiment, Figure 2 As shown, one implementation method for determining whether there is a collapse on the road where the car is located based on the recorded acceleration, angular velocity, position information, and horizontal information is:

[0038] S202, determining the values ​​of acceleration, angular velocity, position information, and horizontal information at different time points;

[0039] S204, determining a change range of the value at the target time point relative to the average of the values ​​at the previous multiple time points;

[0040] S206: When the change range exceeds a preset value, it is determined that there is a road collapse.

[0041] In this embodiment, when determining whether a road collapse exists, the values ​​of acceleration, angular velocity, position information, and horizontal information can be monitored. The values ​​of acceleration, angular velocity, position information, and horizontal information are recorded at each time point, and the intervals between each time point can be determined based on the vehicle speed. The faster the vehicle speed, the closer the intervals between the time points. The values ​​of acceleration, angular velocity, position information, and horizontal information recorded at each time point are analyzed, and the data of each acceleration, angular velocity, position information, and horizontal information are sorted in order of time point to obtain a data sequence under each time series. The change in the data of each time point in the data sequence relative to the mean of the data of all previous time points is determined. For example, if the mean of the data of the first 10 time points is 10 units, while the data of the 11th time point is 20 units, the change is 10 units. If the preset value is 3 units, this far exceeds the preset value, and it is determined that there is a road collapse.

[0042] In this embodiment, the changes in the acceleration, angular velocity, position information, and horizontal information can be determined separately. If the changes in at least three of these data exceed preset values, it can be determined that the road has collapsed. If two or fewer of these data exceed the preset values, and the other data are within a normal range, it can be determined that the road has not collapsed.

[0043] In this embodiment, Figure 3 As shown, one implementation of determining the variation range of the value at the target time point relative to the average of the values ​​at the previous multiple time points in S204 is:

[0044] S302, determining a first change range of the acceleration value at the target time point relative to the average of the acceleration values ​​at the previous multiple time points; determining a second change range of the angular velocity value at the target time point relative to the average of the acceleration values ​​at the previous multiple time points; determining a third change range of the position information value at the target time point relative to the average of the acceleration values ​​at the previous multiple time points; determining a fourth change range of the horizontal information value at the target time point relative to the average of the acceleration values ​​at the previous multiple time points;

[0045] S304: Determine a weighted sum of the first change range to the fourth change range as the change range.

[0046] In this embodiment, since the respective data of acceleration, angular velocity, position information, and horizontal information are obtained, in the above example, if the change amplitude of at least three data exceeds the respective preset values, it is considered that the road has collapsed. In another case, all the data of the four data can be combined to determine whether the road has collapsed. For each data, the change amplitude of the data at the current time point compared with the average value of the data at the previous time point is calculated to obtain the change amplitude of each data, and then the weighted summation result of the change amplitude is calculated. When the weighted summation result of the change amplitude of the four data is obtained as the final change amplitude, whether the road has collapsed is determined based on the relationship between the final change amplitude and the preset value. If the final change amplitude is greater than the preset value, it is considered that the road has collapsed.

[0047] The weights in the weighted summation process of the above data are determined according to the average value of the data. For example, if the average value of acceleration is generally large, the weight is high. If it is a straight road, the average value of angular velocity is low, and the weight is low.

[0048] In this embodiment, if Figure 4 As shown, one implementation of the above S104 recording acceleration, angular velocity, position information and horizontal information in chronological order is:

[0049] S402: Synchronize the acceleration, angular velocity, position information, and horizontal information to the same time axis, wherein each time point in the same time axis corresponds to the acceleration, angular velocity, position information, and horizontal information.

[0050] In this embodiment, since acceleration, angular velocity, position information, and horizontal information can be acquired independently by the mobile phone and the car, the timelines of these four data items may not be synchronized. If the timelines are not synchronized, the four data items need to be synchronized. The data synchronization method is to collect the value of each of the four data items at the same time point. If any of the four data items is not collected at that time point, the average of the data at the previous and next time points is used as the data at that time point. If the time point is closer to the previous time point or closer to the next time point, the data collected at the previous and next time points are weighted and averaged to obtain the data at the current time point. The closer the time point is, the greater the weight of the time point. For example, if data is collected at 3 o'clock, and acceleration data is collected at 2:59:58 and 3:00:01, the data at 3 o'clock is estimated based on the data at these two time points. Since 2:59:58 is two seconds away from point 3, while 3:00:01 is one second away, the data at 3:00:01 has a greater weight. The weighted sum and average of the accelerations at these two time points is used as the acceleration at point 3. This method allows for time synchronization of four data items: acceleration, angular velocity, position information, and horizontal information.

[0051] The purpose of time synchronization in this embodiment is to ensure that the data after time synchronization fluctuates at the same time point or time period, so that the data reliability is high. If time synchronization is not performed, the problem of fluctuations at different time points may occur, and the reliability is not high.

[0052] In this embodiment, one way to determine whether there is a collapse on the road where the car is located based on the recorded acceleration, angular velocity, position information, and horizontal information is to generate data curves of acceleration, angular velocity, position information, and horizontal information on the same time axis; when it is identified that there are fluctuations in the data curves of acceleration, angular velocity, position information, and horizontal information at the target time point, it is determined that there is a collapse at the position where the car is located at the target time point.

[0053] In the above embodiment, since the values ​​of the four data items of acceleration, angular velocity, position information, and horizontal information of the vehicle at different time points have been obtained, the values ​​can be converted into values ​​in the same plane rectangular coordinate system, thereby obtaining four curves. The time points at which the fluctuations of the four curves occur should be the same or similar. If at least three data items fluctuate at the same time point, and the fluctuation is large, it can be considered that the road surface where the vehicle passed at that time point has collapsed. Whether the fluctuation is large can be determined by the difference between the value in the above embodiment and the average value of the data at the previous multiple time points, or the judgment basis for the large fluctuation is the large slope between the peak point and the trough point on the curve.

[0054] If the presence of collapse is determined by the slope of the curve, the acceleration, angular velocity, position information, and horizontal information data curves can be identified, and the following identification operation is performed on each curve:

[0055] Determine the peak point or trough point on the curve; when the difference between the value of the peak point or trough point and the mean value of the curve exceeds a predetermined threshold, determine the slope from the peak point or trough point to the mean value of the curve; when the slope is a slope that changes with time, determine that the curve fluctuates.

[0056] If the difference between the peak or trough value and the average value on the curve exceeds the preset threshold, it indicates that there has been significant fluctuation in the value at that peak or trough. In this case, the slope from the peak or trough to the average value can be identified. If the slope changes in a complex manner, it means that the data at that time point has experienced sudden and large fluctuations and the changes are irregular. In this case, it can be determined that the ground has collapsed. If the slope is uniform, it may be due to a sharp turn, acceleration or deceleration, etc., which is normal.

[0057] For different collapse situations, this embodiment can determine the warning level according to the number, density, depth and other data of the collapse. According to the warning level, it can be chosen to ignore, remind subsequent vehicles or report to relevant departments for processing.

[0058] Figure 5 This is a flow chart of the present embodiment. The first is data acquisition and preprocessing. The system obtains road condition data in real time through a variety of sensors on smartphones and cars (such as accelerometers, gyroscopes, and global satellite navigation). These sensors can provide the vehicle's acceleration, tilt angle, position information, and horizontal information (the horizontal information can record a horizontal value, and then determine the height change of the car based on the car's position information to adjust the horizontal information). In order to improve the accuracy and robustness of the data, the system will preprocess the sensor data, including denoising, filtering, and correction operations. Denoising and filtering are performed on the accelerometer, gyroscope, and global positioning system data.

[0059] The processed data is used for collapse detection and warning generation. After data preprocessing is completed, the system inputs the processed data into the collapse detection algorithm based on multi-sensor data fusion. Taking acceleration as an example, the collapse detection algorithm of a mobile phone is:

[0060]

[0061] The car calculates the rate of change of acceleration:

[0062]

[0063] Phone refers to the data from the phone, car refers to the data from the car, α is the acceleration, and the Laplace operator of α represents the second-order derivative of α at time t or t-1. The data difference is calculated by the second-order derivatives at different time points.

[0064] When a significant change in any of the following data points—acceleration, angular velocity, position, or horizontal information—is detected, a potential landslide is considered. A Level 1 alert is generated. A Level 1 alert requires verification. Only when multiple vehicles generate a Level 1 alert at the same location will an alert be issued. Multiple data points are fused and weighted to determine whether a landslide has occurred. If a landslide has occurred, a Level 2 or 3 alert is generated based on the number and area of ​​the landslides. Finally, the system broadcasts and responds to the alert. After generating the alert, the system rapidly broadcasts it to the base station and subsequent vehicles via the vehicle-mounted communication system and mobile phone networks. Broadcasting methods include short-range vehicle-to-vehicle (V2V) communication and long-range cellular networks (such as 4G / 5G). After receiving the alert, the base station can further process and disseminate it through the traffic management system, for example, marking the landslide area in navigation apps to alert more drivers. Vehicles receiving the alert will alert the driver via the vehicle display or mobile app, notifying them of the landslide ahead and suggesting evasive measures. Drivers can then choose to detour or slow down based on the alert, effectively avoiding traffic accidents.

[0065] This application also provides a road collapse identification device, such as Figure 6 Shown, including:

[0066] An acquisition module 602 is used to acquire the acceleration, angular velocity, position information and horizontal information of the vehicle;

[0067] Recording module 604, used to record acceleration, angular velocity, position information and horizontal information in chronological order;

[0068] A first determination module 606 is configured to determine whether the road where the vehicle is located has collapsed based on the recorded acceleration, angular velocity, position information, and horizontal information;

[0069] The second determining module 608 is configured to determine an alarm level according to the collapse degree of the collapse.

[0070] This application can be used in the process of detecting road collapses. Since a road collapse cannot be detected immediately after it occurs, and if no cars are passing by, the collapse rarely affects the movement of cars, so using cars to detect road collapses can detect the collapse as soon as the first car passes by, thereby providing a reminder service to subsequent vehicles or road maintenance units. While detecting road collapses immediately, it also improves road safety.

[0071] In this embodiment, the acceleration, angular velocity, positional information, and horizontal information of the vehicle can be obtained by sensors on the vehicle, or by a mobile phone in the vehicle. After the mobile phone is placed on the vehicle, it can move with the vehicle, so that the mobile phone can also collect data such as the acceleration, angular velocity, positional information, and horizontal information of the vehicle. Alternatively, the above data can be collected and obtained by sensors on the vehicle, and duplicate data can be compared to verify the accuracy of the data.

[0072] The collected data is recorded in chronological order. For example, changes in acceleration are recorded in chronological order. Changes in angular velocity are also recorded in chronological order, as are changes in position and horizontal information. This recorded data can be used for subsequent road collapse detection.

[0073] For the data detected by the car, data within a certain time period can be stored. If the data beyond the time period is not collapsed, it can be deleted without being saved.

[0074] When determining whether a road collapse exists based on recorded acceleration, angular velocity, position information, and horizontal information, all four items of data can be used. If any of the four items of data is incomplete, the other three or two items of data can be used to determine whether a road collapse exists. If only one item of data is used, its accuracy is low and it should not be used to determine a road collapse.

[0075] To determine whether a road has collapsed, a detection method can monitor data changes. If a significant fluctuation in the data is detected at a certain point in time, it can be assumed that the road has collapsed at that point in time. While monitoring data changes, the data differences can be compared to determine whether the data has fluctuated significantly. Furthermore, the data can be recorded as a curve, with the data on the y-axis corresponding to the time axis, forming a continuous curve. By identifying the curve, it can be determined whether the data has fluctuated significantly.

[0076] When a road collapse is detected, an alert level can be determined based on the severity of the collapse. Multiple levels of alerts can be assigned, each with its own corresponding alerting method. For example, a minor collapse can be ignored, while a moderate collapse can alert following vehicles. A severe collapse is immediately reported to the relevant authorities. Communication between vehicles can be accomplished through a server.

[0077] The method provided in the embodiments of the present application can obtain a vehicle's acceleration, angular velocity, positional information, and horizontal information; record these acceleration, angular velocity, positional information, and horizontal information in chronological order; determine whether a road collapse exists on the vehicle based on the recorded acceleration, angular velocity, positional information, and horizontal information; and determine an alarm level based on the extent of the collapse. This allows for automatic detection of road collapses, improving road detection efficiency. Collapses can be detected as long as a vehicle is present, improving road safety.

[0078] The present application also provides a car, comprising the above-mentioned road collapse identification device.

[0079] This application can be used in the process of detecting road collapses. Since a road collapse cannot be detected immediately after it occurs, and if no cars are passing by, the collapse rarely affects the movement of cars, so using cars to detect road collapses can detect the collapse as soon as the first car passes by, thereby providing a reminder service to subsequent vehicles or road maintenance units. While detecting road collapses immediately, it also improves road safety.

[0080] In this embodiment, the acceleration, angular velocity, positional information, and horizontal information of the vehicle can be obtained by sensors on the vehicle, or by a mobile phone in the vehicle. After the mobile phone is placed on the vehicle, it can move with the vehicle, so that the mobile phone can also collect data such as the acceleration, angular velocity, positional information, and horizontal information of the vehicle. Alternatively, the above data can be collected and obtained by sensors on the vehicle, and duplicate data can be compared to verify the accuracy of the data.

[0081] The collected data is recorded in chronological order. For example, changes in acceleration are recorded in chronological order. Changes in angular velocity are also recorded in chronological order, as are changes in position and horizontal information. This recorded data can be used for subsequent road collapse detection.

[0082] For the data detected by the car, data within a certain time period can be stored. If the data beyond the time period is not collapsed, it can be deleted without being saved.

[0083] When determining whether a road collapse exists based on recorded acceleration, angular velocity, position information, and horizontal information, all four items of data can be used. If any of the four items of data is incomplete, the other three or two items of data can be used to determine whether a road collapse exists. If only one item of data is used, its accuracy is low and it should not be used to determine a road collapse.

[0084] To determine whether a road has collapsed, a detection method can monitor data changes. If a significant fluctuation in the data is detected at a certain point in time, it can be assumed that the road has collapsed at that point in time. While monitoring data changes, the data differences can be compared to determine whether the data has fluctuated significantly. Furthermore, the data can be recorded as a curve, with the data on the y-axis corresponding to the time axis, forming a continuous curve. By identifying the curve, it can be determined whether the data has fluctuated significantly.

[0085] When a road collapse is detected, an alert level can be determined based on the severity of the collapse. Multiple levels of alerts can be assigned, each with its own corresponding alerting method. For example, a minor collapse can be ignored, while a moderate collapse can alert following vehicles. A severe collapse is immediately reported to the relevant authorities. Communication between vehicles can be accomplished through a server.

[0086] The method provided by the embodiment of the present application can obtain the acceleration, angular velocity, position information, and horizontal information of a car; record the acceleration, angular velocity, position information, and horizontal information in chronological order; determine whether there is a collapse on the road where the car is located based on the recorded acceleration, angular velocity, position information, and horizontal information; determine the alarm level based on the degree of collapse; and issue an alarm according to the alarm method corresponding to the alarm level. This allows for automatic detection of road collapses, and after a collapse is detected, an automatic alarm is issued, thereby improving road detection efficiency. Moreover, since a collapse can be detected immediately after it is detected, an immediate response to the collapse is achieved, and a collapse can be detected as long as there is a car, thereby improving road safety.

[0087] This application also provides a road collapse identification system, comprising:

[0088] Multiple cars, servers;

[0089] The server is used to obtain the acceleration, angular velocity, position information and horizontal information of the car; record the acceleration, angular velocity, position information and horizontal information in chronological order; determine whether there is a collapse on the road where the car is located based on the recorded acceleration, angular velocity, position information and horizontal information; determine the alarm level based on the degree of collapse; and issue an alarm according to the alarm method corresponding to the alarm level.

[0090] The server in this application can be a server on a base station or a cloud server. This application can be applied in the process of detecting road collapse. Since it is impossible to detect a road collapse immediately after it occurs, and if no car passes by, the road collapse will rarely affect the driving of the car. Therefore, by detecting road collapse through a car, the road collapse can be detected when the first car passes by, thereby providing a reminder service to subsequent vehicles or units maintaining the road. While detecting road collapse in real time, road safety is also improved.

[0091] In this embodiment, the acceleration, angular velocity, positional information, and horizontal information of the vehicle can be obtained by sensors on the vehicle, or by a mobile phone in the vehicle. After the mobile phone is placed on the vehicle, it can move with the vehicle, so that the mobile phone can also collect data such as the acceleration, angular velocity, positional information, and horizontal information of the vehicle. Alternatively, the above data can be collected and obtained by sensors on the vehicle, and duplicate data can be compared to verify the accuracy of the data.

[0092] The collected data is recorded in chronological order. For example, changes in acceleration are recorded in chronological order. Changes in angular velocity are also recorded in chronological order, as are changes in position and horizontal information. This recorded data can be used for subsequent road collapse detection.

[0093] For the data detected by the car, data within a certain time period can be stored. If the data beyond the time period is not collapsed, it can be deleted without being saved.

[0094] When determining whether a road collapse exists based on recorded acceleration, angular velocity, position information, and horizontal information, all four items of data can be used. If any of the four items of data is incomplete, the other three or two items of data can be used to determine whether a road collapse exists. If only one item of data is used, its accuracy is low and it should not be used to determine a road collapse.

[0095] To determine whether a road has collapsed, a detection method can monitor data changes. If a significant fluctuation in the data is detected at a certain point in time, it can be assumed that the road has collapsed at that point in time. While monitoring data changes, the data differences can be compared to determine whether the data has fluctuated significantly. Furthermore, the data can be recorded as a curve, with the data on the y-axis corresponding to the time axis, forming a continuous curve. By identifying the curve, it can be determined whether the data has fluctuated significantly.

[0096] When a road collapse is detected, an alert level can be determined based on the severity of the collapse. Multiple levels of alerts can be assigned, each with its own corresponding alerting method. For example, a minor collapse can be ignored, while a moderate collapse can alert following vehicles. A severe collapse is immediately reported to the relevant authorities. Communication between vehicles can be accomplished through a server.

[0097] The method provided by the embodiment of the present application can obtain the acceleration, angular velocity, position information, and horizontal information of a car; record the acceleration, angular velocity, position information, and horizontal information in chronological order; determine whether there is a collapse on the road where the car is located based on the recorded acceleration, angular velocity, position information, and horizontal information; determine the alarm level based on the degree of collapse; and issue an alarm according to the alarm method corresponding to the alarm level. This allows for automatic detection of road collapses, and after a collapse is detected, an automatic alarm is issued, thereby improving road detection efficiency. Moreover, since a collapse can be detected immediately after it is detected, an immediate response to the collapse is achieved, and a collapse can be detected as long as there is a car, thereby improving road safety.

[0098] like Figure 7 As shown, the embodiment of the present application provides a road collapse identification device, including a processor 111, a communication interface 112, a memory 113 and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114.

[0099] Memory 113, for storing computer programs;

[0100] In one embodiment of the present application, the processor 111 is configured to implement the method for identifying road collapse provided by any one of the aforementioned method embodiments when executing the computer program stored in the memory 113 .

[0101] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the road collapse identification method provided in any of the aforementioned method embodiments are implemented.

[0102] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of this embodiment.

[0103] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, or of course, by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiment.

[0104] It should be understood that the terms used herein are for the purpose of describing specific example embodiments only and are not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms "one", "an" and "said" as used herein may also be meant to include plural forms. The terms "comprise", "include", "contain" and "have" are inclusive and therefore specify the presence of stated features, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, steps, operations, elements, parts, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the specific order described or illustrated, unless the order of execution is clearly indicated. It should also be understood that additional or alternative steps may be used.

[0105] The foregoing description is intended only to provide specific embodiments of the present invention, which will enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but is intended to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for identifying road collapse, characterized in that: include: Get the acceleration, angular velocity, position information and horizontal information of the car; Recording the acceleration, angular velocity, position information and horizontal information in chronological order; Determining whether there is a collapse on the road where the vehicle is located according to the recorded acceleration, angular velocity, position information, and horizontal information; An alarm level is determined according to the collapse degree of the collapse.

2. The method according to claim 1, characterized in that Determining whether there is a collapse on the road where the vehicle is located according to the recorded acceleration, angular velocity, position information, and horizontal information includes: Determine the values ​​of the acceleration, angular velocity, position information, and horizontal information at different time points; Determine the magnitude of change of the value at the target time point relative to the mean of the values ​​at the previous multiple time points; When the variation amplitude exceeds a preset value, it is determined that the road has collapsed.

3. The method according to claim 2, characterized in that The determination of the change range of the value at the target time point relative to the average of the values ​​at the previous multiple time points includes: Determine a first change range of the acceleration value at the target time point relative to an average of the acceleration values ​​at previous multiple time points; Determine a second variation range of the angular velocity value at the target time point relative to an average of the acceleration values ​​at the previous multiple time points; Determine a third change amplitude of the value of the position information at the target time point relative to the average value of the acceleration at the previous multiple time points; Determine a fourth change range of the value of the horizontal information at the target time point relative to the average value of the acceleration at the previous multiple time points; A weighted sum of the first change amplitude to the fourth change amplitude is determined as the change amplitude.

4. The method according to claim 1, characterized in that: The recording of the acceleration, angular velocity, position information and horizontal information in chronological order includes: The acceleration, angular velocity, position information and horizontal information are synchronized to the same time axis, wherein each time point in the same time axis corresponds to the acceleration, angular velocity, position information and horizontal information.

5. The method according to claim 4, characterized in that Determining whether there is a collapse on the road where the vehicle is located according to the recorded acceleration, angular velocity, position information, and horizontal information includes: Generate data curves of the acceleration, angular velocity, position information and horizontal information respectively on the same time axis; When it is recognized that in the data curves of the acceleration, angular velocity, position information and horizontal information, there are fluctuations at the target time point, it is determined that there is a collapse at the position of the vehicle at the target time point.

6. The method according to claim 5, characterized in that Identifying whether there are fluctuations in the data curves of the acceleration, angular velocity, position information, and horizontal information at the target time point includes: For each of the data curves of acceleration, angular velocity, position information and horizontal information, the following identification operation is performed: Determine a peak point or a trough point on the curve; When the difference between the value of the peak point or the trough point and the mean value of the curve exceeds a predetermined threshold, determining the slope from the peak point or the trough point to the mean value of the curve; When the slope is a slope that changes with time, it is determined that the curve has fluctuations.

7. The method according to claim 1, characterized in that Determining the alarm level according to the collapse degree of the collapse includes: determining a depth of the collapse and a number of the collapses on the road; The warning level is determined according to the depth and the quantity.

8. A road collapse identification device, characterized in that: include: An acquisition module is used to obtain the acceleration, angular velocity, position information and horizontal information of the vehicle; A recording module, used to record the acceleration, angular velocity, position information and horizontal information in chronological order; A first determination module, used to determine whether there is a collapse on the road where the vehicle is located according to the recorded acceleration, angular velocity, position information, and horizontal information; The second determining module is used to determine the alarm level according to the collapse degree of the collapse.

9. A car, characterized in that: The invention comprises the road collapse identification device as claimed in claim 8.

10. A road collapse identification system, characterized in that: include: Multiple cars, servers; The server is used to obtain the acceleration, angular velocity, position information and horizontal information of the car; record the acceleration, angular velocity, position information and horizontal information in chronological order; determine whether there is a collapse on the road where the car is located based on the recorded acceleration, angular velocity, position information and horizontal information; and determine the alarm level based on the collapse degree of the collapse.

11. An electronic device, characterized in that: include: A processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; The memory is used to store a computer program; and the processor is used to implement the method according to any one of claims 1 to 7 when executing the computer program.

12. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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