Road monitoring method and device and storage medium

Abstract

The embodiment of the invention provides a road monitoring method and device and a storage medium, relates to the technical field of road monitoring, and can timely discover abnormal conditions of a road. The method comprises the following steps: acquiring road state information of a target road section in a current monitoring period, wherein the road state information of the target road section in the current monitoring period is determined according to road sensing information fed back by a vehicle driving on the target road section in the current monitoring period; and monitoring whether the target road section is abnormal based on the road state information of the target road section in the current monitoring period.

Description

Technical Field

[0001] The present disclosure relates to the technical field of road monitoring, and in particular to a road monitoring method, device and storage medium. Background Art

[0002] With the development of automobile technology, cars have become one of the most common means of transportation. More and more people are choosing to travel by car, and traffic safety has become extremely important.

[0003] At present, in addition to human factors and vehicle factors, the proportion of road environmental factors in traffic accidents cannot be ignored. For example, unreasonable road design and poor road conditions may become the source of traffic accidents. In order to avoid traffic accidents caused by road environmental factors, it is necessary to monitor the roads frequently. In the current road monitoring technology, it mainly relies on dedicated road monitoring vehicles to shoot the roads, and upload the photographed road information to the relevant analysis department, which analyzes the road information to achieve the effect of monitoring the roads. However, during the above monitoring process, the road monitoring vehicle cannot shoot fixed sections in real time, resulting in the inability to monitor the road in real time, and the road conditions may be abnormal. The road monitoring vehicle fails to shoot the road information in time, resulting in the relevant departments failing to monitor the abnormal road conditions in time, and failing to maintain and handle the abnormal roads in the first time, which ultimately leads to traffic accidents.

[0004] Therefore, how to ensure timely detection of abnormal conditions on the road is an urgent problem to be solved. Summary of the invention

[0005] The embodiments of the present disclosure provide a road monitoring method, device and storage medium, so as to at least detect abnormal conditions on the road in a timely manner.

[0006] In a first aspect, a road monitoring method is provided, which is applied to a server and includes:

[0007] Acquiring road state information of the target road section in the current monitoring cycle, where the road state information of the target road section in the current monitoring cycle is determined based on road perception information fed back by vehicles traveling on the target road section in the current monitoring cycle;

[0008] Based on the road status information of the target road section in the current monitoring cycle, monitor whether the target road section is abnormal.

[0009] In a second aspect, another road monitoring method is provided, which is applied to a roadside unit, including:

[0010] Obtaining road perception information of vehicles traveling on the target road section during the current monitoring period;

[0011] Generate road status information of the target road section within the current monitoring period based on the road perception information of the vehicle;

[0012] Send the road status information of the target road section in the current monitoring cycle to the server.

[0013] In a third aspect, a road monitoring device is provided, comprising: a memory and a processor; the memory and the processor are coupled; the memory is used to store instructions executable by the processor; when the processor executes the instructions, it executes the road monitoring method of the first aspect mentioned above, or executes the road monitoring method of the second aspect mentioned above.

[0014] In a fourth aspect, a computer-readable storage medium is provided, on which computer instructions are stored. When the computer instructions are executed on a computer, the computer executes the road monitoring method of the first aspect or the road monitoring method of the second aspect.

[0015] In the disclosed embodiment, the road state information is obtained from the feedback of vehicles traveling on the target road section during the current monitoring period, which is timely and comprehensive. Therefore, based on the road state information, monitoring whether the target road section is abnormal can timely and accurately detect abnormal conditions in the target road section, thereby reducing the probability of traffic accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present disclosure, the drawings required for use in some embodiments of the present disclosure will be briefly introduced below. Obviously, the drawings described below are only drawings of some embodiments of the present disclosure, and a person skilled in the art can also obtain other drawings based on these drawings.

[0017] Figure 1 A scene architecture diagram of road monitoring provided by an embodiment of the present disclosure;

[0018] Figure 2 A schematic diagram of a road monitoring method provided by an embodiment of the present disclosure;

[0019] Figure 3 A schematic diagram of a flow chart of another road monitoring method provided by an embodiment of the present disclosure;

[0020] Figure 4 A schematic diagram of a flow chart of another road monitoring method provided by an embodiment of the present disclosure;

[0021] Figure 5 A schematic diagram of a flow chart of another road monitoring method provided by an embodiment of the present disclosure;

[0022] Figure 6 A schematic diagram of a flow chart of another road monitoring method provided by an embodiment of the present disclosure;

[0023] Figure 7 A schematic diagram of the structure of a target road section provided by an embodiment of the present disclosure;

[0024] Figure 8 A schematic diagram of the structure of a road monitoring device provided in an embodiment of the present disclosure;

[0025] Fig. 9 A schematic diagram of the structure of another road monitoring device provided in an embodiment of the present disclosure;

[0026] Fig.10 A schematic diagram of the structure of another road monitoring device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0028] In the description of the present disclosure, unless otherwise specified, " / " means "or", for example, A / B can mean A or B. "And / or" in this article is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, "at least one" means one or more, and "plurality" means two or more. The words "first", "second", etc. do not limit the quantity and execution order, and the words "first", "second", etc. do not limit them to be different.

[0029] It should be noted that in the present disclosure, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the present disclosure should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0030] At present, road monitoring technology mainly relies on special road monitoring vehicles to photograph roads, and upload the photographed road information to relevant analysis departments, which then analyze the photographed road information to achieve the effect of monitoring roads.

[0031] The above-mentioned road monitoring technology can monitor road conditions to a certain extent, detect and maintain roads with abnormal conditions. However, since road inspection vehicles cannot monitor fixed roads in real time, abnormal conditions on roads cannot be detected in time.

[0032] Based on this, the embodiment of the present disclosure provides a road monitoring method, which monitors whether the target road section is abnormal by obtaining road status information based on feedback from vehicles traveling on the target road section during the current monitoring period. It can timely and accurately detect abnormal situations in the target road section and reduce the probability of traffic accidents.

[0033] like Figure 1 As shown, a scene architecture diagram of road monitoring provided by an embodiment of the present disclosure is provided, including a vehicle 110, a roadside unit 120 and a server 130.

[0034] In some embodiments, the vehicle 110 has a road section recording capability, and can shoot and record road section information through a camera or a driving recorder; in an optional embodiment, the vehicle 110 can also be described as a perception vehicle, equipped with a vehicle perception device for collecting road perception information of the target road section. The vehicle-mounted perception device includes a camera, a radar, a global positioning system (GPS) positioning device, a vibration sensor, a speed sensor, an acceleration sensor, and a tire pressure sensor and other vehicle state sensors. Among them, the perception range of the camera and the radar can be located in the area directly below the vehicle 110, the GPS positioning device is used to record the current position of the vehicle, the vibration sensor is used to collect the vibration of the vehicle in real time during driving, the speed sensor is used to collect the driving speed of the vehicle, the acceleration sensor is used to collect the acceleration information of the vehicle, and the tire pressure sensor is used to collect the tire pressure of the vehicle in real time. In addition, the vehicle is also equipped with an on-board communication module, which is used to send the collected road perception information to the roadside unit corresponding to the target road section. The number and type of sensors or other devices included in the vehicle can be set according to the specific application scenario, and the present disclosure is not limited to this.

[0035] In some embodiments, the road side unit 120 (RSU) is installed on the road side to provide communication services for the vehicle. For example, the road side unit 120 can use a communication method based on the fifth generation mobile communication technology (5G) and cellular-vehicle to everything (C-V2X) technology. The road side unit 120 is used to receive the road perception information sent by the vehicle, process the road perception information, generate road status information, and finally send the road status information to the server.

[0036] In some embodiments, the server 130 may be a device or network device with computing functions such as a cloud server or a network server. The server 130 may be a single server, or a server cluster consisting of multiple servers, or a cloud computing service center. The server 130 is used to receive the road status information sent by the roadside unit 120, and monitor whether the target road section is abnormal based on the road status information.

[0037] It should be noted that the roadside unit 120 may also be described as a roadside device, and the server 130 may also be described as a road condition management center. Figure 1 This is just an exemplary framework diagram. Figure 1 The number of devices included in the Figure 1 In addition to the devices shown, the road monitoring scenario architecture may also include other devices, such as core network devices.

[0038] The application scenarios of the embodiments of the present disclosure are not limited. The system architecture and business scenarios described in the embodiments of the present disclosure are intended to more clearly illustrate the technical solutions of the embodiments of the present disclosure, and do not constitute a limitation on the technical solutions provided by the embodiments of the present disclosure. It is known to those skilled in the art that with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided by the embodiments of the present disclosure are also applicable to similar technical problems.

[0039] Figure 2 A schematic diagram of a road monitoring method provided by an embodiment of the present disclosure is shown. Figure 2 As shown, the road monitoring method is applied to a server and includes the following steps:

[0040] S101. Obtain road status information of a target road section in a current monitoring cycle.

[0041] As a possible implementation method, the monitoring period can be determined by relevant researchers based on historical data of road monitoring, or can also be directly set manually. For example, the monitoring period can be 2 hours.

[0042] In some embodiments, the server may obtain the road status information of the target road section in the current monitoring period according to the monitoring period.

[0043] For example, taking the monitoring period as 2 hours, the server may obtain the road status information of the target road section once every 2 hours, or the server may always obtain the road status information of the target road section in the current monitoring period when in working state.

[0044] In other embodiments, when the server receives a road monitoring request, the server starts to obtain road status information of the target road section in the current monitoring cycle.

[0045] As a possible implementation method, the road monitoring request may be issued to a road monitoring related department.

[0046] Exemplarily, the road monitoring department sends a road monitoring request to the server at regular time intervals, for example, once an hour. When the server receives the road monitoring request sent by the road monitoring department, it obtains the road status information of the target road section during the current monitoring cycle.

[0047] In some embodiments, the road state information of the target road segment in the current monitoring period is determined based on the road perception information fed back by vehicles traveling on the target road segment in the current monitoring period.

[0048] The road state information of the target road section includes the lane state information of each lane in the target road section, and the lane state information of each lane is determined by the road perception information fed back by the vehicle traveling on the lane. The lane state information includes lane feature information and vehicle driving information. The lane feature information is used to record the external features of the lane, and the vehicle driving information is used to record the operating parameters of the vehicle traveling on the lane.

[0049] Exemplarily, the lane feature information includes lane image information and lane video information. The vehicle driving information includes at least one of the following: driving speed, acceleration, tire pressure information, vehicle vibration information, and positioning information.

[0050] In some embodiments, obtaining the road status information of the target road section in the current monitoring period can be specifically implemented as the following steps: receiving the road status information of the target road section in the current monitoring period sent by the roadside unit corresponding to the target road section.

[0051] It should be noted that the road status information of the target road section obtained by the server during the current monitoring cycle is the road status information obtained and processed by the roadside unit corresponding to the target road section. The road status information directly obtained by the roadside unit includes some invalid information, such as information that is not within the normal data range, or information that has no practical significance in the road monitoring process. Therefore, the road status information collected by the roadside unit cannot be directly used by the server for road section monitoring. The roadside unit is required to process the collected road status information and send the processed road status information to the server so that the server can perform subsequent road section monitoring based on the road status information processed by the roadside unit. Among them, the way the roadside unit processes the road status information can be referred to below. Figure 5 The relevant description is not repeated here.

[0052] In this way, the server only needs to receive the road status information processed by the roadside unit and perform subsequent road section monitoring based on the road status information, avoiding additional resource overhead and reducing the task pressure of the server.

[0053] S102: Based on the road status information of the target road section in the current monitoring period, monitor whether the target road section is abnormal.

[0054] In some embodiments, Figure 3 As shown, based on the road status information of the target road section in the current monitoring cycle, monitoring whether the target road section is abnormal can be specifically implemented as the following steps:

[0055] S1021. Calculate a deviation value based on the road state information of the target road section in the current monitoring period and the initial road state information of the target road section.

[0056] In some embodiments, based on a preset deviation value calculation function, a deviation value calculation process is performed on the road state information of the target road section in the current monitoring period and the initial road state information of the target road section to generate a deviation value.

[0057] The initial road state information of the target road section is also described as the original road condition information of the target road section, which is used to characterize the road state of the target road section when the construction is completed and is stored in the corresponding database. The deviation value is used to characterize the degree of difference between the road state information in the current monitoring period and the initial road state information, and the deviation value can also be described as a deviation value.

[0058] S1022. Based on the deviation value, monitor whether the target road section is abnormal.

[0059] Among them, the deviation value is positively correlated with the abnormality degree of the target road section. The larger the deviation value, the higher the abnormality degree of the target road section.

[0060] As a possible implementation, when the deviation value is greater than the second threshold, the target road section is determined to be abnormal. Alternatively, when the deviation value is less than or equal to the second threshold, the target road section is determined to be normal.

[0061] The second threshold value may be determined by relevant staff based on historical deviation values, or may be set manually.

[0062] In some embodiments, Figure 4 As shown, based on the deviation value, monitoring whether the target road section is abnormal can be specifically implemented as the following steps:

[0063] S10221. Determine the credibility of the deviation value based on the deviation value and the historical deviation value.

[0064] In some embodiments, based on a preset credibility calculation function, credibility calculation processing is performed on the deviation value and the historical deviation value to generate the credibility of the deviation value.

[0065] The historical deviation value is the deviation value calculated during the historical road section monitoring process. For example, it can be the deviation value calculated in the previous monitoring cycle of the current monitoring cycle, which is stored in the corresponding database. The credibility of the deviation value is used to characterize the reliability of the deviation value.

[0066] S10222. When the credibility of the deviation value is greater than a first threshold, monitor whether the target road section is abnormal based on the deviation value.

[0067] The first threshold may be determined by relevant staff based on the credibility corresponding to the historical deviation value, or may be set manually.

[0068] It should be understood that when the credibility of the deviation value is greater than the first threshold, it indicates that the deviation value has a high reliability and can be used for road section monitoring. Correspondingly, when the credibility of the deviation value is less than or equal to the first threshold, it indicates that the reliability of the deviation value is low and cannot be used for subsequent road section monitoring.

[0069] In some embodiments, when the credibility of the deviation value is less than or equal to the first threshold, the server re-acquires the road state information of the target road section in the current monitoring period and recalculates its corresponding deviation value.

[0070] In this way, the reliability of the deviation value is determined according to the credibility of the deviation value. When the deviation value has a high reliability, the target road section is monitored for abnormality based on the deviation value, which can improve the accuracy of monitoring.

[0071] In some embodiments, when it is determined that the target road section is abnormal, an alarm message is sent, wherein the alarm message is used to indicate that the target road section is abnormal.

[0072] As a possible implementation method, when it is determined that the target road section is abnormal, the server can send an alarm message to the terminal device of the staff or the road side unit or the road information system.

[0073] For example, when it is determined that the target road section is abnormal, when the server sends an alarm message to the staff's terminal device, the terminal device will pop up an alarm message and display the alarm time, the target road section and the deviation value corresponding to the target road section, so that the staff can quickly understand the abnormal condition of the target road section and repair the target road section in time.

[0074] In another example, when it is determined that the target road section is abnormal, the server determines the impact range of the target road section based on the deviation value and the road status information of the target road section, and sends an alarm message to the roadside unit within the impact range, so that the roadside unit reminds the vehicle that the target road section is abnormal and pays attention to safe driving.

[0075] In another exemplary embodiment, when it is determined that the target road section is abnormal, the server sends abnormal information to the road information system to instruct the road information system to switch the road status of the target road section from normal to abnormal.

[0076] In some embodiments, after determining that the target road section has returned to normal, an alarm cancellation message is sent, wherein the alarm cancellation message is used to indicate that the target road section has returned to normal.

[0077] For example, after the staff has completed the repair of the target road section, the road status of the target road section in the road information system is switched from abnormal to normal, and a repair completion message is sent to the server to inform the server that the target road section has returned to normal. After receiving the repair completion message, the server sends an alarm cancellation message to the roadside units within the affected range to inform the roadside units that the target road section has returned to normal.

[0078] In some embodiments, when the deviation value is less than or equal to the second threshold, it indicates that the target road section is in a normal state, and the deviation value is stored in a corresponding database for use in subsequent road section monitoring to determine the credibility of the deviation value.

[0079] Based on the above technical solution, the road status information is obtained from the feedback of vehicles traveling on the target road section during the current monitoring period, which is timely and comprehensive. Therefore, based on the road status information, monitoring whether the target road section is abnormal can timely and accurately detect abnormal conditions in the target road section, reducing the probability of traffic accidents.

[0080] Figure 5 A schematic diagram of a road monitoring method provided by an embodiment of the present disclosure is shown. Figure 5 As shown, the road monitoring method is applied to a roadside unit and includes the following steps:

[0081] S201. Obtain road perception information of vehicles traveling on a target road section during a current monitoring period.

[0082] As a possible implementation, when the server needs to monitor the target road section, the server sends an information request to the roadside unit to request the acquisition of road status information. When the roadside unit receives the information request sent by the server, it starts to acquire the road perception information of the vehicles traveling on the target road section in the current monitoring cycle, or the roadside unit may acquire the road perception information of the vehicles traveling on the target road section in the current monitoring cycle once every monitoring cycle.

[0083] For example, taking the interval period as 2 hours, the roadside unit obtains the road perception information of the vehicles traveling on the target road section in the current monitoring period once every 2 hours.

[0084] It should be understood that the road perception information collected by the vehicle traveling on the target road section may contain information content that is useless for monitoring the target road section, for example, information content that exceeds the location range of the target road section. Therefore, when the roadside unit obtains the road perception information of the vehicle traveling on the target road section in the current monitoring cycle, it needs to pre-process the obtained road perception information.

[0085] Exemplarily, the roadside unit determines the location range of the target road section based on the GPS positioning information of the target road section. When obtaining road perception information of vehicles traveling on the target road section during the current monitoring period, the road perception information that is not within the location range of the target road section is discarded based on the location information in the road perception information, and the remaining road perception information is saved in order of acquisition time to facilitate the next step of processing.

[0086] S202: Generate road status information of the target road section in the current monitoring period based on the road perception information of the vehicle.

[0087] In some embodiments, Figure 6 As shown, based on the road perception information of the vehicle, the road state information of the target road section in the current monitoring cycle is generated, which can be specifically implemented as the following steps:

[0088] S2021. Identify the road perception information of vehicles traveling on each lane in the target road section from the road perception information of vehicles traveling on the target road section during the current monitoring period.

[0089] For example, Figure 7 As shown, it is a structural schematic diagram of a target road section provided in an embodiment of the present disclosure. The target road section includes multiple lanes. There are multiple vehicles traveling on lane 1 and lane 2. The road perception information of the driving lanes is obtained through the vehicle perception device and sent to the roadside unit. The road perception information includes corresponding lane information.

[0090] In some embodiments, after receiving the road perception information of vehicles traveling on the target road section in the current monitoring period, the roadside unit identifies the road perception information of vehicles traveling on each lane in the target road section based on the corresponding lane information in the road perception information.

[0091] Among them, the road perception information includes at least one of the following: vehicle driving information corresponding to the lane in which the vehicle is traveling on the target road section, image information corresponding to the lane in which the vehicle is traveling on the target road section, video information corresponding to the lane in which the vehicle is traveling on the target road section, and radar detection information corresponding to the lane in which the vehicle is traveling on the target road section.

[0092] In some embodiments, after the roadside unit receives road perception information from vehicles traveling on the target road section during the current monitoring period, it classifies the road perception information according to the information source and information content in the road perception information, and combines the lane information corresponding to the road perception information to generate road perception information for each lane in the target road section.

[0093] Exemplarily, after receiving multiple road perception information, the road side unit divides the road perception information into multiple perception data streams, such as video data stream, radar data stream, vibration data stream, and vehicle speed data stream, according to the information content and information source of the multiple road perception information. Then, the multiple perception data streams are combined with the lane information in the road perception information corresponding to the perception data streams to generate road perception information for each lane in the target road section.

[0094] S2022. For each lane in the target road section, generate lane state information of the lane in the current monitoring cycle based on the road perception information of vehicles traveling on the lane.

[0095] In some embodiments, based on the road perception information of vehicles traveling on the lane, lane status information of the lane in the current monitoring cycle is generated, which can be specifically implemented as the following steps: road perception information of vehicles traveling on the lane in the current monitoring cycle is averaged to obtain lane status information of the lane in the current monitoring cycle.

[0096] For example, Figure 7Take the target road section shown as an example, which includes lane 1 and lane 2. Vehicles 1 and 2 are traveling on lane 1, and the lane state information collected for lane 1 in the current monitoring cycle is information 1 and information 2 respectively. Vehicles 3 and 4 are traveling on lane 2, and the lane state information collected for lane 2 in the current monitoring cycle is information 3 and information 4 respectively. The lane state information corresponding to the same lane is averaged, that is, information 1 and information 2 are averaged to obtain the lane state information of lane 1 in the current monitoring cycle, and information 3 and information 4 are averaged to obtain the lane state information of lane 2 in the current monitoring cycle.

[0097] The lane state information includes lane characteristic information and vehicle driving information. The lane characteristic information is used to record the external characteristics of the lane, and the vehicle driving information is used to record the operating parameters of the vehicle driving on the lane.

[0098] Exemplarily, the lane feature information includes lane image information and lane video information. The vehicle driving information includes at least one of the following: driving speed, acceleration, tire pressure information, vehicle vibration information, and positioning information.

[0099] S2023. Generate road state information of the target road section in the current monitoring cycle based on lane state information of each lane in the target road section in the current monitoring cycle.

[0100] In some embodiments, based on a preset fusion algorithm, the lane state information of each lane in the target road section in the current monitoring cycle is fused to obtain the road state information of the target road section in the current monitoring cycle.

[0101] In this way, by averaging the lane state information of the same lane in the target section, and then generating the road state information of the target section based on the lane state information of each lane in the target section, the accuracy of road state information feedback to the target section is improved, and the accuracy of monitoring the target section is further improved.

[0102] S203: Send the road status information of the target road section in the current monitoring period to the server.

[0103] As a possible implementation method, after the roadside unit generates the road status information of the target section in the current monitoring cycle, it can directly send the above road status information to the server, or after the roadside unit receives the information request sent by the server, it sends the above road status information to the server.

[0104] In some embodiments, based on Figure 5 In the embodiment shown, the method further comprises the following steps:

[0105] Receive the warning information sent by the server, and perform any of the following operations based on the warning information:

[0106] Operation 1: Stop sending the road status information of the target road section in the next monitoring cycle to the server.

[0107] Operation 2: increasing the duration of the monitoring period for the target road section from the first duration to the second duration;

[0108] Operation 3: Stop receiving the vehicle's road perception information.

[0109] Among them, the warning information is used to indicate that the target road section is abnormal.

[0110] As a possible implementation method, after the roadside unit receives the warning information sent by the server, it sends the warning information to the vehicles within its own sensing range to notify the users in the vehicles that the target road section is abnormal.

[0111] Exemplarily, the warning information sent by the roadside unit can be sent in the form of audio, and the vehicles within its own sensing range can be reminded of the abnormality of the target road section by playing audio, and pay attention to safe driving.

[0112] In this way, when the target road section is abnormal, by stopping sending the road status information of the target road section in the next monitoring cycle to the server or increasing the duration of the monitoring cycle of the target road section from the first duration to the second duration, the consumption of communication resources can be reduced and the communication pressure between the roadside unit and the server can be relieved. By stopping receiving the road perception information of the vehicle, the consumption of communication resources can also be reduced and the communication pressure between the roadside unit and the vehicle can be relieved. In addition, the roadside unit will also send warning information to vehicles within its own perception range to remind users to drive safely and reduce the probability of traffic accidents.

[0113] In some embodiments, based on the above embodiment, after receiving the alarm information sent by the server, the above method further includes the following steps:

[0114] Receive the alarm cancellation information sent by the server, and perform any of the following operations based on the alarm cancellation information:

[0115] Operation 1: Resume sending the road status information of the target road section in the next monitoring cycle to the server.

[0116] Operation 2: reducing the duration of the monitoring period for the target road section from the second duration to the first duration.

[0117] Operation 3: Resume receiving the vehicle's road perception information.

[0118] Among them, the alarm cancellation information is used to indicate that the target road section has returned to normal.

[0119] As a possible implementation manner, after the roadside unit receives the warning cancellation information sent by the server, it stops sending warning information to vehicles within its own sensing range.

[0120] In this way, when the target road section has returned to normal, the duration of the monitoring cycle is reduced, the road perception information of the vehicle is restored to be received, and the road status information of the target road section in the next monitoring cycle is restored to be sent to the server, so that the target road section can continue to be monitored, abnormal conditions of the target road section can be discovered in time, and the probability of traffic accidents can be reduced.

[0121] It is understandable that in order to realize the above functions, the road monitoring device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the algorithm steps of each example described in the embodiments of the present disclosure, the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present disclosure.

[0122] The embodiments of the present disclosure may divide the functional modules of the road monitoring device according to the above method embodiments. For example, each functional module may be divided corresponding to each function, or two or more functions may be integrated into one functional module. The above integrated modules may be implemented in the form of hardware or software. It should be noted that the division of modules in the embodiments of the present disclosure is schematic and is only a logical functional division. There may be other division methods in actual implementation. The following is an example of dividing each functional module corresponding to each function.

[0123] Figure 8 80 is a schematic diagram of a road monitoring device applied to a server provided in an embodiment of the present disclosure. The road monitoring device 80 can execute the server-related method in the road monitoring method provided in the above method embodiment. Figure 8 As shown, the road monitoring device 8 includes: an acquisition module 801 and a processing module 802 .

[0124] The acquisition module 801 is used to acquire the road state information of the target section in the current monitoring cycle. The road state information of the target section in the current monitoring cycle is determined according to the road perception information fed back by the vehicles traveling on the target section in the current monitoring cycle.

[0125] The processing module 802 is used to monitor whether the target road section is abnormal based on the road state information of the target road section in the current monitoring cycle.

[0126] In some embodiments, the road state information of the target road segment includes lane state information of each lane in the target road segment, and the lane state information of each lane is determined by road perception information fed back by vehicles traveling on the lane.

[0127] In some embodiments, the lane state information includes lane characteristic information and vehicle driving information, the lane characteristic information is used to record the external characteristics of the lane, and the vehicle driving information is used to record the operating parameters of the vehicle driving on the lane.

[0128] In some embodiments, the vehicle driving information includes at least one of the following: driving speed, acceleration, tire pressure information, vehicle vibration information, and positioning information.

[0129] In some embodiments, the acquisition module 801 is specifically used to receive road status information of the target road section in the current monitoring period sent by the roadside unit corresponding to the target road section.

[0130] In some embodiments, the processing module 802 is specifically used to calculate a deviation value based on the road state information of the target road section in the current monitoring period and the initial road state information of the target road section; wherein the deviation value is used to characterize the degree of difference between the road state information in the current monitoring period and the initial road state information; based on the deviation value, monitor whether the target road section is abnormal.

[0131] In some embodiments, the processing module 802 is specifically used to determine the credibility of the deviation value based on the deviation value and the historical deviation value; when the credibility of the deviation value is greater than the first threshold, monitor whether the target road section is abnormal based on the deviation value.

[0132] In some embodiments, the processing module 802 is specifically configured to determine that the target road section is abnormal when the deviation value is greater than a second threshold value; and to determine that the target road section is normal when the deviation value is less than or equal to the second threshold value.

[0133] In some embodiments, the processing module 802 is further used to send an alarm message when it is determined that the target road section is abnormal, and the alarm message is used to indicate that the target road section is abnormal.

[0134] In some embodiments, the processing module 802 is further used to send an alarm cancellation message after determining that the target road section has returned to normal, and the alarm cancellation message is used to indicate that the target road section has returned to normal.

[0135] Fig. 9 9 is a schematic diagram of the structure of a road monitoring device applied to a roadside unit provided in an embodiment of the present disclosure. The road monitoring device 90 can execute the roadside unit-related method in the road monitoring method provided in the above method embodiment. Fig. 9As shown, the road monitoring device 9 includes: an acquisition module 901 , a processing module 902 and a communication module 903 .

[0136] The acquisition module 901 is used to acquire the road perception information of the vehicles traveling on the target road section in the current monitoring period;

[0137] The processing module 902 is used to generate road state information of the target road section in the current monitoring cycle based on the road perception information of the vehicle;

[0138] The communication module 903 is used to send the road status information of the target road section in the current monitoring cycle to the server.

[0139] In some embodiments, the processing module 902 is specifically used to identify the road perception information of vehicles traveling on each lane in the target section from the road perception information of vehicles traveling on the target section in the current monitoring cycle; for each lane in the target section, based on the road perception information of vehicles traveling on the lane, generate lane state information of the lane in the current monitoring cycle; based on the lane state information of each lane in the target section in the current monitoring cycle, generate road state information of the target section in the current monitoring cycle.

[0140] In some embodiments, the processing module 902 is specifically used to perform average processing on the road perception information of the vehicles traveling on the lane in the current monitoring period to obtain the lane state information of the lane in the current monitoring period.

[0141] In some embodiments, the lane state information includes lane characteristic information and vehicle driving information, the lane characteristic information is used to record the external characteristics of the lane, and the vehicle driving information is used to record the operating parameters of the vehicle driving on the lane.

[0142] In some embodiments, the vehicle driving information includes at least one of the following: driving speed, acceleration, tire pressure information, vehicle vibration information, and positioning information.

[0143] In some embodiments, the road perception information includes at least one of the following: vehicle driving information corresponding to the lane in which the vehicle is traveling on the target road section, image information corresponding to the lane in which the vehicle is traveling on the target road section, video information corresponding to the lane in which the vehicle is traveling on the target road section, and radar detection information corresponding to the lane in which the vehicle is traveling on the target road section.

[0144] In some embodiments, the processing module 902 is also used to receive alarm information sent by the server, where the alarm information is used to indicate that the target road section is abnormal; based on the alarm information, any one of the following operations is performed: stop sending road status information of the target road section in the next monitoring cycle to the server; increase the duration of the monitoring cycle for the target road section from the first duration to the second duration; stop receiving road perception information of the vehicle.

[0145] In some embodiments, the processing module 902 is also used to receive alarm cancellation information sent by the server, and the alarm cancellation information is used to indicate that the target road section has returned to normal; based on the alarm cancellation information, any one of the following operations is performed: resume sending the road status information of the target road section in the next monitoring cycle to the server; reduce the duration of the monitoring cycle for the target road section from the second duration to the first duration; resume receiving the vehicle's road perception information.

[0146] In the case of implementing the functions of the above-mentioned integrated modules in the form of hardware, the embodiments of the present disclosure provide another possible structure of the road monitoring device involved in the above-mentioned embodiments. Fig.10 As shown, the road monitoring device 100 includes: a processor 1002 and a bus 1004. As a possible implementation, the road monitoring device may further include a memory 1001; as a possible implementation, the road monitoring device may further include a communication interface 1003.

[0147] The processor 1002 may be a processor that implements or executes various exemplary logic blocks, modules, and circuits described in conjunction with the embodiments of the present disclosure. The processor 1002 may be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It may implement or execute various exemplary logic blocks, modules, and circuits described in conjunction with the embodiments of the present disclosure. The processor 1002 may also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like.

[0148] The communication interface 1003 is used to connect with other devices via a communication network, such as Ethernet, wireless access network, wireless local area network (WLAN), etc.

[0149] The memory 1001 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program codes in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.

[0150] As a possible implementation, the memory 1001 may exist independently of the processor 1002, and the memory 1001 may be connected to the processor 1002 via a bus 1004 to store instructions or program codes. When the processor 1002 calls and executes the instructions or program codes stored in the memory 1001, the road monitoring method provided in the embodiment of the present disclosure can be implemented.

[0151] In another possible implementation, the memory 1001 may also be integrated with the processor 1002 .

[0152] The bus 1004 may be an extended industry standard architecture (EISA) bus, etc. The bus 1004 may be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig.10 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0153] Some embodiments of the present disclosure provide a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium), which stores computer program instructions. When the computer program instructions are executed on a computer, the computer executes the road monitoring method as described in any of the above embodiments.

[0154] Exemplarily, the above-mentioned computer-readable storage media may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks or magnetic tapes, etc.), optical disks (e.g., compact disks (CD), digital versatile disks (DVD), etc.), smart cards and flash memory devices (e.g., erasable programmable read-only memory (EPROM), cards, sticks or key drives, etc.). The various computer-readable storage media described in the present disclosure may represent one or more devices and / or other machine-readable storage media for storing information. The term "machine-readable storage medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing and / or carrying instructions and / or data.

[0155] An embodiment of the present disclosure provides a computer program product including instructions. When the computer program product is run on a computer, the computer is enabled to execute the road monitoring method described in any one of the above embodiments.

[0156] The above is only a specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present disclosure should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A road monitoring method, characterized in that: Applied to a server, the method comprises: Acquiring road state information of a target road section in a current monitoring cycle, wherein the road state information of the target road section in the current monitoring cycle is determined according to road perception information fed back by vehicles traveling on the target road section in the current monitoring cycle; Based on the road status information of the target road section in the current monitoring period, monitor whether the target road section is abnormal.

2. The method according to claim 1, characterized in that The road state information of the target road section includes lane state information of each lane in the target road section, and the lane state information of each lane is determined by road perception information fed back by vehicles traveling on the lane.

3. The method according to claim 2, characterized in that The lane state information includes lane characteristic information and vehicle driving information, the lane characteristic information is used to record the external characteristics of the lane, and the vehicle driving information is used to record the operating parameters of the vehicle traveling on the lane.

4. The method according to claim 3, characterized in that: The vehicle driving information includes at least one of the following: driving speed, acceleration, tire pressure information, vehicle vibration information, and positioning information.

5. The method according to claim 1, characterized in that The step of obtaining the road status information of the target road section in the current monitoring cycle includes: Receive road status information of the target road section in a current monitoring period sent by a roadside unit corresponding to the target road section.

6. The method according to claim 1, characterized in that The monitoring of whether the target road section is abnormal based on the road state information of the target road section in the current monitoring period includes: Calculating a deviation value based on the road state information of the target road section in the current monitoring cycle and the initial road state information of the target road section; wherein the deviation value is used to characterize the degree of difference between the road state information in the current monitoring cycle and the initial road state information; Based on the deviation value, monitor whether the target road section is abnormal.

7. The method according to claim 6, characterized in that The step of monitoring whether the target road section is abnormal based on the deviation value includes: Determining the credibility of the deviation value based on the deviation value and historical deviation values; When the credibility of the deviation value is greater than a first threshold, whether the target road section is abnormal is monitored based on the deviation value.

8. The method according to claim 6, characterized in that The step of monitoring whether the target road section is abnormal based on the deviation value includes: When the deviation value is greater than a second threshold, determining that the target road section is abnormal; When the deviation value is less than or equal to the second threshold, it is determined that the target road section is normal.

9. The method according to claim 1, characterized in that: The method further comprises: When it is determined that the target road section is abnormal, an alarm message is sent, where the alarm message is used to indicate that the target road section is abnormal.

10. The method according to claim 9, characterized in that The method further comprises: After determining that the target road section has returned to normal, an alarm cancellation message is sent, where the alarm cancellation message is used to indicate that the target road section has returned to normal.

11. A road monitoring method, characterized in that: Applied to a roadside unit, the method comprises: Obtaining road perception information of vehicles traveling on the target road section during the current monitoring period; Generate road state information of the target road section within a current monitoring period based on the road perception information of the vehicle; Send the road status information of the target road section in the current monitoring cycle to the server.

12. The method according to claim 11, characterized in that The generating the road state information of the target road section in the current monitoring period based on the road perception information of the vehicle includes: Identifying road perception information of vehicles traveling on each lane in the target road section from road perception information of vehicles traveling on the target road section in a current monitoring period; For each lane in the target road section, generating lane state information of the lane in a current monitoring cycle based on road perception information of vehicles traveling on the lane; Based on the lane state information of each lane in the target road section in the current monitoring cycle, the road state information of the target road section in the current monitoring cycle is generated.

13. The method according to claim 12, characterized in that The generating lane state information of each lane in the current monitoring period based on the road perception information of the vehicle traveling on the lane in the current monitoring period includes: The road perception information of the vehicles traveling on the lane in the current monitoring cycle is averaged to obtain the lane state information of the lane in the current monitoring cycle.

14. The method according to claim 12, characterized in that The lane state information includes lane characteristic information and vehicle driving information, the lane characteristic information is used to record the external characteristics of the lane, and the vehicle driving information is used to record the operating parameters of the vehicle traveling on the lane.

15. The method according to claim 14, characterized in that The vehicle driving information includes at least one of the following: driving speed, acceleration, tire pressure information, vehicle vibration information, and positioning information.

16. The method according to claim 15, characterized in that The road perception information includes at least one of the following: The vehicle driving information corresponding to the lane in which the vehicle is traveling on the target road section, Image information corresponding to the lane on which the vehicle is traveling on the target road section, Video information corresponding to the lane in which the vehicle is traveling on the target road section, The radar detection information corresponding to the lane in which the vehicle is traveling on the target road section.

17. The method according to claim 11, characterized in that The method further comprises: Receiving warning information sent by the server, wherein the warning information is used to indicate that the target road section is abnormal; Based on the warning information, perform any one of the following operations: Stop sending the road status information of the target road section in the next monitoring cycle to the server; Increasing the duration of the monitoring period of the target road section from a first duration to a second duration; Stop receiving road awareness information from the vehicle.

18. The method according to claim 17, characterized in that After receiving the alarm information sent by the server, the method further includes: Receiving alarm cancellation information sent by the server, wherein the alarm cancellation information is used to indicate that the target road section has returned to normal; Based on the alarm cancellation information, perform any one of the following operations: Resume sending the road status information of the target road section in the next monitoring cycle to the server; reducing the duration of the monitoring period for the target road section from the second duration to the first duration; Resume receiving the road perception information of the vehicle.

19. A road monitoring device, characterized in that: include: Memory and processor; Memory and processor coupling; The memory is used to store instructions executable by the processor; When the processor executes the instruction, the method according to any one of claims 1 to 10 is performed, or the method according to any one of claims 11 to 18 is performed.

20. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer executes the method according to any one of claims 1 to 10, or executes the method according to any one of claims 11 to 18.

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