Methods, devices, systems, and vehicles for identifying road collapses

Abstract

This application relates to a method, apparatus, system, and vehicle for identifying road collapses. The method includes: acquiring the vehicle's acceleration, angular velocity, position information, and horizontal information; recording the acceleration, angular velocity, position information, and horizontal information in chronological order; determining whether a road collapse exists based on the recorded acceleration, angular velocity, position information, and horizontal information; and determining an alarm level based on the degree of collapse. This application solves the technical problem of untimely road collapse warnings.

Description

Technical Field

[0001] This application relates to the field of road detection, and more particularly to a method, apparatus, system, and vehicle for identifying road collapses. Background Technology

[0002] With the acceleration of modern urbanization, the construction of road traffic infrastructure is also constantly developing. However, over time and with the continuous pressure of vehicles, the quality of roads inevitably changes, leading to problems such as road subsidence. Road subsidence not only poses a serious threat to driving safety but can also cause traffic accidents and congestion. Traditional road maintenance methods cannot detect potential subsidence hazards in a timely manner; therefore, there is an urgent need for a method and system capable of real-time monitoring of road subsidence. Summary of the Invention

[0003] This application provides a method, device, system, and vehicle for identifying road collapses, in order to solve the technical problem of untimely early warning of road collapses.

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

[0005] Secondly, this application provides a road collapse identification device, comprising: an acquisition module for acquiring the acceleration, angular velocity, position information, and horizontal information of a vehicle; a recording module for recording the acceleration, angular velocity, position information, and horizontal information in chronological order; a first determination module for determining whether a road collapse exists on the road where the vehicle is located based on the recorded acceleration, angular velocity, position information, and horizontal information; and a second determination module for determining an alarm level based on the degree of collapse.

[0006] Thirdly, this application provides a vehicle that includes the aforementioned road collapse identification device.

[0007] Fourthly, this application provides a road collapse identification system, including: multiple vehicles and a server; the server is used to acquire the acceleration, angular velocity, position information and horizontal information of the vehicles; record the acceleration, angular velocity, position information and horizontal information in chronological order; determine whether there is a collapse on the road where the vehicles are located based on the recorded acceleration, angular velocity, position information and horizontal information; and determine the alarm level based on the degree of collapse.

[0008] Fifthly, this 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 perform a road collapse identification method by executing executable instructions in the memory.

[0009] Sixthly, this application also provides a computer storage medium storing computer-executable instructions for executing the road collapse identification method described in any of the above claims.

[0010] Compared with the prior art, the technical solution provided in this application has the following advantages: The method provided in this application can acquire 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 there is a road collapse on the road where the vehicle is located 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 there is a vehicle present, thus improving road safety. Attached Figure Description

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

[0012] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0014] Figure 1 A flowchart illustrating a method for identifying road collapses provided in an embodiment of this application;

[0015] Figure 2 A flowchart illustrating another method for identifying road collapses provided in this application embodiment;

[0016] Figure 3A flowchart illustrating yet another method for identifying road collapses provided in this application embodiment;

[0017] Figure 4 A flowchart illustrating yet another method for identifying road collapses provided in this application embodiment;

[0018] Figure 5 A flowchart illustrating yet another method for identifying road collapses provided in this application embodiment;

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

[0020] Figure 7 This is a schematic diagram of a road collapse identification device provided in an embodiment of this application. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0022] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0023] To address the technical problem of untimely road collapse early warning in existing technologies, this application provides a road collapse identification method, device, system, and vehicle that can achieve efficient detection of road collapses.

[0024] Figure 1 A flowchart illustrating a road collapse identification method provided in this application embodiment is shown below. Figure 1 As shown, it includes:

[0025] S102, acquire the vehicle's acceleration, angular velocity, position information, and horizontal information;

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

[0027] S106, Based on the recorded acceleration, angular velocity, position information, and horizontal information, determine whether there is a collapse in the road where the car is located;

[0028] S108, determine the alarm level based on the degree of collapse.

[0029] This application can be used in the detection of road collapses. Since road collapses cannot be detected immediately after they occur, and if no vehicles are passing by, a road collapse will rarely affect traffic, using vehicles to detect road collapses allows for detection as soon as the first vehicle passes, thus providing an alert to subsequent vehicles or road maintenance units. This timely detection of road collapses also improves road safety.

[0030] In this embodiment, the vehicle's acceleration, angular velocity, position information, and level information can be acquired through sensors on the vehicle or through a mobile phone placed in the vehicle. The mobile phone moves with the vehicle, thus also collecting data such as acceleration, angular velocity, position information, and level information. Alternatively, the above data can be obtained jointly by collecting data from both sensors on the vehicle and mobile phone. Duplicate data can be compared to verify the accuracy of the data.

[0031] The collected data is recorded chronologically. For example, acceleration is recorded according to changes in acceleration over time. Angular velocity is also recorded chronologically, as are position and horizontal information. This recorded data can be used for subsequent road collapse detection.

[0032] The data detected by the vehicle can be stored for a certain period of time. Data that exceeds the specified period can be deleted if it does not collapse and does not need to be saved.

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

[0034] For methods to determine whether a road has collapsed, data changes can be monitored. If a sharp fluctuation in the data is detected at a particular point in time, it can be assumed that a road collapse has occurred at that time. During the monitoring of data changes, the differences between the data points can be compared to determine whether there are drastic fluctuations. Alternatively, the data can be recorded as a curve, with the x-axis representing the change in value on the y-axis over time, forming a continuous curve. By identifying this curve, it is possible to determine whether drastic data fluctuations have occurred.

[0035] When a road subsidence is detected, an alarm level can be determined based on the severity of the subsidence. There can be multiple alarm levels, each with different alarm methods. For example, a minor subsidence can be ignored, a moderate subsidence can alert following vehicles, and a severe subsidence should be immediately reported to the relevant authorities. Communication between vehicles can be accomplished through a server.

[0036] The method provided in this application can acquire 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 there is a road collapse on the road where the vehicle is located 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 there is a vehicle present, thus improving road safety.

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

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

[0039] S204, Determine the magnitude of change of the value at the target time point relative to the average value at the previous multiple time points;

[0040] S206: When the change exceeds the preset value, it is determined that the road has collapsed.

[0041] In this embodiment, when determining whether a road has collapsed, 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 at various time points are recorded, and the intervals between these time points can be determined based on vehicle speed. Higher vehicle speeds result in more frequent intervals between time points. The recorded values ​​of acceleration, angular velocity, position information, and horizontal information at each time point are analyzed. The data for each of these parameters are sorted according to their respective time points to obtain their respective time series data sequences. The change in the data at each time point relative to the mean of all previous time point data is then determined. For example, if the mean of the data at the first 10 time points is 10 units, and the data at the 11th time point is 20 units, the change is 10 units. If the preset value is 3 units, this significantly exceeds the preset value, confirming that a road collapse has occurred.

[0042] In this embodiment, the changes in the aforementioned acceleration, angular velocity, position information, and horizontal information can be determined. If the changes in at least three of these data exceed preset values, then the road can be considered to have collapsed. If two or fewer of these data exceed the preset values, while the other data are within the normal range, then the road can be considered not to have collapsed.

[0043] In this embodiment, as Figure 3 As shown, one way to determine the magnitude of change of the value at the target time point relative to the average value at the previous multiple time points in S204 is as follows:

[0044] S302, determine the first variation range of the acceleration value at the target time point relative to the average of the acceleration values ​​at the previous multiple time points; determine the second variation 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; determine the third variation 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; determine the fourth variation 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, the weighted summation of the first to fourth change ranges is determined as the change range.

[0046] In this embodiment, since data on acceleration, angular velocity, position information, and horizontal information are obtained, in the example above, if the change in at least three of these data exceeds their respective preset values, the road is considered to have collapsed. Alternatively, all four data points can be considered together to determine if a road collapse has occurred. For each data point, the change in the current time frame compared to the average of data from previous time points is calculated, and then a weighted sum of these changes is calculated. When the weighted sum of the changes in all four data points is used as the final change value, the relationship between the final change value and the preset value is used to determine if a road collapse has occurred. If the final change value is greater than the preset value, the road is considered to have collapsed.

[0047] The weights in the weighted summation of the above data are determined based on 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, so the weight is low.

[0048] In this embodiment, as Figure 4 As shown, one implementation of the above-mentioned S104, which records acceleration, angular velocity, position information, and horizontal information in chronological order, is as follows:

[0049] S402 synchronizes acceleration, angular velocity, position information, and horizontal information to the same time axis, where each time point on the same time axis corresponds to acceleration, angular velocity, position information, and horizontal information.

[0050] In this embodiment, since acceleration, angular velocity, position information, and horizontal information can be obtained independently by the mobile phone and the car, the timelines of the four data points may not be synchronized. If the timelines are not synchronized, the four data points need to be synchronized. The synchronization method involves collecting the value of each of the four data points at the same time point. If no data point is collected for any of the four data points at that time point, the average of the data from the preceding and following time points is used as the data for that time point. If the time point is closer to the preceding or following time point, the data collected from the preceding and following time points are weighted, summed, and then averaged to obtain the data for the current time point. The closer the time point is to the preceding time point, the greater its weight. For example, if data is collected at point 3, and acceleration data is collected at 2:59:58 and 3:00:01, then the data for point 3 is estimated based on the data from the two time points. Since 2:59:58 is two seconds from point 3, while 3:00:01 is one second from point 3, the data at 3:00:01 has a higher weight. The weighted sum and average of the accelerations at the two time points is taken as the acceleration at point 3. This method can be used to synchronize four data points: acceleration, angular velocity, position information, and horizontal information.

[0051] The purpose of time synchronization in this embodiment is to ensure that synchronized data fluctuates at the same point in time or over the same period of time, thus increasing the reliability of the data. Without time synchronization, data may fluctuate at different points in time, resulting in lower reliability.

[0052] In this embodiment, one way to determine whether the road where the car is located has collapsed based on the recorded acceleration, angular velocity, position information, and horizontal information is to generate data curves for acceleration, angular velocity, position information, and horizontal information on the same time axis. If fluctuations are found in the data curves of acceleration, angular velocity, position information, and horizontal information at the target time point, it is determined that the location of the car at the target time point has collapsed.

[0053] In the above embodiments, since the values ​​of four data points—acceleration, angular velocity, position information, and horizontal information of the vehicle—have been obtained at different time points, these values ​​can be converted into values ​​in the same Cartesian coordinate system, resulting in four curves. The time points at which the fluctuations of the four curves occur should be the same or close to each other. If at least three data points fluctuate at the same time point, and the fluctuations are significant, it can be considered that the road surface traversed by the vehicle at that time point has collapsed. The criteria for judging whether the fluctuations are significant can be that the values ​​in the above embodiments differ significantly from the average values ​​of the data at previous time points, or that the slopes of the peaks and troughs on the curves are significant.

[0054] If the slope of the curve is used to determine whether a collapse has occurred, then the following identification operation can be performed on each curve in the data curves for acceleration, angular velocity, position information, and horizontal information:

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

[0056] If the difference between the value at a peak or trough on the curve and the average value exceeds a preset threshold, it indicates a significant numerical fluctuation at that peak or trough. In this case, the slope from the peak or trough to the average value can be identified. A complex slope indicates a sudden and irregular fluctuation in the data at that point in time, suggesting ground subsidence. A uniform slope, however, may indicate a sharp turn, acceleration, or deceleration, which is considered normal.

[0057] In this embodiment, for different collapse situations, the alarm level can be determined based on data such as the number, density, and depth of the collapse. Depending on the alarm level, the alarm can be ignored, or subsequent vehicles can be alerted, or relevant departments can be notified for handling.

[0058] Figure 5 This is a flowchart of one embodiment. The first step is data acquisition and preprocessing. The system acquires road condition data in real time through various sensors on the smartphone and in the vehicle (such as accelerometers, gyroscopes, and GPS). These sensors provide vehicle acceleration, tilt angle, position information, and level information (level information can record a level value and then adjust the level information based on the vehicle's position information to determine changes in the vehicle's height). To improve the accuracy and robustness of the data, the system preprocesses the sensor data, including noise reduction, filtering, and correction. Noise reduction and filtering are performed on the accelerometer, gyroscope, and GPS data.

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

[0060]

[0061] Calculate the rate of change of acceleration of a car:

[0062]

[0063] "Phone" refers to data from a mobile phone, "car" refers to data from a car, α is acceleration, and the Laplace operator for α represents the second derivative of α at time t or t-1. The differences in data are calculated using the second derivatives at different time points.

[0064] A significant change in any of the following data points—acceleration, angular velocity, position, or horizontal information—is detected, indicating a potential collapse. A Level 1 warning is generated. This Level 1 warning requires verification; an alert is only issued if multiple vehicles generate Level 1 warnings at the same location. Multiple data points are then fused, weighted, and summed to determine the presence of a collapse. If a collapse is detected, a Level 2 or Level 3 warning is generated based on the number and area of ​​the collapse. Finally, the warning information is broadcast and responded to. After generating the warning information, the system rapidly broadcasts it to base stations and subsequent vehicles via the vehicle communication system and mobile network. Broadcasting methods can include short-range vehicle-to-vehicle (V2V) communication and long-range cellular networks (such as 4G / 5G). Upon receiving the warning information, the base station can further process and disseminate it through the traffic management system, such as marking the collapse area in navigation applications to alert more drivers. Vehicles receiving the warning information will warn drivers via their in-vehicle displays or mobile applications, informing them of the road collapse ahead and suggesting appropriate evasive action. Drivers can choose to detour or slow down based on the warning information, effectively preventing traffic accidents.

[0065] This application also provides a road collapse identification device, such as... Figure 6 As shown, it includes:

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

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

[0068] The first determining module 606 is used to determine whether the road where the car is located has collapsed based on the recorded acceleration, angular velocity, position information, and horizontal information.

[0069] The second determining module 608 is used to determine the alarm level based on the degree of collapse.

[0070] This application can be used in the detection of road collapses. Since road collapses cannot be detected immediately after they occur, and if no vehicles are passing by, a road collapse will rarely affect traffic, using vehicles to detect road collapses allows for detection as soon as the first vehicle passes, thus providing an alert to subsequent vehicles or road maintenance units. This timely detection of road collapses also improves road safety.

[0071] In this embodiment, the vehicle's acceleration, angular velocity, position information, and level information can be acquired through sensors on the vehicle or through a mobile phone placed in the vehicle. The mobile phone moves with the vehicle, thus also collecting data such as acceleration, angular velocity, position information, and level information. Alternatively, the above data can be obtained jointly by collecting data from both sensors on the vehicle and mobile phone. Duplicate data can be compared to verify the accuracy of the data.

[0072] The collected data is recorded chronologically. For example, acceleration is recorded according to changes in acceleration over time. Angular velocity is also recorded chronologically, as are position and horizontal information. This recorded data can be used for subsequent road collapse detection.

[0073] The data detected by the vehicle can be stored for a certain period of time. Data that exceeds the specified period can be deleted if it does not collapse and does not need to be saved.

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

[0075] For methods to determine whether a road has collapsed, data changes can be monitored. If a sharp fluctuation in the data is detected at a particular point in time, it can be assumed that a road collapse has occurred at that time. During the monitoring of data changes, the differences between the data points can be compared to determine whether there are drastic fluctuations. Alternatively, the data can be recorded as a curve, with the x-axis representing the change in value on the y-axis over time, forming a continuous curve. By identifying this curve, it is possible to determine whether drastic data fluctuations have occurred.

[0076] When a road subsidence is detected, an alarm level can be determined based on the severity of the subsidence. There can be multiple alarm levels, each with different alarm methods. For example, a minor subsidence can be ignored, a moderate subsidence can alert following vehicles, and a severe subsidence should be immediately reported to the relevant authorities. Communication between vehicles can be accomplished through a server.

[0077] The method provided in this application can acquire 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 there is a road collapse on the road where the vehicle is located 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 there is a vehicle present, thus improving road safety.

[0078] This application also provides a vehicle that includes the aforementioned road collapse identification device.

[0079] This application can be used in the detection of road collapses. Since road collapses cannot be detected immediately after they occur, and if no vehicles are passing by, a road collapse will rarely affect traffic, using vehicles to detect road collapses allows for detection as soon as the first vehicle passes, thus providing an alert to subsequent vehicles or road maintenance units. This timely detection of road collapses also improves road safety.

[0080] In this embodiment, the vehicle's acceleration, angular velocity, position information, and level information can be acquired through sensors on the vehicle or through a mobile phone placed in the vehicle. The mobile phone moves with the vehicle, thus also collecting data such as acceleration, angular velocity, position information, and level information. Alternatively, the above data can be obtained jointly by collecting data from both sensors on the vehicle and mobile phone. Duplicate data can be compared to verify the accuracy of the data.

[0081] The collected data is recorded chronologically. For example, acceleration is recorded according to changes in acceleration over time. Angular velocity is also recorded chronologically, as are position and horizontal information. This recorded data can be used for subsequent road collapse detection.

[0082] The data detected by the vehicle can be stored for a certain period of time. Data that exceeds the specified period can be deleted if it does not collapse and does not need to be saved.

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

[0084] For methods to determine whether a road has collapsed, data changes can be monitored. If a sharp fluctuation in the data is detected at a particular point in time, it can be assumed that a road collapse has occurred at that time. During the monitoring of data changes, the differences between the data points can be compared to determine whether there are drastic fluctuations. Alternatively, the data can be recorded as a curve, with the x-axis representing the change in value on the y-axis over time, forming a continuous curve. By identifying this curve, it is possible to determine whether drastic data fluctuations have occurred.

[0085] When a road subsidence is detected, an alarm level can be determined based on the severity of the subsidence. There can be multiple alarm levels, each with different alarm methods. For example, a minor subsidence can be ignored, a moderate subsidence can alert following vehicles, and a severe subsidence should be immediately reported to the relevant authorities. Communication between vehicles can be accomplished through a server.

[0086] The method provided in this application embodiment can acquire 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 there is a road collapse 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, automatically issuing an alarm upon detection, thus improving road detection efficiency. Furthermore, because collapses can be detected immediately, it enables real-time response, and since collapses can be detected as long as there is a vehicle present, it improves road safety.

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

[0088] Multiple cars and servers;

[0089] The server is used to acquire the vehicle's acceleration, angular velocity, position information, and horizontal information; record the acceleration, angular velocity, position information, and horizontal information in chronological order; determine whether there is a road collapse on the road where the vehicle 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 to the detection of road collapses. Since road collapses cannot be detected immediately after they occur, and if no vehicles are passing by, the collapse will rarely affect vehicle traffic, using vehicles to detect road collapses allows for detection as soon as the first vehicle passes, thus providing an alert to subsequent vehicles or road maintenance units. This timely detection of road collapses also improves road safety.

[0091] In this embodiment, the vehicle's acceleration, angular velocity, position information, and level information can be acquired through sensors on the vehicle or through a mobile phone placed in the vehicle. The mobile phone moves with the vehicle, thus also collecting data such as acceleration, angular velocity, position information, and level information. Alternatively, the above data can be obtained jointly by collecting data from both sensors on the vehicle and mobile phone. Duplicate data can be compared to verify the accuracy of the data.

[0092] The collected data is recorded chronologically. For example, acceleration is recorded according to changes in acceleration over time. Angular velocity is also recorded chronologically, as are position and horizontal information. This recorded data can be used for subsequent road collapse detection.

[0093] The data detected by the vehicle can be stored for a certain period of time. Data that exceeds the specified period can be deleted if it does not collapse and does not need to be saved.

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

[0095] For methods to determine whether a road has collapsed, data changes can be monitored. If a sharp fluctuation in the data is detected at a particular point in time, it can be assumed that a road collapse has occurred at that time. During the monitoring of data changes, the differences between the data points can be compared to determine whether there are drastic fluctuations. Alternatively, the data can be recorded as a curve, with the x-axis representing the change in value on the y-axis over time, forming a continuous curve. By identifying this curve, it is possible to determine whether drastic data fluctuations have occurred.

[0096] When a road subsidence is detected, an alarm level can be determined based on the severity of the subsidence. There can be multiple alarm levels, each with different alarm methods. For example, a minor subsidence can be ignored, a moderate subsidence can alert following vehicles, and a severe subsidence should be immediately reported to the relevant authorities. Communication between vehicles can be accomplished through a server.

[0097] The method provided in this application embodiment can acquire 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 there is a road collapse 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, automatically issuing an alarm upon detection, thus improving road detection efficiency. Furthermore, because collapses can be detected immediately, it enables real-time response, and since collapses can be detected as long as there is a vehicle present, it improves road safety.

[0098] like Figure 7 As shown in the figure, this application embodiment 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 is used to store computer programs;

[0100] In one embodiment of this application, the processor 111, when executing a computer program stored in the memory 113, implements the method for identifying road collapses provided in any of the foregoing method embodiments.

[0101] This application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the steps of the road collapse identification method provided in any of the foregoing method embodiments.

[0102] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. 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 can be selected to achieve the purpose of this embodiment according to actual needs.

[0103] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software plus a general-purpose hardware platform, or of course, using hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0104] It should be understood that the terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “described” as used herein may also include the plural forms. The terms “comprising,” “including,” “containing,” and “having” are inclusive and therefore indicate the presence of the stated features, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not construed as requiring them to be performed in a particular order described or illustrated unless the order of performance is explicitly indicated. It should also be understood that additional or alternative steps may be used.

[0105] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the 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 invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A method for identifying road collapses, characterized in that, include: Acquire the vehicle's acceleration, angular velocity, position information, and horizontal information; Record the acceleration, angular velocity, position information, and horizontal information in chronological order; Based on the recorded acceleration, angular velocity, position information, and horizontal information, determine whether the road where the vehicle is located has collapsed; The alarm level is determined based on the degree of collapse. The step of recording the acceleration, angular velocity, position information and horizontal information in chronological order includes: synchronizing the acceleration, angular velocity, position information and horizontal information to the same time axis, wherein each time point on the same time axis corresponds to the acceleration, angular velocity, position information and horizontal information; The step of determining whether the road where the vehicle is located has collapsed based on the recorded acceleration, angular velocity, position information, and horizontal information includes: generating data curves for the acceleration, angular velocity, position information, and horizontal information respectively on the same time axis; and determining that the location of the vehicle at the target time point has collapsed if fluctuations are found in the data curves of acceleration, angular velocity, position information, and horizontal information at the target time point. The identification of whether fluctuations exist in the data curves of acceleration, angular velocity, position information, and horizontal information at the target time point includes: for each curve in the data curves of acceleration, angular velocity, position information, and horizontal information, performing the following identification operations: determining the peak or trough point on the curve; when the difference between the value of the peak or trough point and the mean value of the curve exceeds a predetermined threshold, determining the slope of the peak or trough point to the mean value of the curve; when the slope is a slope that changes with time, determining that the curve has fluctuations.

2. The method according to claim 1, characterized in that, Determining whether the road where the vehicle is located has collapsed based on 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 average value at the previous multiple time points; When the change exceeds a preset value, it is determined that the road has collapsed.

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

4. The method according to claim 1, characterized in that, The process of determining the alarm level based on the degree of collapse includes: Determine the depth of the collapse and the number of collapses on the road; The alarm level is determined based on the depth and the quantity.

5. A road collapse identification device, characterized in that, include: The acquisition module is used to acquire the vehicle's acceleration, angular velocity, position information, and horizontal information; The recording module is used to record the acceleration, angular velocity, position information, and horizontal information in chronological order. The first determining module is used to determine whether the road where the vehicle is located has collapsed based on the recorded acceleration, angular velocity, position information, and horizontal information. The second determining module is used to determine the alarm level based on the degree of collapse of the subsidence. The step of recording the acceleration, angular velocity, position information and horizontal information in chronological order includes: synchronizing the acceleration, angular velocity, position information and horizontal information to the same time axis, wherein each time point on the same time axis corresponds to the acceleration, angular velocity, position information and horizontal information; The step of determining whether the road where the vehicle is located has collapsed based on the recorded acceleration, angular velocity, position information, and horizontal information includes: generating data curves for the acceleration, angular velocity, position information, and horizontal information respectively on the same time axis; and determining that the location of the vehicle at the target time point has collapsed if fluctuations are found in the data curves of acceleration, angular velocity, position information, and horizontal information at the target time point. The identification of whether fluctuations exist in the data curves of acceleration, angular velocity, position information, and horizontal information at the target time point includes: for each curve in the data curves of acceleration, angular velocity, position information, and horizontal information, performing the following identification operations: determining the peak or trough point on the curve; when the difference between the value of the peak or trough point and the mean value of the curve exceeds a predetermined threshold, determining the slope of the peak or trough point to the mean value of the curve; when the slope is a slope that changes with time, determining that the curve has fluctuations.

6. A car, characterized in that, Includes the road collapse identification device as described in claim 5.

7. A road collapse identification system, characterized in that, include: Multiple cars and servers; The server is used to acquire the vehicle's acceleration, angular velocity, position information, and horizontal information; record the acceleration, angular velocity, position information, and horizontal information in chronological order; and determine whether the road where the vehicle is located has collapsed based on the recorded acceleration, angular velocity, position information, and horizontal information. The alarm level is determined based on the degree of collapse. The step of recording the acceleration, angular velocity, position information and horizontal information in chronological order includes: synchronizing the acceleration, angular velocity, position information and horizontal information to the same time axis, wherein each time point on the same time axis corresponds to the acceleration, angular velocity, position information and horizontal information; The step of determining whether the road where the vehicle is located has collapsed based on the recorded acceleration, angular velocity, position information, and horizontal information includes: generating data curves for the acceleration, angular velocity, position information, and horizontal information respectively on the same time axis; and determining that the location of the vehicle at the target time point has collapsed if fluctuations are found in the data curves of acceleration, angular velocity, position information, and horizontal information at the target time point. The identification of whether fluctuations exist in the data curves of acceleration, angular velocity, position information, and horizontal information at the target time point includes: for each curve in the data curves of acceleration, angular velocity, position information, and horizontal information, performing the following identification operations: determining the peak or trough point on the curve; when the difference between the value of the peak or trough point and the mean value of the curve exceeds a predetermined threshold, determining the slope of the peak or trough point to the mean value of the curve; when the slope is a slope that changes with time, determining that the curve has fluctuations.

8. An electronic device, characterized in that, include: The processor, communication interface, memory, and communication bus are connected, with the processor, communication interface, and memory communicating with each other via the communication bus. The memory is used to store computer programs; the processor is used to execute the computer programs to implement the method described in any one of claims 1-4.

9. A storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the method described in any one of claims 1-4.

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