Road surface brightness detection area marking method, equipment, system and program product

Abstract

The invention discloses a road surface brightness detection area marking method, equipment, a system and a program product. The method comprises the following steps: acquiring a front road surface picture shot by a bearing vehicle in a road surface brightness detection process and laser ranging information; the front road surface picture and the laser ranging information are input into a static calibration model; and marking a brightness detection interval in the front road surface picture according to the laser ranging information to obtain a road surface picture with the marked brightness detection interval. According to the invention, dynamic detection can be carried out according to different road conditions, the brightness detection area graph is corrected in real time, it is ensured that an effective detection area is displayed on the collected image data, the road surface brightness detection efficiency is effectively improved, and the safety risk is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of road detection, and in particular to a road surface brightness detection area marking method, equipment, system and program product. Background Art

[0002] Brightness is an important parameter in photometry. Existing photometers or photometers are used to directly or indirectly measure the brightness of a target. In the case of insufficient natural light at night or in severe weather conditions, highway lighting can provide highway users with the lighting environment required to identify traffic flow information and road obstacles, which plays an important role in ensuring transportation safety and improving vehicle traffic efficiency.

[0003] At present, the application of highway lighting facilities has expanded from tunnels and urban peripheral roads to ordinary high-grade highways. In some economically developed areas, the lighting transformation of the entire expressway has begun. The existing brightness detection method is static detection, which requires road closure. After the detection equipment is set up, it is necessary to manually measure the detection area in front of the detection equipment and add markers at the four corners of the detection area so that the required detection area can be correctly displayed on the captured image. This is not only time-consuming and labor-intensive, but also has relatively low detection efficiency. However, the brightness detection work required for the design, acceptance and operation and maintenance of highway lighting is increasing year by year, and the existing detection methods restrict the development of the detection industry.

[0004] Therefore, it is urgent to invent a road surface brightness detection area marking method to solve the problems of low efficiency and safety risks of existing road surface brightness detection methods. Summary of the invention

[0005] In view of this, embodiments of the present invention provide a road brightness detection area marking method, device, system and program product, which at least partially solve the problems existing in the prior art.

[0006] Other features and advantages of the present invention will become apparent from the following detailed description, or may be learned in part by practice of the present invention.

[0007] In order to achieve the above objectives, the embodiments of the present invention provide the following technical solutions:

[0008] According to a first aspect of an embodiment of the present invention, a method for marking a road surface brightness detection area is provided, the method comprising:

[0009] Obtain the road surface image and laser ranging information taken by the carrier vehicle during the road brightness detection process;

[0010] Inputting the front road surface image and the laser ranging information into a static calibration model;

[0011] The brightness detection interval is marked in the front road surface picture according to the laser ranging information to obtain a road surface picture with the brightness detection interval marked.

[0012] Furthermore, a fixing bracket is installed on the upper part of the front hood of the carrier vehicle, and a camera unit and a laser ranging unit are installed on the fixing bracket.

[0013] Furthermore, the construction process of the static calibration model includes:

[0014] When the carrier vehicle is in a stationary state, the camera unit is adjusted so that the center line of the camera unit is parallel to the ground, and the vertical distance between the center point A of the camera unit and the ground meets the preset installation height, and the height of the center point A of the camera unit is obtained;

[0015] According to the laser line emitted by the laser ranging unit in the detection direction, a laser marking point C and a length AC between the center point A of the camera unit and the laser marking point C are obtained;

[0016] Taking the center point A of the camera unit and the vertical point B of the ground as the center, determine the detection mark point D in the detection direction according to the preset detection requirements, and the vertical point B, the laser mark point C, the detection mark point D and the center point E of the rear wheel of the load-bearing vehicle are on the same straight line;

[0017] According to the distance between each point, the calibration angle is obtained;

[0018] According to the distance length between each point and the calibration angle, a static calibration model is constructed. The static calibration model is used to add a sideline between the vertical point B and the detection mark point D in the photographed road surface image according to the laser ranging length AC, thereby obtaining the brightness detection interval.

[0019] Furthermore, according to the distance between each point, the calibration angle is obtained, including:

[0020] Measure the length AB between the center point A of the camera unit and the vertical point B, the length BC between the vertical point B and the laser marking point C, the length BD between the vertical point B and the detection marking point D, and the length BE between the vertical point B and the center point E of the rear wheel of the carrier vehicle;

[0021] Based on the length BC and the length AB, we get the angle , the calculation formula is: ;

[0022] According to the length BD and the length AB, the angle , the calculation formula is: ;

[0023] According to the length AB and the length BE, we get the angle , the calculation formula is: .

[0024] Furthermore, when the front wheel of the carrier vehicle is raised, the center point A of the camera unit is tilted up to the tilt point of the camera unit. , camera unit tilt point The point perpendicular to the ground is ;

[0025] According to the camera unit tilt point The length between the center point E of the rear wheel of the load-bearing vehicle And the camera unit tilt point With laser marking upturned point The length between , calculate the vertical height and angle The first change , the calculation formula is as follows: , ;

[0026] Using the vertical height and the first variation , calculate the camera unit elevation point With detection mark up point The length between , the calculation formula is: ;

[0027] The length The image is input into the static calibration model to obtain a road surface image with brightness detection interval markings completed.

[0028] Furthermore, when the front wheel of the carrier vehicle is low, the center point A of the camera unit tilts toward the camera unit tilt point. , camera unit pitch point The point perpendicular to the ground is ;

[0029] According to the camera unit pitch point The length between the center point E of the rear wheel of the load-bearing vehicle And the camera unit pitch Descend point with laser marking The length between , calculate the vertical height and angle The second change , the calculation formula is as follows: , ;

[0030] Using the vertical height and the second variation , calculate the camera unit pitch point With detection mark depression point The length between , the calculation formula is: ;

[0031] The length The image is input into the static calibration model to obtain a road surface image with brightness detection interval markings completed.

[0032] Furthermore, a Beidou satellite positioning unit is also installed on the fixed bracket, and the Beidou satellite positioning unit is used to obtain real-time positioning information.

[0033] According to a second aspect of an embodiment of the present invention, there is provided a road brightness detection area marking device, the device comprising a carrier vehicle, a camera unit, a Beidou satellite positioning unit, a laser ranging unit and a computing unit;

[0034] The camera unit, the Beidou satellite positioning unit and the laser ranging unit are installed on the upper part of the front cover of the carrier vehicle through a fixing bracket;

[0035] The camera unit is used to take pictures of the road ahead and transmit them to the computing unit;

[0036] The laser distance measuring unit is used to detect the distance from the laser distance measuring unit to the ground in front in real time;

[0037] The Beidou satellite positioning unit is used to obtain real-time positioning information and transmit it to the computing unit;

[0038] The calculation unit is arranged inside the carrier vehicle, and is used to input the captured road surface image and laser ranging information into the static calibration model, and mark the brightness detection interval in the road surface image according to the laser ranging information.

[0039] According to a third aspect of an embodiment of the present invention, a road brightness detection area marking system is provided, the system comprising a road shooting module, a laser ranging module and a marking module;

[0040] The road surface shooting module is used to shoot a road surface picture of the brightness to be detected;

[0041] The laser ranging module is used to detect the distance from the laser ranging unit to the ground in front in real time;

[0042] The marking module is used to input the photographed road surface picture and laser ranging information into the static calibration model, and mark the brightness detection interval in the road surface picture according to the laser ranging information.

[0043] According to a fourth aspect of an embodiment of the present invention, a computer program product is provided, the computer program product comprising computer program instructions, which, when executed by a processor, implement the steps of a road brightness detection area marking method as described in any one of the above items.

[0044] A road brightness detection area marking method, device, system and program product provided in an embodiment of the present invention solves the problem that the existing static brightness detection requires road closure, manual measurement of the detection area and placement of measurement markers in front of the detection, resulting in cumbersome workload. The present invention can directly complete the road brightness detection area marking while the carrier vehicle is moving.

[0045] The present invention also has the advantages of dynamic detection and real-time correction. It can correct the detection area map in real time according to different road conditions to ensure that the collected image data displays the effective detection area, increase the basis for dynamic brightness detection, effectively improve detection efficiency and reduce safety risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the implementation methods of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the implementation methods or the description of the prior art. Obviously, the drawings in the following description are only exemplary, and for ordinary technicians in this field, other implementation drawings can be derived from the provided drawings without creative work.

[0047] Figure 1 A schematic flow chart of a road surface brightness detection area marking method provided by an embodiment of the present invention;

[0048] Figure 2 A schematic diagram of the detection effect of a road surface brightness detection area marking method provided by an embodiment of the present invention;

[0049] Figure 3 A schematic diagram of the principle of constructing a static calibration model provided by an embodiment of the present invention;

[0050] Figure 4 A schematic diagram of the principle of marking the road surface brightness detection area for the front wheel high protrusion provided by an embodiment of the present invention;

[0051] Figure 5 A schematic diagram of the principle of marking the low-lying road surface brightness detection area of ​​the front wheel provided by an embodiment of the present invention;

[0052] Figure 6 A schematic diagram of the structure of a road surface brightness detection area marking device provided by an embodiment of the present invention;

[0053] Figure 7A schematic diagram of signal flow of a road brightness detection area marking device provided in an embodiment of the present invention.

[0054] Reference numerals:

[0055] 1-carrying vehicle; 2-fixed bracket; 3-camera unit; 4-laser ranging unit; 5-Beidou satellite positioning unit; 6-detection area. DETAILED DESCRIPTION

[0056] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0057] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0058] Figure 1 The figure shows a flow chart of a method for marking a road brightness detection area according to an embodiment of the present invention.

[0059] like Figure 1 As shown, the road surface brightness detection area marking method according to the embodiment of the present invention may include step S100, step S200 and step S300.

[0060] In step S100, a front road surface picture and laser ranging information taken by the carrier vehicle during the road surface brightness detection process are obtained.

[0061] Specifically, the above steps include:

[0062] refer to Figure 2 A fixing bracket 2 is installed on the upper part of the front cover of the carrier vehicle 1, and a camera unit 3, a laser ranging unit 4 and a Beidou satellite positioning unit 5 are installed on the fixing bracket 2.

[0063] The camera unit 3 is used to take pictures of the road ahead.

[0064] The laser distance measuring unit 4 is used to detect the distance from the laser distance measuring unit to the ground in front in real time.

[0065] The Beidou satellite positioning unit 5 is used to obtain real-time positioning information.

[0066] Figure 2 The left picture in the lower part shows a schematic diagram of road detection. Figure 2 The lower right picture shows a schematic diagram of tunnel detection.

[0067] Next, in step S200, the front road surface image and laser ranging information are input into the static calibration model.

[0068] Specifically, the above steps include:

[0069] refer to Figure 3 , the construction process of the above static calibration model specifically includes:

[0070] When the carrier vehicle is located on a conventional closed road and is in a stationary state, adjust the camera unit on the fixed bracket so that the center line of the camera unit is parallel to the ground, and the vertical distance between the center point A of the camera unit and the ground meets the preset installation height required for detection, and obtain the height of the center point A of the camera unit.

[0071] The point perpendicular to the ground and the center point A of the camera unit is taken as the vertical point B, the front direction of the load-bearing vehicle is selected as the detection direction, and the laser marking point C and the length AC between the center point A of the camera unit and the laser marking point C are obtained according to the laser line emitted by the laser ranging unit in the detection direction, and the laser marking point C is marked in the road surface picture.

[0072] Then, according to the preset detection requirements, the detection mark point D is determined in the detection direction with the vertical point B as the center. The vertical point B, laser mark point C, detection mark point D and the center point E of the rear wheel of the load-bearing vehicle are on the same straight line.

[0073] By measuring between fixed points, the distance between each point is obtained, and the calibration angle is calculated based on the distance between each point, including:

[0074] Measure the length AB between the center point A of the camera unit and the vertical point B, the length BC between the vertical point B and the laser marking point C, the length BD between the vertical point B and the detection marking point D, and the length BE between the vertical point B and the center point E of the rear wheel of the carrier vehicle.

[0075] According to the length BC and the length AB, we can get the length of △ABC. , the calculation formula is: .

[0076] According to the length BD and the length AB, we can get △ABD , the calculation formula is: .

[0077] According to the length AB and the length BE, we can get △ABE , the calculation formula is: .

[0078] Based on the calculated angle, the angle between the camera unit center point A and the detection mark point D can be determined, and a static calibration model is constructed based on the distance length and calibration angle between each point.

[0079] The static calibration model is used to add a sideline from the vertical point B to the detection mark point D on the road surface picture taken by the camera unit according to the laser ranging length AC, so as to obtain the brightness detection interval.

[0080] The embodiment of the present invention constructs a static calibration model, so that in the subsequent formal inspection of other roads, there is no need to use ground measurement length marks. The static calibration calculation model can be directly used to draw the inspection interval, which solves the tedious process of manual fixed-point marking preparation for each inspection point, and effectively improves the marking efficiency of the road brightness detection area.

[0081] Finally, in step S300, the brightness detection interval is marked in the front road surface picture according to the laser ranging information, and the road surface picture with the brightness detection interval marked is obtained.

[0082] Specifically, the above steps include:

[0083] If the current detected road surface is a flat road surface, the static calibration model adds a sideline from the vertical point B to the detection mark point D on the road surface picture taken by the camera unit according to the laser ranging information, thereby marking the brightness detection interval and obtaining a road surface picture with the brightness detection interval marked.

[0084] If the vehicle is affected by road bumps during driving, the center point of the camera unit will have a pitch change, which will affect the real-time distance of the detection point D in the static detection calculation model. Specifically, the following factors will affect the real-time distance of the detection point D in the static detection calculation model:

[0085] refer to Figure 4 When the front wheel of the carrier vehicle is protruding, the center point A of the camera unit moves upward to the camera unit upward point , camera unit tilt point The vertical point with the ground changes accordingly .

[0086] Since the camera unit is tilted There is a mechanical hard connection between the rear wheel grounding center point E of the load-bearing vehicle, and the length between the two is fixed, that is, .

[0087] According to the camera unit tilt point Length from the center point E of the rear wheel of the load-bearing vehicle And the camera unit tilt point With laser marking upturned point The length between , calculate the vertical height and angle The first change , the calculation formula is as follows: , , where the length It can be directly obtained through the laser ranging unit, and the vertical height can be obtained by applying the solution of the binary linear equation and angle The first change .

[0088] Use vertical height and the first change , calculate the camera unit elevation point With detection mark up point The length between , the calculation formula is: .

[0089] Finally, the length By bringing it into the static calibration model, the brightness range that needs to be marked can be obtained, and a road surface picture with the brightness detection range marked can be obtained.

[0090] refer to Figure 5 When the front wheel of the carrier vehicle is low, the center point A of the camera unit moves downward to the camera unit downward point , camera unit pitch point The vertical point with the ground changes accordingly to .

[0091] Since the camera unit is at a low point There is a mechanical hard connection between the rear wheel grounding center point E of the load-bearing vehicle, and the length between the two is fixed, that is, .

[0092] According to the camera unit pitch point Length from the center point E of the rear wheel of the load-bearing vehicle And the camera unit pitch Descend point with laser marking The length between , calculate the vertical height and angle The second change , the calculation formula is as follows: , , where the length It can be directly obtained through the laser ranging unit, and the vertical height can be obtained by applying the solution of the binary linear equation and angle The second change .

[0093] Using vertical height and the second variation , calculate the camera unit pitch point With detection mark depression point The length between , the calculation formula is: .

[0094] Finally, the length By inputting it into the static calibration model, the brightness range that needs to be marked can be obtained, and a road surface picture with the brightness detection range marked can be obtained.

[0095] Optionally, based on the road surface image with the brightness detection interval marked, the brightness value within the frame on the image is calculated.

[0096] The embodiment of the present invention utilizes a static calibration model plus the height and angle changes of the camera unit caused by road bumps to achieve direct dynamic detection without the need for manual marking of detection points. The detection area can also be corrected in real time according to the bumpy driving condition of the carrier vehicle, thereby greatly improving the detection efficiency on bumpy roads.

[0097] In addition, an embodiment of the present invention also provides a road brightness detection area marking device, which includes a carrier vehicle, a camera unit, a Beidou satellite positioning unit, a laser ranging unit and a computing unit. The camera unit, the Beidou satellite positioning unit and the laser ranging unit are installed on the upper part of the front hood of the carrier vehicle through a fixed bracket.

[0098] The camera unit is used to take pictures of the road ahead and transmit them to the computing unit.

[0099] The laser distance measuring unit is used to detect the distance from the laser distance measuring unit to the ground in front in real time.

[0100] The above-mentioned Beidou satellite positioning unit is used to obtain real-time positioning information and transmit it to the computing unit.

[0101] The calculation unit is arranged inside the carrier vehicle, and is used to input the photographed road surface picture ahead and the laser ranging information into the static calibration model, and mark the brightness detection interval in the road surface picture ahead according to the laser ranging information.

[0102] Figure 6 The figure shows a schematic structural diagram of a road surface brightness detection area marking device provided by an embodiment of the present invention.

[0103] Figure 7 The figure shows a signal flow diagram of a road brightness detection area marking device provided by an embodiment of the present invention.

[0104] In addition, an embodiment of the present invention further provides a road brightness detection area marking system, which includes a road shooting module, a laser ranging module and a marking module.

[0105] The road surface shooting module is used to shoot a road surface picture of the brightness to be detected.

[0106] The laser distance measurement module is used to detect the distance from the laser distance measurement unit to the ground in front in real time.

[0107] The marking module is used to input the photographed road surface image and laser ranging information into the static calibration model, and mark the brightness detection interval in the road surface image according to the laser ranging information.

[0108] In addition, an embodiment of the present invention further provides a computer program product, which includes computer program instructions. When the computer program instructions are executed by a processor, the steps of the road surface brightness detection area marking method described above are implemented.

[0109] The existing brightness detection is a static detection that requires road closure. After the detection equipment is set up, it is necessary to manually measure the detection area in front of the detection equipment and add markers at the four corners of the detection area so that the required detection area can be correctly displayed on the captured image. The road brightness detection area marking method provided by the present invention only requires an initial static calibration, and then dynamic detection can be performed directly without closing the road to manually measure and mark the detection area.

[0110] Moreover, the road brightness detection area marking method provided by the present invention can dynamically detect and make real-time corrections. The present invention can not only directly detect on a smooth road surface, but also has the function of real-time correction when driving dynamically on a bumpy road. The detection area map under different road conditions is adjusted according to the real-time collected laser ranging information to ensure that the effective detection area is displayed on the collected image data, increase the basis for dynamic brightness detection, and effectively improve the detection efficiency.

[0111] In the embodiment of the present invention, the processor may be an integrated circuit chip with signal processing capability. The processor may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gates or transistor logic devices, or discrete hardware components. The methods, steps, and logic block diagrams disclosed in the embodiment of the present invention may be implemented or executed. The general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention may be directly embodied as being executed by a hardware decoding processor, or may be executed by a combination of hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The processor reads the information in the storage medium and completes the steps of the above method in combination with its hardware. Although the present invention has been described in detail above with general descriptions and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements may be made to it on the basis of the present invention. Therefore, all modifications or improvements made without departing from the spirit of the present invention belong to the scope of protection required by the present invention.

[0112] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any form. Those skilled in the art may make some simple modifications, equivalent changes or modifications using the technical contents disclosed above, which all fall within the protection scope of the present invention.

Claims

1. A road surface brightness detection area marking method, characterized in that: The method comprises: Obtain the road surface image and laser ranging information taken by the carrier vehicle during the road brightness detection process; Inputting the front road surface image and the laser ranging information into a static calibration model; The brightness detection interval is marked in the front road surface picture according to the laser ranging information to obtain a road surface picture with the brightness detection interval marked.

2. A road surface brightness detection area marking method according to claim 1, characterized in that: A fixing bracket is installed on the upper part of the front cover of the carrier vehicle, and a camera unit and a laser ranging unit are installed on the fixing bracket.

3. A road surface brightness detection area marking method according to claim 2, characterized in that: The construction process of the static calibration model includes: When the carrier vehicle is in a stationary state, the camera unit is adjusted so that the center line of the camera unit is parallel to the ground, and the vertical distance between the center point A of the camera unit and the ground meets the preset installation height, and the height of the center point A of the camera unit is obtained; According to the laser line emitted by the laser ranging unit in the detection direction, a laser marking point C and a length AC between the center point A of the camera unit and the laser marking point C are obtained; Taking the center point A of the camera unit and the vertical point B of the ground as the center, determine the detection mark point D in the detection direction according to the preset detection requirements, and the vertical point B, the laser mark point C, the detection mark point D and the center point E of the rear wheel of the load-bearing vehicle are on the same straight line; According to the distance between each point, the calibration angle is obtained; According to the distance length between each point and the calibration angle, a static calibration model is constructed. The static calibration model is used to add a sideline between the vertical point B and the detection mark point D in the photographed road surface image according to the laser ranging length AC, thereby obtaining the brightness detection interval.

4. A road surface brightness detection area marking method according to claim 3, characterized in that: According to the distance between each point, the calibration angle is obtained, including: Measure the length AB between the center point A of the camera unit and the vertical point B, the length BC between the vertical point B and the laser marking point C, the length BD between the vertical point B and the detection marking point D, and the length BE between the vertical point B and the center point E of the rear wheel of the carrier vehicle; Based on the length BC and the length AB, we get the angle , the calculation formula is: ; According to the length BD and the length AB, the angle , the calculation formula is: ; According to the length AB and the length BE, we get the angle , the calculation formula is: .

5. A road surface brightness detection area marking method according to claim 4, characterized in that: When the front wheel of the carrier vehicle is raised, the center point A of the camera unit is tilted up to the tilt point of the camera unit. , camera unit tilt point The point perpendicular to the ground is ; According to the camera unit tilt point The length between the center point E of the rear wheel of the load-bearing vehicle And the camera unit tilt point With laser marking upturned point The length between , calculate the vertical height and angle The first change , the calculation formula is as follows: , ; Using the vertical height and the first variation , calculate the camera unit elevation point With detection mark up point The length between , the calculation formula is: ; The length The image is input into the static calibration model to obtain a road surface image with brightness detection interval markings completed.

6. A road surface brightness detection area marking method according to claim 4, characterized in that: When the front wheel of the carrier vehicle is low, the center point A of the camera unit tilts toward the camera unit tilt point , camera unit pitch point The point perpendicular to the ground is ; According to the camera unit pitch point The length between the center point E of the rear wheel of the load-bearing vehicle And the camera unit pitch Descend point with laser marking The length between , calculate the vertical height and angle The second change , the calculation formula is as follows: , ; Using the vertical height and the second variation , calculate the camera unit pitch point With detection mark depression point The length between , the calculation formula is: ; The length The image is input into the static calibration model to obtain a road surface image with brightness detection interval markings completed.

7. A road surface brightness detection area marking method according to claim 2, characterized in that: A Beidou satellite positioning unit is also installed on the fixed bracket, and the Beidou satellite positioning unit is used to obtain real-time positioning information.

8. A road surface brightness detection area marking device, characterized in that: The device includes a carrier vehicle, a camera unit, a Beidou satellite positioning unit, a laser ranging unit and a computing unit; The camera unit, the Beidou satellite positioning unit and the laser ranging unit are installed on the upper part of the front cover of the carrier vehicle through a fixing bracket; The camera unit is used to take pictures of the road ahead and transmit them to the computing unit; The laser distance measuring unit is used to detect the distance from the laser distance measuring unit to the ground in front in real time; The Beidou satellite positioning unit is used to obtain real-time positioning information and transmit it to the computing unit; The calculation unit is arranged inside the carrier vehicle, and is used to input the captured road surface image and laser ranging information into the static calibration model, and mark the brightness detection interval in the road surface image according to the laser ranging information.

9. A road brightness detection area marking system, characterized in that: The system includes a road surface shooting module, a laser ranging module and a marking module; The road surface shooting module is used to shoot a road surface picture of the brightness to be detected; The laser ranging module is used to detect the distance from the laser ranging unit to the ground in front in real time; The marking module is used to input the photographed road surface picture and laser ranging information into the static calibration model, and mark the brightness detection interval in the road surface picture according to the laser ranging information.

10. A computer program product, characterized in that The computer program product comprises computer program instructions, which, when executed by a processor, implement the steps of a method for marking a road brightness detection area as claimed in any one of claims 1 to 7.

Images