Road surface scanning method and device, vehicle equipment and computer storage medium

Abstract

The invention discloses a road surface scanning method which is applied to first vehicle equipment, the first vehicle equipment comprises a first antenna, a second antenna and an image sensor, and the method comprises the following steps: receiving a wireless signal sent by at least one second vehicle equipment through the first antenna and the second antenna, determining a distance parameter of at least one second vehicle device according to the wireless signal; determining a to-be-monitored vehicle device from the at least one second vehicle device according to the distance parameter and a signal type corresponding to the wireless signal; first track information is determined through an image sensor, and second track information corresponding to the to-be-monitored vehicle equipment is determined through a first antenna and a second antenna; and generating a road surface scanning result according to the first track information and the second track information. The embodiment of the invention further provides a road surface scanning device, vehicle equipment and a computer storage medium.

Description

Technical Field

[0001] The present invention relates to the field of driving technologies, and in particular, to a road surface scanning method, device, vehicle equipment, and computer storage medium. Background Art

[0002] A high-precision map is like a huge information container, covering data including lane information such as slope, curvature, heading, marking type, road surface markings, road restriction information, etc.; map providers use sensors such as lidar and cameras to record road surface information during the production of high-precision maps, and then extract information such as lane lines on the road from the recorded data and convert it into high-precision map data based on the positioning data of the vehicle. However, during the acquisition process, due to problems such as vehicle occlusion on the road, the difficulty of road surface estimation is increased. In the process of producing map data based on the low-cost acquisition method of crowdsourced high-precision maps, the viewing angle of the camera limits the scope of a single acquisition. For the same road, multiple acquisitions are required and then data fusion is performed to form a complete road high-precision map. However, it is difficult to determine whether the data after multiple acquisitions is of the same road surface.

[0003] Currently, during the acquisition process of high-precision maps, common road surface scanning technologies cannot solve the problems of too narrow visual range of a single camera, being easily blocked, and difficult matching and alignment of multiple data acquisitions of the same road surface, reducing the accuracy of road surface scanning. Summary of the Invention

[0004] Embodiments of the present invention provide a road surface scanning method, device, vehicle equipment, and computer storage medium, which solve the problems of too narrow visual range of a single camera, being easily blocked, and difficult matching and alignment of multiple data acquisitions of the same road surface, and improve the accuracy of road surface scanning.

[0005] The technical solution of the present invention is implemented as follows:

[0006] Embodiments of the present invention provide a road surface scanning method, which is applied to a first vehicle equipment. The first vehicle equipment includes a first antenna, a second antenna, and an image sensor. The method includes:

[0007] Receiving wireless signals sent by at least one second vehicle equipment through the first antenna and the second antenna, and determining distance parameters of the at least one second vehicle equipment according to the wireless signals;

[0008] Determining a vehicle equipment to be monitored from the at least one second vehicle equipment according to the distance parameters and the signal type corresponding to the wireless signals;

[0009] Determine the first trajectory information through the image sensor, and at the same time determine the second trajectory information corresponding to the vehicle equipment to be monitored through the first antenna and the second antenna;

[0010] Generate a road surface scanning result according to the first trajectory information and the second trajectory information.

[0011] In this way, the first vehicle device receives wireless signals sent by multiple second vehicle devices, so that the positions of the multiple second vehicle devices and the distance parameters of the signal sources can be determined. By screening according to the reception ranges of different wireless signals, the second vehicle devices are determined, and then the second trajectory information corresponding to the second vehicle devices is determined. At the same time, the first trajectory information is determined through the image sensor. By combining the first trajectory information and the second trajectory information, the road surface scanning result can finally be determined, solving the problems of too narrow visual range of a single camera, being easily blocked, and difficult to match and align the data collected multiple times on the same road surface, and improving the accuracy of road surface scanning.

[0012] Further, the determining the first trajectory information through the image sensor includes:

[0013] Obtain the image information at the i-th moment through the image sensor; where i is greater than 0;

[0014] Generate the first trajectory information based on the image information at the i-th moment.

[0015] In this way, the image information at any moment can be obtained through the image sensor, and then the corresponding trajectory information can be generated according to the image information at multiple obtained moments, thus improving the real-time performance of road surface scanning.

[0016] Further, the determining the second trajectory information corresponding to the vehicle equipment to be monitored through the first antenna and the second antenna includes:

[0017] Receive the wireless signal at the i-th moment sent by the vehicle equipment to be monitored through the first antenna and the second antenna, and determine the distance parameter of the vehicle equipment to be monitored at the i-th moment according to the wireless signal at the i-th moment; where i is greater than 0;

[0018] Generate the second trajectory information corresponding to the vehicle equipment to be monitored based on the distance parameter at the i-th moment.

[0019] In this way, when determining the trajectory information of the vehicle equipment to be monitored through the antenna, the distance parameter of the vehicle equipment to be monitored at the corresponding moment is determined according to the wireless signals sent by the vehicle equipment to be monitored at multiple moments, and then the trajectory information of the vehicle equipment to be monitored can be generated according to the distance parameter, thus improving the accuracy of road surface scanning.

[0020] Further, generating a road surface scanning result according to the first trajectory information and the second trajectory information includes:

[0021] Performing a matching process on the first trajectory information and the second trajectory information to determine matching parameters corresponding to the second trajectory information;

[0022] Filtering the second trajectory information according to the matching parameters to determine reference trajectory information from the second trajectory information;

[0023] Generating the road surface scanning result according to the reference trajectory information and the first trajectory information.

[0024] In this way, when generating the road surface scanning result, it is necessary to first determine the reference trajectory information from the second trajectory information, then combine the reference trajectory information with the first trajectory information, and further generate the road surface scanning result, thereby improving the accuracy of the road surface scanning.

[0025] Further, generating the road surface scanning result according to the reference trajectory information and the first trajectory information includes:

[0026] Performing trajectory processing on the reference trajectory information according to a preset processing strategy to determine the processed trajectory information; wherein, the preset processing strategy includes at least one of the following processing strategies: clustering processing, aggregation processing, and fitting processing;

[0027] Generating the road surface scanning result according to the processed trajectory information and the first trajectory information.

[0028] In this way, when generating the road surface scanning result, the reference trajectory information determined from the second trajectory information also needs to be subjected to subsequent trajectory processing. It is necessary to perform processing according to a preset processing strategy including at least one of the following processing strategies: clustering processing, aggregation processing, and fitting processing, and then obtain the processed trajectory information, thereby improving the accuracy and success rate of data fusion. Finally, according to the processed trajectory information and the first trajectory information, generate the final road surface scanning result, further improving the accuracy of the road surface scanning.

[0029] Further, receiving wireless signals sent by at least one second vehicle device through the first antenna and the second antenna, and determining distance parameters of the at least one second vehicle device according to the wireless signals includes:

[0030] Receiving a first wireless signal sent by the second vehicle device through the first antenna, and receiving a second wireless signal sent by the second vehicle device through the second antenna;

[0031] Determine the distance parameter of the second vehicle device based on the first wireless signal and the second wireless signal.

[0032] In this way, when determining the distance parameter of the second vehicle device based on the wireless signal, the wireless signals sent by the second vehicle device are received through two antennas respectively, and the distance parameter of the second vehicle device is determined according to the two received wireless signals, thereby improving the accuracy of road surface scanning.

[0033] Furthermore, the signal type of the wireless signal can at least include any one of the following types: Bluetooth signal, WiFi signal, and cellular network signal.

[0034] In this way, the wireless signal types sent by the second vehicle device include multiple types, including Bluetooth signal, WiFi signal, and cellular network signal. That is to say, the wireless signals sent by the second vehicle device can contain a lot of signal data, and thus the accuracy of road surface scanning can be improved. Further, the determining the vehicle device to be monitored from the at least one second vehicle device according to the distance parameter and the signal type corresponding to the wireless signal includes:

[0035] For any one of the second vehicle devices, determine the distance threshold corresponding to the signal type;

[0036] In the case where the distance parameter is greater than or equal to the distance threshold, determine that the second vehicle device is not the vehicle device to be monitored;

[0037] In the case where the distance parameter is less than the distance threshold, determine that the second vehicle device is the vehicle device to be monitored.

[0038] In this way, when determining the vehicle device to be monitored, the distance threshold corresponding to the wireless signal is determined according to different wireless signals. If the distance parameter is greater than or equal to the distance threshold, it means that the distance between the second vehicle device and the first vehicle device is too far. Therefore, there may be errors in the final result obtained by road surface scanning through this distance parameter. At this time, it is considered that the second vehicle device is not the vehicle device to be monitored. If the distance parameter is less than the distance threshold, it means that the distance between the second vehicle device and the first vehicle device meets the range set by the distance threshold. At this time, it is considered that the second vehicle device is the vehicle device to be monitored, thereby improving the accuracy of road surface scanning.

[0039] An embodiment of the present invention provides a road surface scanning device, which is applied to a first vehicle device. Wherein, the first vehicle device includes a first antenna, a second antenna, and an image sensor. The road surface scanning device includes:

[0040] A receiving module, configured to receive wireless signals sent by at least one second vehicle device via the first antenna and the second antenna;

[0041] A determining module, configured to determine distance parameters of the at least one second vehicle device according to the wireless signals; determine a vehicle device to be monitored from the at least one second vehicle device according to the distance parameters and the signal type corresponding to the wireless signals; determine first trajectory information through the image sensor, and at the same time determine second trajectory information corresponding to the vehicle device to be monitored through the first antenna and the second antenna;

[0042] A generating module, configured to generate a road surface scanning result according to the first trajectory information and the second trajectory information.

[0043] In this way, during the road surface scanning process, after the first vehicle device receives the wireless signals sent by the second vehicle device, first, it is necessary to determine the distance parameters of the second vehicle device, then determine the second trajectory information of the second vehicle device, and then combine the first trajectory information. Further, a road surface scanning result can be generated, thereby improving the accuracy of road surface scanning.

[0044] An embodiment of the present invention provides a vehicle device, including: a processor and a storage medium storing executable instructions, the storage medium depends on the processor to execute operations through a communication bus, and when the executable instructions are executed by the processor, execute the road surface scanning method described in one or more of the above embodiments.

[0045] An embodiment of the present invention provides a computer storage medium storing executable instructions, and when the executable instructions are executed by a processor, the processor executes the road surface scanning method described in one or more embodiments.

[0046] Advantages of the present invention:

[0047] The first vehicle device receives wireless signals sent by multiple second vehicle devices, so that the positions of the multiple second vehicle devices and the distance parameters of the second vehicle devices can be determined. According to the reception ranges of different wireless signals, the vehicle devices to be monitored are determined, and then the second trajectory information corresponding to the vehicle devices to be monitored is determined. At the same time, the first trajectory information is determined through the image sensor. By combining the first trajectory information and the second trajectory information, the road surface scanning result can finally be determined. Thus, the problems of too narrow visual range of a single camera, being easily blocked, and difficult to match and align multiple data acquisitions of the same road surface are solved, and the accuracy of road surface scanning is improved. Description of the Drawings

[0048] Figure 1 Schematic composition structure of the first vehicle device proposed in an embodiment of the present inventionFigure 1 ;

[0049] Figure 2 Schematic flowchart of a road surface scanning method provided by an embodiment of the present invention Figure 1 ;

[0050] Figure 3 Schematic diagram of signal types of wireless signals received by a first vehicle device proposed by an embodiment of the present invention;

[0051] Figure 4 Schematic flowchart of a road surface scanning method provided by an embodiment of the present invention Figure 2 ;

[0052] Figure 5 Schematic diagram of the composition structure of a first vehicle device proposed by an embodiment of the present invention Figure 2 ;

[0053] Figure 6 Schematic system flowchart of road surface scanning processing provided by an embodiment of the present invention;

[0054] Figure 7 Schematic diagram of the trajectory state of a vehicle provided by an embodiment of the present invention;

[0055] Figure 8 Schematic diagram of trajectory processing provided by an embodiment of the present invention;

[0056] Figure 9 Schematic diagram of trajectory processing results provided by an embodiment of the present invention;

[0057] Figure 10 Schematic diagram of the structure of a road surface scanning device provided by an embodiment of the present invention;

[0058] Figure 11 Schematic diagram of the composition structure of a vehicle device proposed by an embodiment of the present invention. Detailed implementation manners

[0059] In order to solve the problems of too narrow visual range of a single camera, being easily blocked, and difficulty in matching and aligning multiple data acquisitions for the same road surface. The present invention proposes a method for perceiving the positions of surrounding vehicles by using radio direction finding, collecting the movement trajectories of nearby vehicles to identify the road surface, that is, while a single vehicle forms a trajectory when running on a road, using the wireless signal positioning method to collect the trajectories of surrounding vehicles, and marking the road surface range by marking the trajectories with similar movement trends, so as to form multiple synchronous trajectories to expand the road surface coverage range. It provides a basis for judging the trajectories and road surface range for multiple data acquisitions, thereby improving the accuracy and success rate of data fusion, and at the same time being able to provide a data basis for the position prediction of the vehicle. Further, embodiments of the present invention propose a road surface scanning method, device, vehicle device, and computer storage medium.

[0060] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention.

[0061] Based on the fact that there is no good method in the related art to solve the problems of too narrow visual range of a single camera, being easily blocked, and difficult to match and align the data collected multiple times on the same road surface, the embodiments of the present invention provide a road surface scanning method, which is applied to the first vehicle device.

[0062] An embodiment of the present invention provides a road surface scanning method, which can be applied to the first vehicle device or the road surface scanning device, and can also be applied to any terminal device including the first vehicle device or the road surface scanning device.

[0063] Exemplarily, in some embodiments, Figure 1 is a schematic diagram of the composition structure of the first vehicle device proposed in the embodiments of the present invention Figure 1 , as Figure 1 shown, the first vehicle device 10 may be composed of a first antenna 11, a second antenna 12, and an image sensor 13.

[0064] Furthermore, in the embodiments of the present invention, Figure 2 is a schematic flowchart of a road surface scanning method provided by the embodiments of the present invention Figure 1 , as Figure 2 shown, the road surface scanning method may include the following steps:

[0065] S101: Receive wireless signals sent by at least one second vehicle device through the first antenna and the second antenna, and determine the distance parameters of at least one second vehicle device according to the wireless signals.

[0066] In the embodiments of the present invention, the first vehicle device is configured with a first antenna and a second antenna. The first vehicle device can receive wireless signals of multiple second vehicle devices through the first antenna and the second antenna. Further, it is also necessary to determine the distance parameters of multiple second vehicle devices according to the received wireless signals.

[0067] It should be noted that, in the embodiments of the present invention, the first antenna and the second antenna can be used to receive wireless signals sent by the second vehicle device.

[0068] It should be noted that, in the embodiments of the present invention, the second vehicle device is a vehicle device different from the first vehicle device.

[0069] It should be noted that, in the embodiments of the present invention, the first antenna and the second antenna can support the acquisition of multiple signals, so more signal data can be obtained, and thus the accuracy of road surface scanning can be improved.

[0070] It should be noted that in the embodiments of the present invention, an antenna is a transducer that converts the guided wave propagating on a transmission line into an electromagnetic wave propagating in an unbounded medium (usually free space), or performs the reverse conversion. It is a component used in radio equipment to transmit or receive electromagnetic waves. Engineering systems such as radio communication, broadcasting, television, radar, navigation, electronic countermeasure, remote sensing, and radio astronomy, which utilize electromagnetic waves to transmit information, all rely on antennas to operate. In addition, in terms of transmitting energy with electromagnetic waves, non-signal energy radiation also requires an antenna. Generally, an antenna has reversibility, that is, the same antenna can be used as a transmitting antenna or a receiving antenna. The basic characteristic parameters of the same antenna as a transmitter or a receiver are the same.

[0071] It should be noted that in the embodiments of the present invention, the second vehicle device is a vehicle device that can send wireless signals.

[0072] It should be noted that in the embodiments of the present invention, the number of second vehicle devices can be any integer value greater than 0. For example, the number of second vehicle devices can be 3, and the number of second vehicle devices can also be 4. The embodiments of the present invention do not make specific limitations.

[0073] It should be noted that in the embodiments of the present invention, a wireless signal is an electrical signal formed by the propagation of radio waves, which refers to the process of transmitting data in the form of radio waves from one end to the other end. Whether it is propagated from one device to another device or from one instrument to another instrument, it is a wireless signal. Wireless signals pass through radar, radio, microwave, telephone, narrowband, broadband, and Bluetooth, and use signals to transmit from one terminal to another terminal to ensure the high-efficiency, real-time transmission, and reliability of data. A wireless signal consists of a transmitter (transmitter or emitter), a codeword (transmitted signal) immediately ready for transmission after being keyed in, a transmission line (wire cable or aerial line), and a receiver (receiver or receiver).

[0074] It should be noted that in the embodiments of the present invention, the distance parameter can be used to determine the distance between the first vehicle device and the second vehicle device.

[0075] It should be noted that in the embodiments of the present invention, the distance parameter can be any value greater than 0. For example, the distance parameter can be 1 km, and the distance parameter can also be 1.3 km. The embodiments of the present invention do not make specific limitations.

[0076] Exemplarily, in the embodiments of the present invention, the distance parameter can be obtained through any algorithm for calculating distance. The embodiments of the present invention do not make specific limitations.

[0077] Exemplarily, in the embodiments of the present invention, the distance parameter may be calculated by an interferometric direction finding algorithm, and the embodiments of the present invention do not make specific limitations.

[0078] Further, in the embodiments of the present invention, when receiving wireless signals sent by at least one second vehicle device through the first antenna and the second antenna and determining the distance parameter of the at least one second vehicle device according to the wireless signals, the first wireless signal sent by the second vehicle device may be received through the first antenna first, and then the second wireless signal sent by the second vehicle device may be received through the second antenna; finally, the distance parameter of the second vehicle device may be determined according to the first wireless signal and the second wireless signal.

[0079] That is to say, in the embodiments of the present invention, when determining the distance parameter of the second vehicle device according to the wireless signals, the wireless signals sent by the second vehicle device may be received respectively through the first antenna and the second antenna of the first vehicle device first, and then the distance parameter of the second vehicle device may be determined based on the first wireless signal and the second wireless signal.

[0080] It should be noted that, in the embodiments of the present invention, the first wireless signal is the signal sent by the second vehicle device, and the first wireless signal received by the first antenna from the second vehicle device can also be used to distinguish from the second wireless signal received by the second antenna from the second vehicle device.

[0081] It should be noted that, in the embodiments of the present invention, the second wireless signal is the signal sent by the second vehicle device, and the second wireless signal received by the second antenna from the second vehicle device is the second wireless signal.

[0082] Further, in the embodiments of the present invention, the signal type of the wireless signal may at least include any one of the following types: Bluetooth signal, WiFi (Wireless Fidelity) signal, and cellular network signal.

[0083] That is to say, in the embodiments of the present invention, the signal type of the wireless signal sent by the second vehicle device includes multiple types, and the signal type may include: Bluetooth signal, WiFi signal, and cellular network signal, etc. That is to say, the wireless signal sent by the second vehicle device may contain a lot of signal data, thereby improving the accuracy of road surface scanning.

[0084] It should be noted that, in the embodiments of the present invention, the signal type of the wireless signal may be any one of the Bluetooth signal, WiFi signal, and cellular network signal, and the embodiments of the present invention do not make specific limitations.

[0085] It should be noted that in the embodiments of the present invention, the signal types of different wireless signals sent by multiple second vehicle devices received by the first vehicle device can be different or the same, and the present invention does not make specific limitations.

[0086] Exemplarily, in some embodiments, Figure 3 is a schematic diagram of the signal types of the wireless signals received by the first vehicle device proposed in the embodiments of the present invention. As Figure 3 shown, the first vehicle device 10 and multiple second vehicle devices are driving on a section of road surface at the same time. Among them, the second vehicle devices may include vehicle device A (20), vehicle device B (30), vehicle device C (40), and vehicle device D (50). The signal type of the wireless signal sent by vehicle device A received by the first vehicle device is a WiFi signal, the signal type of the wireless signal sent by vehicle device B received by the first vehicle device is also a WiFi signal, the signal type of the wireless signal sent by vehicle device C received by the first vehicle device is a Bluetooth signal, and the signal type of the wireless signal sent by vehicle device D received by the first vehicle device is a cellular network signal.

[0087] It should be noted that in the embodiments of the present invention, the Bluetooth signal is a wireless signal. Bluetooth is a radio technology that supports short-distance communication between devices (generally within 10m). It can perform wireless information exchange between many devices including mobile phones, PDAs, wireless headsets, laptop computers, and related peripherals. The standard of Bluetooth is IEEE802.15, which operates in the 2.4GHz frequency band with a bandwidth of 1Mb / s.

[0088] It should be noted that in the embodiments of the present invention, the WiFi signal is also a wireless signal. The essence of WiFi is radio waves. Radio waves refer to electromagnetic waves propagating in free space, including air and vacuum, and their frequencies are generally between 3 gigahertz and 30 gigahertz. WiFi is a short-distance radio signal based on IEEE802.11 and is used for wireless terminals to connect to each other.

[0089] It should be noted that in the embodiments of the present invention, the cellular network signal is also a wireless signal. The cellular network is a mobile communication hardware architecture that divides the service area of mobile phones into small regular hexagon sub-areas, and each cell is equipped with a base station, forming a structure similar to a "honeycomb". Therefore, this mobile communication method is called cellular mobile communication. It can be divided into: analog cellular network and digital cellular network according to the way of transmitting information.

[0090] S102: Determine the vehicle device to be monitored from at least one second vehicle device according to the distance parameter and the signal type corresponding to the wireless signal.

[0091] In an embodiment of the present invention, after receiving wireless signals sent by at least one second vehicle device through a first antenna and a second antenna and determining distance parameters of the at least one second vehicle device according to the wireless signals, a vehicle device to be monitored can be determined according to the distance parameters and the signal type corresponding to the wireless signals.

[0092] That is to say, in an embodiment of the present invention, when determining the vehicle device to be monitored, a comparison can be made between the distance parameter and the distance range allowed by the signal type corresponding to the wireless signal, and then the vehicle device to be monitored can be determined.

[0093] Further, in an embodiment of the present invention, when determining the vehicle device to be monitored from at least one second vehicle device according to the distance parameter and the signal type corresponding to the wireless signal, for any second vehicle device, a distance threshold corresponding to the signal type can be determined first; in the case where the distance parameter is greater than or equal to the distance threshold, it can be determined that the second vehicle device is not the vehicle device to be monitored; in the case where the distance parameter is less than the distance threshold, it can be determined that the second vehicle device is the vehicle device to be monitored.

[0094] That is to say, in an embodiment of the present invention, when determining the vehicle device to be monitored, a distance threshold corresponding to the wireless signal can be determined according to different wireless signals. If the distance parameter is greater than or equal to the distance threshold, it means that the distance between the second vehicle device and the first vehicle device is too far, so there may be errors in the final result obtained by scanning the road surface through the distance parameter. At this time, it is considered that the second vehicle device is not the vehicle device to be monitored. If the distance parameter is less than the distance threshold, it means that the distance between the second vehicle device and the first vehicle device meets the distance range set by the distance threshold. At this time, it is considered that the second vehicle device is the vehicle device to be monitored, thereby improving the accuracy of road surface scanning.

[0095] It should be noted that, in an embodiment of the present invention, the vehicle device to be monitored is a vehicle that can send wireless signals, and its distance parameter is less than the distance threshold, that is to say, the distance between the vehicle device to be monitored and the first vehicle device is within the distance range set by the distance threshold.

[0096] It should be noted that, in an embodiment of the present invention, the distance threshold is a minimum allowable transmission distance corresponding to different signal types. If the distance parameter corresponding to the second vehicle device exceeds the distance threshold, it is considered that the second vehicle device is not the vehicle device to be monitored.

[0097] It should be noted that, in an embodiment of the present invention, the type of the wireless signal is not limited. The type of the wireless signal can be any one of a Bluetooth signal, a WiFi signal, and a cellular network signal, or other types of signals. The embodiments of the present invention do not make specific limitations.

[0098] It should be noted that in the embodiments of the present invention, the distance thresholds corresponding to different signal types of wireless signals may be the same or different, and the embodiments of the present invention do not make specific limitations.

[0099] It should be noted that in the embodiments of the present invention, the distance threshold corresponding to the Bluetooth signal may be any value greater than 0. For example, the distance threshold corresponding to the Bluetooth signal may be 10m, and the distance threshold corresponding to the Bluetooth signal may also be 20m. The embodiments of the present invention do not make specific limitations.

[0100] Exemplarily, in the embodiments of the present invention, the distance threshold corresponding to the WiFi signal may be any value greater than 0. For example, the distance threshold corresponding to the WiFi signal may be 20m, and the distance threshold corresponding to the WiFi signal may also be 30m. The embodiments of the present invention do not make specific limitations.

[0101] Exemplarily, in the embodiments of the present invention, the distance threshold corresponding to the cellular network signal may be any value greater than 0. For example, the distance threshold corresponding to the cellular network signal may be 15m, and the distance threshold corresponding to the cellular network signal may also be 20m. The embodiments of the present invention do not make specific limitations.

[0102] Exemplarily, in the embodiments of the present invention, when the distance threshold corresponding to the Bluetooth signal is 20m, if the obtained distance parameter is 19m, at this time, since the distance parameter is less than the distance threshold, it can be considered that it meets the distance range set by the distance threshold, and then it can be determined that the vehicle device is a vehicle device to be monitored.

[0103] Exemplarily, in the embodiments of the present invention, Table 1 is a schematic table of the distance thresholds corresponding to different signal types proposed in the embodiments of the present invention. As shown in Table 1, the distance thresholds corresponding to different signal types may be the same or different.

[0104] Table 1

[0105] Signal type Distance threshold WiFi signal 10m Cellular network signal 15m Bluetooth signal 10m

[0106] Exemplarily, in the embodiments of the present invention, when the distance threshold corresponding to the WiFi signal is 10m, if the obtained distance parameter is 19m, at this time, since the distance parameter is greater than the distance threshold, it can be considered that the distance parameter is not within the distance range set by the distance threshold, and then it can be determined that the vehicle device is not a vehicle device to be monitored.

[0107] It should be noted that in the embodiments of the present invention, the number of vehicle devices to be monitored may be any value greater than 0. For example, the number of vehicle devices to be monitored may be 1, and the number of vehicle devices to be monitored may also be 20. The embodiments of the present invention do not make specific limitations.

[0108] S103: Determine the first trajectory information through an image sensor, and at the same time determine the second trajectory information corresponding to the vehicle device to be monitored through the first antenna and the second antenna.

[0109] In an embodiment of the present invention, after determining the vehicle device to be monitored from at least one second vehicle device according to the distance parameter and the signal type corresponding to the wireless signal, the first trajectory information can be determined through an image sensor, and at the same time the second trajectory information corresponding to the vehicle device to be monitored can be determined through the first antenna and the second antenna.

[0110] That is to say, in an embodiment of the present invention, the first trajectory information can be determined through an image sensor, and then the second trajectory information corresponding to the vehicle device to be monitored can be determined through the antenna.

[0111] It should be noted that, in an embodiment of the present invention, an image sensor is an electronic device used to capture optical images, and is usually used in digital cameras, video cameras, mobile phone cameras and other image acquisition devices. The main function of an image sensor is to convert light in the visible light, infrared light or other spectral ranges into electrical signals so that digital devices can process, display or store these images. Image sensors are usually based on semiconductor technology and adopt different working principles. The two most common types of image sensors include: CCD sensors (Charge-Coupled Device Sensor) and CMOS sensors (Complementary Metal-Oxide-Semiconductor Sensor). CCD sensors use charge-coupled device (CCD) technology. They consist of a series of photosensitive elements. When light irradiates each element, charges are generated. These charges are then transferred to the output end of the device in a specific order to obtain a complete image. CCD sensors usually have high-quality image capture capabilities, but they are usually larger and consume more power. CMOS sensors use complementary metal-oxide-semiconductor technology. They directly convert light into electrical signals and use a series of pixels to capture images. CMOS sensors are usually smaller, consume less power, and have advantages in terms of cost-effectiveness. They are suitable for many embedded and portable devices.

[0112] It should be noted that, in an embodiment of the present invention, the first trajectory information can be determined through an image sensor.

[0113] It should be noted that, in an embodiment of the present invention, the second trajectory information is the trajectory information corresponding to the vehicle device to be monitored and can be determined through the first antenna and the second antenna.

[0114] Further, in the embodiments of the present invention, when determining the first trajectory information through an image sensor, the image information at the i-th moment can be obtained through the image sensor at the i-th moment; where i > 0; then the first trajectory information is generated based on the image information at the i-th moment.

[0115] That is to say, in the embodiments of the present invention, when generating the first trajectory information, the image information at multiple moments can be continuously obtained through the image sensor, and then the first trajectory information for this time period can be generated based on the image information at each moment.

[0116] It should be noted that, in the embodiments of the present invention, the i-th moment can be any moment, and i can be any value greater than 0. For example, the i-th moment can be the 1st second, and the i-th moment can also be the 10th second. The embodiments of the present invention do not make specific limitations.

[0117] It should be noted that, in the embodiments of the present invention, the image information at multiple moments can be obtained through the image sensor. For example, the image information at the 1st second can be obtained through the image sensor, and the image information at the 19th second can also be obtained through the image sensor. The embodiments of the present invention do not make specific limitations.

[0118] Further, in the embodiments of the present invention, when determining the second trajectory information corresponding to the vehicle device to be monitored through the first antenna and the second antenna, the wireless signal at the i-th moment sent by the vehicle device to be monitored at the i-th moment can be received through the first antenna and the second antenna, and the distance parameter of the vehicle device to be monitored at the i-th moment is determined according to the wireless signal at the i-th moment; where i > 0; then the second trajectory information corresponding to the vehicle device to be monitored is generated based on the distance parameter at the i-th moment.

[0119] That is to say, in the embodiments of the present invention, when determining the second trajectory information corresponding to the vehicle device to be monitored, first, the wireless signals sent by the vehicle device to be monitored at multiple moments can be received through the antenna, and then the distance parameter of the vehicle device to be monitored in this time period is determined, and finally the second trajectory information corresponding to the vehicle device to be monitored is generated based on the distance parameter.

[0120] It should be noted that, in the embodiments of the present invention, the time periods for collecting the first trajectory information and the second trajectory information are the same, so that they can be jointly fused into the road surface scanning result. If the time periods for collecting the first trajectory information and the second trajectory information are different, they cannot be jointly fused into the road surface scanning result.

[0121] S104: Generate a road surface scanning result according to the first trajectory information and the second trajectory information.

[0122] In an embodiment of the present invention, after determining the first trajectory information through an image sensor and determining the second trajectory information corresponding to the vehicle equipment to be monitored through the first antenna and the second antenna, a road surface scanning result can be obtained based on the first trajectory information and the second trajectory information.

[0123] That is to say, in an embodiment of the present invention, a road surface scanning result can be generated based on the first trajectory information and the second trajectory information.

[0124] It should be noted that, in an embodiment of the present invention, the road surface scanning result can clearly describe the distribution status of the road.

[0125] Further, in an embodiment of the present invention, when generating a road surface scanning result based on the first trajectory information and the second trajectory information, a matching process is performed on the first trajectory information and the second trajectory information to determine the matching parameters corresponding to the second trajectory information; the second trajectory information is screened according to the matching parameters, and the reference trajectory information is determined from the second trajectory information; a road surface scanning result is generated based on the reference trajectory information and the first trajectory information.

[0126] That is to say, in an embodiment of the present invention, when generating a road surface scanning result, the obtained first trajectory information and second trajectory information can be first subjected to a matching process, and then the reference trajectory information is screened out, and finally a road surface scanning result is generated based on the reference trajectory information and the first trajectory information.

[0127] It should be noted that, in an embodiment of the present invention, the matching process is used to determine the matching parameters corresponding to the second trajectory information.

[0128] It should be noted that, in an embodiment of the present invention, the matching parameters are used to screen the second trajectory information to obtain the reference trajectory information.

[0129] It should be noted that, in an embodiment of the present invention, the matching parameters can be the matching degree of direction or the matching degree of shape. For example, the matching parameter can be that the matching degree of direction is 4%, and the matching parameter can also be that the matching degree of shape is 95%. The embodiments of the present invention do not make specific limitations.

[0130] Exemplarily, in some embodiments, the shape matching can be the shape matching at the fork of the road, and the direction matching can be the matching of the straight line and the curve of the road.

[0131] It should be noted that, in an embodiment of the present invention, the reference trajectory information is one or more trajectory information determined from the second trajectory information after screening the second trajectory information according to the matching parameters.

[0132] Further, in the embodiments of the present invention, when generating a road surface scanning result based on reference trajectory information and first trajectory information, trajectory processing is performed on the reference trajectory information according to a preset processing strategy to determine the processed trajectory information; wherein, the preset processing strategy includes at least one of the following processing strategies: clustering processing, aggregation processing, and fitting processing; a road surface scanning result is generated based on the processed trajectory information and the first trajectory information.

[0133] That is to say, in the embodiments of the present invention, when generating a road surface scanning result, it is necessary to first perform trajectory processing on the reference trajectory information according to a preset processing strategy, and then generate a road surface scanning result based on the processed trajectory information and the first trajectory information.

[0134] It should be noted that, in the embodiments of the present invention, the preset processing strategy includes at least one of the following processing strategies: clustering processing, aggregation processing, and fitting processing. It should be noted that, in the embodiments of the present invention, the preset processing strategy can be any one of clustering processing, aggregation processing, and fitting processing, or any combination of clustering processing, aggregation processing, and fitting processing, and the embodiments of the present invention do not make specific limitations.

[0135] It should be noted that, in the embodiments of the present invention, the trajectory information is the trajectory information after performing trajectory processing on the reference trajectory information.

[0136] It should be noted that, in the embodiments of the present invention, clustering processing is to cluster and merge adjacent similar classification regions by using morphological operators. Classification images often lack spatial continuity (the presence of spots or holes in the classification regions). Although low-pass filtering can be used to smooth these images, the category information is often interfered by the coding of adjacent categories, and clustering processing solves this problem. First, the selected classifications are merged together by an expansion operation, and then the classification image is eroded by a transformation kernel with a specified size in the parameter dialog box.

[0137] It should be noted that, in the embodiments of the present invention, aggregation processing can classify and summarize a large amount of data, so as to better understand the characteristics and trends of the data, and further improve the accuracy and reliability of the data.

[0138] It should be noted that, in the embodiments of the present invention, fitting processing is to match a model or function with actual data to obtain a best model or function that can describe or predict these data. In statistics and machine learning, fitting is usually a process of estimating parameters or finding optimal parameters. In data analysis, fitting can be used to analyze the distribution, trends, and mutual relationships of data to discover the laws and trends therein. The purpose of fitting is to find a model or function that can best explain and predict the data.

[0139] In summary, through the road surface scanning method proposed in S101 to S104, the first vehicle device receives wireless signals sent by multiple second vehicle devices, so that the positions of the multiple second vehicle devices and the distance parameters of the signal sources can be determined. By screening according to the reception ranges of different wireless signals, the second vehicle devices are determined, and then the second trajectory information corresponding to the second vehicle devices is determined. At the same time, the first trajectory information is determined through the image sensor. By combining the first trajectory information and the second trajectory information, the road surface scanning result can finally be determined, solving the problems of too narrow visual range of a single camera, being easily blocked, and difficult matching and alignment of multiple data acquisitions of the same road surface, and improving the accuracy of road surface scanning.

[0140] An embodiment of the present invention provides a road surface scanning method, which is applied to a first vehicle device. The first vehicle device includes a first antenna, a second antenna, and an image sensor. The method includes: first, determining the first trajectory information through the image sensor, then receiving wireless signals sent by multiple second vehicle devices through the first antenna and the second antenna on the first vehicle device, and then determining the distance parameters of the multiple second vehicle devices based on the wireless signals, and further determining the vehicle device to be monitored and the second trajectory information corresponding to the vehicle device to be monitored from the multiple second vehicle devices, and generating a final road surface scanning result according to the first trajectory information and the second trajectory information. It can be seen that in the embodiment of the present invention, wireless signals of multiple vehicles are collected through the antenna to form the second trajectory information, and the first trajectory information is obtained according to the image sensor, and then the final road surface scanning result is generated based on the first trajectory information and the second trajectory information, that is, the road surface can be scanned and processed through the image sensor and the antenna, so that the problems of too narrow visual range of a single camera, being easily blocked, and difficult matching and alignment of multiple data acquisitions of the same road surface can be solved, and the accuracy of road surface scanning is improved.

[0141] Based on the above embodiment, another embodiment of the present invention provides a road surface scanning method. First, image information is obtained through the image sensor, and the first trajectory information is generated based on the image information. Then, the wireless signals sent by the vehicle device to be monitored are received through the first antenna and the second antenna, and the distance parameter of the vehicle device to be monitored is determined according to the wireless signals. Then, the second trajectory information corresponding to the vehicle device to be monitored is generated based on the distance parameter. The first trajectory information and the second trajectory information are subjected to matching processing to determine the matching parameters corresponding to the second trajectory information. The second trajectory information is screened according to the matching parameters, and the reference trajectory information is determined from the second trajectory information. The reference trajectory information also needs to be processed, including at least one of the following processing strategies: clustering processing, aggregation processing, and fitting processing, to determine the processed trajectory information. According to the processed trajectory information and the first trajectory information, the road surface scanning result can be generated.

[0142] Furthermore, in the embodiment of the present invention,Figure 4 Flow schematic of a road surface scanning method provided by an embodiment of the present invention Figure 2 , as Figure 4 shown, the road surface scanning method may include:

[0143] S201: Receive a first wireless signal sent by a second vehicle device through a first antenna, and receive a second wireless signal sent by the second vehicle device through a second antenna.

[0144] In an embodiment of the present invention, the wireless signals sent by the second vehicle device may be received through the first antenna and the second antenna respectively.

[0145] It should be noted that, in an embodiment of the present invention, the first antenna and the second antenna can be used to receive the wireless signals sent by the second vehicle device.

[0146] It should be noted that, in an embodiment of the present invention, the second vehicle device is a vehicle device different from the first vehicle device.

[0147] It should be noted that, in an embodiment of the present invention, the first antenna and the second antenna can support the acquisition of multiple signals, so more signal data can be obtained, and thus the accuracy of road surface scanning can be improved.

[0148] It should be noted that, in an embodiment of the present invention, an antenna is a transducer that transforms the guided wave propagating on the transmission line into an electromagnetic wave propagating in an unbounded medium (usually free space), or performs the reverse transformation. It is a component used to transmit or receive electromagnetic waves in a radio device. In engineering systems such as radio communication, broadcasting, television, radar, navigation, electronic countermeasure, remote sensing, and radio astronomy, which rely on electromagnetic waves to transmit information, all rely on antennas to work. In addition, in terms of transmitting energy with electromagnetic waves, non-signal energy radiation also requires an antenna. Generally, an antenna has reversibility, that is, the same antenna can be used as both a transmitting antenna and a receiving antenna. The basic characteristic parameters of the same antenna as a transmitter or a receiver are the same.

[0149] It should be noted that, in an embodiment of the present invention, the second vehicle device is a vehicle device that can send wireless signals.

[0150] It should be noted that, in an embodiment of the present invention, the number of the second vehicle devices can be any integer value greater than 0. For example, the number of the second vehicle devices can be 3, and the number of the second vehicle devices can also be 4. The embodiments of the present invention do not make specific limitations.

[0151] S202: Determine the distance parameter of the second vehicle device according to the first wireless signal and the second wireless signal.

[0152] In an embodiment of the present invention, after receiving a first wireless signal sent by a second vehicle device through a first antenna and receiving a second wireless signal sent by the second vehicle device through a second antenna, a distance parameter of the second vehicle device can be determined based on the first wireless signal and the second wireless signal.

[0153] It should be noted that, in an embodiment of the present invention, the distance parameter is a parameter used to determine whether the second vehicle device is a vehicle device to be monitored. When determining whether the second vehicle device is a vehicle device to be monitored, it is necessary to compare the size of the distance parameter with a distance threshold.

[0154] It should be noted that, in an embodiment of the present invention, the distance parameter can be any value greater than 0. For example, the distance parameter can be 1 km, and the distance parameter can also be 1.3 km. The embodiments of the present invention do not make specific limitations.

[0155] Exemplarily, in an embodiment of the present invention, the distance parameter can be obtained through any algorithm for calculating distance. The embodiments of the present invention do not make specific limitations.

[0156] Exemplarily, in an embodiment of the present invention, the distance parameter can be calculated through an interferometric direction finding algorithm. The embodiments of the present invention do not make specific limitations.

[0157] It should be noted that, in an embodiment of the present invention, the first wireless signal is a signal sent by the second vehicle device. The first wireless signal received by the first antenna from the second vehicle device can also be used to distinguish from the second wireless signal received by the second antenna from the second vehicle device.

[0158] It should be noted that, in an embodiment of the present invention, the second wireless signal is a signal sent by the second vehicle device. The second wireless signal received by the second antenna from the second vehicle device is the second wireless signal.

[0159] Further, in an embodiment of the present invention, the signal type of the wireless signal can at least include any one of the following types: Bluetooth signal, WiFi signal, and cellular network signal.

[0160] That is to say, in an embodiment of the present invention, the signal type of the wireless signal sent by the second vehicle device includes multiple types. The signal type can include: Bluetooth signal, WiFi signal, and cellular network signal, etc. That is to say, the wireless signal sent by the second vehicle device can contain a lot of signal data, thereby improving the accuracy of road surface scanning. It should be noted that, in an embodiment of the present invention, the signal type of the wireless signal can be any one of the Bluetooth signal, WiFi signal, and cellular network signal. The embodiments of the present invention do not make specific limitations.

[0161] It should be noted that in the embodiments of the present invention, the Bluetooth signal is a wireless signal. Bluetooth is a radio technology that supports short-distance communication between devices (generally within 10m). It can perform wireless information exchange between many devices including mobile phones, PDAs, wireless headphones, laptop computers, related peripherals, etc. The standard of Bluetooth is IEEE802.15, which operates in the 2.4GHz frequency band with a bandwidth of 1Mb / s.

[0162] It should be noted that in the embodiments of the present invention, the WiFi signal is also a wireless signal. WiFi is essentially a radio wave. A radio wave refers to an electromagnetic wave that propagates in free space, including air and vacuum, and its frequency is generally between 3 gigahertz and 30 gigahertz. WiFi is a short-distance radio signal based on IEEE802.11 and is used for wireless terminals to connect to each other.

[0163] It should be noted that in the embodiments of the present invention, the cellular network signal is also a wireless signal. A cellular network is a mobile communication hardware architecture that divides the service area of a mobile phone into small regular hexagonal sub-areas, and each cell is equipped with a base station, forming a structure that resembles a "honeycomb", so this mobile communication method is called cellular mobile communication. It can be divided into: analog cellular network and digital cellular network according to the way of transmitting information.

[0164] In the embodiments of the present invention, after determining the distance parameter of the second vehicle device according to the first wireless signal and the second wireless signal, then the distance threshold corresponding to any second vehicle device signal type can be determined.

[0165] It should be noted that in the embodiments of the present invention, the distance threshold is a minimum allowable transmission distance corresponding to different signal types. If the distance parameter corresponding to the second vehicle device exceeds the distance threshold, it is considered that the second vehicle device is not the vehicle device to be monitored.

[0166] It should be noted that in the embodiments of the present invention, the distance thresholds corresponding to different signal types of wireless signals can be the same or different, and the embodiments of the present invention do not make specific limitations.

[0167] It should be noted that in the embodiments of the present invention, the type of the wireless signal is not limited, and it can also be other types of signals. The embodiments of the present invention do not make specific limitations.

[0168] It should be noted that in the embodiments of the present invention, the distance threshold corresponding to the Bluetooth signal can be any value greater than 0. For example, the distance threshold corresponding to the Bluetooth signal can be 10m, and the distance threshold corresponding to the Bluetooth signal can also be 20m. The embodiments of the present invention do not make specific limitations.

[0169] Exemplarily, in an embodiment of the present invention, the distance threshold corresponding to the WiFi signal can be any value greater than 0. For example, the distance threshold corresponding to the WiFi signal can be 20m, and the distance threshold corresponding to the WiFi signal can also be 30m. The embodiments of the present invention do not make specific limitations.

[0170] Exemplarily, in an embodiment of the present invention, the distance threshold corresponding to the cellular network signal can be any value greater than 0. For example, the distance threshold corresponding to the cellular network signal can be 15m, and the distance threshold corresponding to the cellular network signal can also be 20m. The embodiments of the present invention do not make specific limitations.

[0171] S203: Determine whether the distance parameter is greater than or equal to the distance threshold.

[0172] In an embodiment of the present invention, after determining the distance parameter of the second vehicle device according to the first wireless signal and the second wireless signal, the distance parameter can be compared with the distance threshold.

[0173] That is to say, in an embodiment of the present invention, when determining the vehicle device to be monitored, the distance parameter can be compared with the allowable distance range of the signal type corresponding to the wireless signal, so as to determine the vehicle device to be monitored.

[0174] After determining whether the distance parameter is greater than or equal to the distance threshold, if the distance parameter is greater than the distance threshold, execute S204; otherwise, execute S205.

[0175] S204: Determine that the second vehicle device is not the vehicle device to be monitored.

[0176] In an embodiment of the present invention, after comparing the distance parameter with the distance threshold, when the distance parameter is greater than or equal to the distance threshold, it is determined that the second vehicle device is not the vehicle device to be monitored.

[0177] It should be noted that in an embodiment of the present invention, the vehicle device to be monitored is a vehicle that can send wireless signals, and its distance parameter is less than the distance threshold, that is, the distance between the vehicle device to be monitored and the first vehicle device is within the distance range set by the distance threshold.

[0178] Exemplarily, in an embodiment of the present invention, when the distance threshold corresponding to the WiFi signal is 10m, if the obtained distance parameter is 19m, at this time, the distance parameter is greater than the distance threshold, then it can be considered that the distance parameter is not within the distance range set by the distance threshold, and it can be determined that the vehicle device is not the vehicle device to be monitored.

[0179] It should be noted that in the embodiments of the present invention, the number of vehicle devices to be monitored can be any value greater than 0. For example, the number of vehicle devices to be monitored can be 1, or the number of vehicle devices to be monitored can be 20. The embodiments of the present invention do not make specific limitations.

[0180] S205: Determine that the second vehicle device is the vehicle device to be monitored.

[0181] In the embodiments of the present invention, after comparing the distance parameter with the distance threshold, when the distance parameter is less than the distance threshold, it is determined that the second vehicle device is the vehicle device to be monitored.

[0182] Exemplarily, in the embodiments of the present invention, when the distance threshold corresponding to the Bluetooth signal is 20m, if the obtained distance parameter is 19m, at this time, since the distance parameter is less than the distance threshold, it can be considered that it meets the distance range set by the distance threshold, and then it can be determined that the vehicle device is the vehicle device to be monitored.

[0183] S206: Obtain image information through an image sensor and generate first trajectory information based on the image information.

[0184] In the embodiments of the present invention, after determining that the second vehicle device is the vehicle device to be monitored, image information can be obtained through an image sensor, and then first trajectory information can be generated based on the image information.

[0185] That is to say, in the embodiments of the present invention, when generating the first trajectory information, image information at multiple moments can be obtained through an image sensor, and then the first trajectory information for this time period can be generated based on the image information at each moment.

[0186] It should be noted that in the embodiments of the present invention, image information at any moment can be obtained through an image sensor. For example, image information at the 1st second can be obtained through an image sensor, and image information at the 19th second can also be obtained through an image sensor. The embodiments of the present invention do not make specific limitations.

[0187] It should be noted that in the embodiments of the present invention, the first trajectory information can be determined by the image sensor.

[0188] S207: Receive the wireless signal sent by the vehicle device to be monitored through the first antenna and the second antenna, determine the distance parameter of the vehicle device to be monitored according to the wireless signal, and generate second trajectory information corresponding to the vehicle device to be monitored based on the distance parameter.

[0189] It should be noted that in the embodiments of the present invention, the second trajectory information is the trajectory information corresponding to the vehicle device to be monitored, and the second trajectory information corresponding to the vehicle device to be monitored can be determined through the first antenna and the second antenna.

[0190] It should be noted that in the embodiments of the present invention, the wireless signal is an electrical signal formed by the propagation of radio waves, which refers to the process of transmitting data in the form of radio waves from one end to the other end. Whether it is transmitted from one device to another device or from one instrument to another instrument, it is a wireless signal. The wireless signal passes through radar, radio, microwave, telephone, narrowband, broadband, and Bluetooth, and uses the signal to be transmitted from one terminal to another terminal to ensure the high-efficiency, real-time transmission, and reliability of data. The wireless signal consists of a transmitter (transmitter or emitter), a codeword (transmitted signal) that is ready to be transmitted immediately after being typed, a transmission line (wire cable or aerial line), and a receiver (receiver or receiver).

[0191] It should be noted that in the embodiments of the present invention, the distance parameter can be used to determine the distance between the first vehicle device and the second vehicle device.

[0192] In the embodiments of the present invention, after acquiring image information through an image sensor and generating first trajectory information based on the image information, wireless signals sent by the vehicle device to be monitored can be received through the first antenna and the second antenna, and the distance parameter of the vehicle device to be monitored can be determined according to the wireless signals. Then, second trajectory information corresponding to the vehicle device to be monitored can be generated based on the distance parameter.

[0193] It should be noted that in the embodiments of the present invention, the time periods for collecting the first trajectory information and the second trajectory information are the same, so that they can be jointly fused into a road surface scanning result. If the time periods for collecting the first trajectory information and the second trajectory information are different, they cannot be jointly fused into a road surface scanning result.

[0194] S208: Perform a matching process on the first trajectory information and the second trajectory information to determine the matching parameters corresponding to the second trajectory information.

[0195] In the embodiments of the present invention, after receiving the wireless signals sent by the vehicle device to be monitored through the first antenna and the second antenna, determining the distance parameter of the vehicle device to be monitored according to the wireless signals, and generating the second trajectory information corresponding to the vehicle device to be monitored based on the distance parameter, a matching process can be performed on the first trajectory information and the second trajectory information to determine the matching parameters corresponding to the second trajectory information.

[0196] It should be noted that in the embodiments of the present invention, the matching process is used to determine the matching parameters corresponding to the second trajectory information.

[0197] It should be noted that in the embodiments of the present invention, the matching parameters are used to screen the second trajectory information, and then reference trajectory information can be obtained.

[0198] It should be noted that in the embodiments of the present invention, the matching parameter can be the matching degree of direction or the matching degree of shape. For example, the matching parameter can be that the matching degree of direction is 4%, and the matching parameter can also be that the matching degree of shape is 95%. The embodiments of the present invention do not make specific limitations.

[0199] Exemplarily, in some embodiments, the shape matching can be the shape matching at the fork of a road, and the direction matching can be the matching of the straight line and curve of a road.

[0200] S209: Screen the second trajectory information according to the matching parameter, and determine the reference trajectory information from the second trajectory information.

[0201] In the embodiments of the present invention, after performing matching processing on the first trajectory information and the second trajectory information to determine the matching parameter corresponding to the second trajectory information, the second trajectory information can be screened according to the matching parameter, and then the reference trajectory information can be determined from the second trajectory information.

[0202] It should be noted that in the embodiments of the present invention, the reference trajectory information is one or more trajectory information determined from the second trajectory information after screening the second trajectory information according to the matching parameter.

[0203] S210: Perform trajectory processing on the reference trajectory information according to a preset processing strategy to determine the processed trajectory information; wherein, the preset processing strategy includes at least one of the following processing strategies: clustering processing, aggregation processing, and fitting processing.

[0204] In the embodiments of the present invention, after screening the second trajectory information according to the matching parameter and then determining the reference trajectory information from the second trajectory information, at least one of the following processing strategies can be performed on the reference trajectory information: clustering processing, aggregation processing, and fitting processing, so as to determine the processed trajectory information.

[0205] It should be noted that in the embodiments of the present invention, the preset processing strategy includes at least one of the following processing strategies: clustering processing, aggregation processing, and fitting processing.

[0206] It should be noted that in the embodiments of the present invention, the preset processing strategy can be any one of clustering processing, aggregation processing, and fitting processing, or any combination of clustering processing, aggregation processing, and fitting processing. The embodiments of the present invention do not make specific limitations.

[0207] It should be noted that in the embodiments of the present invention, the trajectory information is the trajectory information after performing trajectory processing on the reference trajectory information.

[0208] It should be noted that in the embodiments of the present invention, the clustering process is to cluster and merge adjacent similar classification regions by using morphological operators. Classification images often lack spatial continuity (the presence of spots or holes in the classification regions). Although low-pass filtering can be used to smooth these images, the category information is often interfered by the encodings of adjacent categories, and the clustering process solves this problem. First, the selected classifications are merged together by a dilation operation, and then the classification image is eroded by a transformation kernel with a specified size in the parameter dialog box.

[0209] It should be noted that in the embodiments of the present invention, the aggregation process can classify and summarize a large amount of data, so as to better understand the characteristics and trends of the data, and further improve the accuracy and reliability of the data.

[0210] It should be noted that in the embodiments of the present invention, the fitting process is to match a model or function with the actual data to obtain an optimal model or function that can describe or predict these data. In statistics and machine learning, fitting is usually a process of estimating parameters or finding optimal parameters. In data analysis, fitting can be used to analyze the distribution, trends and interrelationships of data to discover the laws and trends therein. The purpose of fitting is to find a model or function that can best explain and predict the data.

[0211] S211: Generate a road surface scanning result according to the processed trajectory information and the first trajectory information.

[0212] In the embodiments of the present invention, after performing at least one of the following processing strategies on the reference trajectory information: clustering processing, aggregation processing, and fitting processing, and determining the processed trajectory information, the final road surface scanning result can be generated according to the processed trajectory information and the first trajectory information.

[0213] It should be noted that in the embodiments of the present invention, the road surface scanning result can clearly describe the distribution of the road.

[0214] In summary, a road surface scanning method is proposed through S201 to S211. First, image information is obtained through an image sensor, and first trajectory information is generated based on the image information. Then, wireless signals sent by a vehicle device to be monitored are received through a first antenna and a second antenna, and the distance parameter of the vehicle device to be monitored is determined according to the wireless signals. Then, second trajectory information corresponding to the vehicle device to be monitored is generated based on the distance parameter. The first trajectory information and the second trajectory information are matched and processed to determine the matching parameters corresponding to the second trajectory information. The second trajectory information is screened according to the matching parameters, and reference trajectory information is determined from the second trajectory information. The reference trajectory information also needs to be processed, including at least one of the following processing strategies: clustering processing, aggregation processing, and fitting processing, to determine the processed trajectory information. According to the processed trajectory information and the first trajectory information, a road surface scanning result can be generated. It can be seen that in the embodiment of the present invention, wireless signals of multiple vehicles are collected through antennas to form second trajectory information, and first trajectory information is obtained according to an image sensor. Then, a final road surface scanning result is generated based on the first trajectory information and the second trajectory information. That is, road surface scanning processing can be performed through the image sensor and the antenna, thereby being able to solve the problems of too narrow visual range of a single camera, being easily blocked, and difficult to match and align multiple data acquisitions of the same road surface, and improving the accuracy of road surface scanning.

[0215] Based on the above embodiment, another embodiment of the present invention provides a road surface scanning method, which is applied to a vehicle device. First, a solution for simultaneously collecting the running trajectories of multiple vehicles and synchronously marking and outputting them using radio direction finding is proposed based on the problem of collecting low-cost crowd-sourced maps. The entire solution is divided into the following steps:

[0216] 1) Use multiple antennas (the first antenna and the second antenna) of the vehicle to simultaneously receive wireless signals of surrounding vehicles, such as Bluetooth, WiFi, and cellular network signals;

[0217] 2) Use algorithms such as the interferometric direction finding algorithm to calculate the position data (distance parameter) of the received wireless signal source from the signal source;

[0218] 3) Screen the detected multiple signal sources according to the distance (determine the vehicle device to be monitored). Since the effective signal transmission ranges of different signal source types are different, Bluetooth signal sources within 10m are retained, and WiFi and cellular signal sources within a radius of 20m are retained and saved to the set S_datas;

[0219] 4) Analyze the S_datas signal to obtain the user id therein, and use the id to mark the corresponding signal source (required when forming a trajectory);

[0220] 5) Measure the marked signal sources at fixed intervals, record their position information, classify and track the data of different signal sources according to their IDs, and store them to form the trajectory of the corresponding vehicle (the first trajectory information);

[0221] 6) Calculate the matching degree between the signal source trajectory (the second trajectory information) and the vehicle's own trajectory, fuse multiple trajectories with short lateral distances (including at least one of the following processing strategies: clustering processing, aggregation processing, and fitting processing), and eliminate the significantly deviated trajectories to produce a trajectory with a high degree of parallelism for lane identification;

[0222] 7) Repeat the above steps during the vehicle's operation to collect the road surface coverage status data (road surface scan results).

[0223] Exemplarily, in the embodiments of the present invention, Figure 5 is a schematic diagram of the composition structure of the first vehicle device proposed in the embodiments of the present invention Figure 2 , as Figure 5 shown, the first vehicle device 10 may be composed of a receiving antenna A (80), a receiving antenna B (90), and a front-view camera (70). Among them, the receiving antenna A and the receiving antenna B are used to receive radio signals, and the front-view camera (image sensor) is used to collect lane line information on the road.

[0224] Exemplarily, in the embodiments of the present invention, Figure 6 is a schematic diagram of the system flow of road surface scan processing provided in the embodiments of the present invention. As Figure 6 shown, the entire process from vehicle power-on startup to data collection is divided into the following steps:

[0225] S301. Receive wireless signals. There are multiple types of wireless signals on the vehicle, such as Bluetooth, WiFi, and cellular network signals. These signals are all sent out in a broadcast manner, and the vehicle's antenna can receive these vehicle wireless signals for position calculation and analysis;

[0226] S302. Position calculation. After the antenna receives the signal, the time, amplitude, and phase differences of the same signal source (the second vehicle device) received by the two antennas can be accurately calculated to determine the position of the signal source (the second vehicle device). The positioning accuracy at close range can reach centimeter-level accuracy;

[0227] S303. Target screening. Based on S302, after obtaining the accurate position of the signal source, the distance (distance parameter) between the signal source and the ego vehicle can be calculated. According to the different types of received signal sources (Bluetooth signal, WiFi signal, cellular network signal), Bluetooth signal sources within 10m are retained, and WiFi and cellular signal sources within a radius of 20m are retained. The corresponding signal IDs are added to the set S_datas for marking and storing trajectory classification;

[0228] S304. Trajectory matching and screening. The collected trajectory (the second trajectory information) is matched with the ego vehicle trajectory (the first trajectory information), including the following steps:

[0229] a) Segment the signal source trajectory. The trajectory is interrupted according to the changing trend of the trajectory direction, aiming to distinguish the lane-changing trajectory and the road separation trajectory area;

[0230] b) Calculate the Hausdorff distance between each segmented signal source trajectory and the ego vehicle trajectory; calculate the average distance from the start and end points of the signal source to the trajectory. Trajectories with a large difference between the Hausdorff distance and the start and end point distance have a poor parallelism with the ego vehicle trajectory and need to be excluded;

[0231] c) Calculate the direction difference between each segmented trajectory and the ego vehicle trajectory, and exclude trajectories with a large direction difference;

[0232] S305. Trajectory processing. The filtered trajectories are subjected to trajectory clustering, aggregation, and fitting (preset processing strategies) to form a trajectory with a good parallelism with the ego vehicle trajectory.

[0233] Exemplarily, in the embodiments of the present invention, Figure 7 is a schematic diagram of the trajectory state of the vehicle provided by the embodiment of the present invention. As Figure 7 shown, the positions of surrounding vehicles are calibrated through the ego vehicle position and trajectory, and the running trajectories of surrounding vehicles during driving.

[0234] Exemplarily, in the embodiments of the present invention, Figure 8 is a schematic diagram of trajectory processing provided by the embodiment of the present invention. As Figure 8 shown, it describes the processing method after collecting the ego vehicle and surrounding vehicle trajectories. The trajectories with similar speeds and nearly parallel trajectories are fused, and the trajectories with obvious lane changes and poor parallelism with the ego vehicle trajectory are excluded to avoid the influence of differential data interference on lane segmentation.

[0235] Exemplarily, in the embodiments of the present invention, Figure 9 is a schematic diagram of the trajectory processing result provided by the embodiment of the present invention. As Figure 9 shown, it describes the schematic diagram of the trajectory after trajectory data processing, which is the target data and clearly describes the lane distribution state of the road.

[0236] An embodiment of the present invention provides a road surface scanning method, which is applied to a vehicle device. There are various wireless signals on the vehicle, and these signals will be sent out in a broadcast manner. The wireless signals of the vehicle can be received through the vehicle's antenna for position calculation and analysis. After the antenna receives the signal, the time, amplitude, and phase differences of the same signal source received by two antennas can be calculated to accurately calculate the position of the signal source. The positioning accuracy at close range can reach centimeter-level accuracy. After obtaining the accurate position of the signal source, the distance between the signal source and the vehicle's own position can be calculated. According to different types of received signal sources, signal sources within different ranges are retained for marking and storing trajectory classification. Then, the collected trajectories are matched with the vehicle's own trajectory; the filtered trajectories are subjected to trajectory clustering, aggregation, and fitting to form a trajectory with a good parallelism with the vehicle's own trajectory. It can be seen that in the embodiment of the present invention, by collecting the wireless signals of multiple vehicles through the antenna to form second trajectory information, and obtaining the first trajectory information according to the image sensor, and then generating the final road surface scanning result based on the first trajectory information and the second trajectory information, it can solve the problems of too narrow visual range of a single camera, being easily blocked, and difficult to match and align the multiple data collections of the same road surface, and improve the accuracy of road surface scanning.

[0237] Based on the same inventive concept as the foregoing embodiment, an embodiment of the present invention provides a road surface scanning device, which is used for collecting high-precision maps. Figure 10 The structural schematic diagram of the road surface scanning device provided by the embodiment of the present invention is as Figure 10 shown. The road surface scanning device 100 may include:

[0238] A receiving module 110, configured to receive wireless signals sent by at least one second vehicle device through a first antenna and a second antenna;

[0239] A determining module 111, configured to determine distance parameters of at least one second vehicle device according to the wireless signals; determine a vehicle device to be monitored from at least one second vehicle device according to the distance parameters and the signal type corresponding to the wireless signals; determine first trajectory information through an image sensor, and at the same time determine second trajectory information corresponding to the vehicle device to be monitored through the first antenna and the second antenna;

[0240] A generating module 112, configured to generate a road surface scanning result according to the first trajectory information and the second trajectory information.

[0241] In the embodiment of the present invention, further, Figure 11 The structural schematic diagram of the vehicle device proposed by the embodiment of the present invention is as Figure 11As shown in the figure, the vehicle device 120 proposed in the embodiment of the present invention may include a processor 121, a memory 122, a communication interface 123, and a bus 124 for connecting the processor 121, the memory 122, and the communication interface 123.

[0242] In an embodiment of the present invention, the above-mentioned processor 121 may be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Central Processing Unit (CPU), a controller, a microcontroller, and a microprocessor. It can be understood that for different devices, the electronic devices for implementing the above-mentioned processor functions may also be others, and the embodiments of the present invention do not make specific limitations. The vehicle device 120 may further include a memory 122, and the memory 122 may be connected to the processor 121. Among them, the memory 122 is used to store executable program codes, and the program codes include computer operation instructions. The memory 122 may include a high-speed RAM memory and may also include non-volatile memory, for example, at least two disk memories.

[0243] In an embodiment of the present invention, the bus 124 is used to connect the communication interface 123, the processor 121, and the memory 122 and for mutual communication between these devices.

[0244] In practical applications, the above-mentioned memory 122 may be a volatile memory, such as a Random-Access Memory (RAM); or a non-volatile memory, such as a Read-Only Memory (ROM), a flash memory, a Hard Disk Drive (HDD), or a Solid-State Drive (SSD); or a combination of the above types of memories, and provides instructions and data to the processor 121.

[0245] Furthermore, in an embodiment of the present invention, the processor 121 is used to store a computer program that can run on the processor;

[0246] The memory 122 is configured to execute the method according to any one of claims 1-8 when the computer program is running.

[0247] In addition, each functional module in this embodiment may be integrated into one processing unit, may exist physically alone for each unit, or two or more units may be integrated into one unit. The above integrated unit may be implemented in the form of hardware or in the form of a software functional module.

[0248] If the integrated unit is implemented in the form of a software functional module and is not sold or used as an independent product, it may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this embodiment essentially, or the part that contributes to the prior art, or all or part of this technical solution may be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the method of this embodiment. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs that can store program codes.

[0249] An embodiment of the present invention provides a computer-readable storage medium, on which a program is stored, and when the program is executed by a processor, the above-mentioned road surface scanning method is implemented.

[0250] Specifically, program instructions corresponding to a road surface scanning method in this embodiment may be stored on storage media such as optical discs, hard disks, and USB flash drives. When the program instructions corresponding to a road surface scanning method in the storage medium are read or executed by an electronic device, the following steps are included:

[0251] Receive wireless signals sent by at least one second vehicle device through the first antenna and the second antenna, and determine distance parameters of the at least one second vehicle device according to the wireless signals;

[0252] Determine a vehicle device to be monitored from the at least one second vehicle device according to the distance parameters and the signal type corresponding to the wireless signals;

[0253] Determine first trajectory information through the image sensor, and at the same time determine second trajectory information corresponding to the vehicle device to be monitored through the first antenna and the second antenna;

[0254] Generate a road surface scanning result based on the first trajectory information and the second trajectory information.

[0255] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk memories and optical memories, etc.) containing computer-usable program code.

[0256] The present invention is described with reference to the schematic implementation flow diagrams and / or block diagrams of methods, devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the schematic implementation flow diagrams and / or block diagrams can be implemented by computer program instructions, and the combination of the processes and / or blocks in the schematic implementation flow diagrams and / or block diagrams can also be implemented. These computer program instructions can be provided to the processors of general-purpose computers, special-purpose computers, embedded processors, or other programmable data processing devices to generate a machine, so that the instructions executed by the processors of the computer or other programmable data processing devices generate a device for implementing the functions specified in one or more of the following processes Figure 1 one or more of the following processes Figure 1 or multiple processes and / or blocks

[0257] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured product including an instruction device, and the instruction device implements the functions specified in one or more of the following processes Figure 1 one or more of the following processes Figure 1 or multiple processes and / or blocks

[0258] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process. Thus, the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more of the following processes Figure 1 one or more of the following processes Figure 1 or multiple processes and / or blocks

[0259] As described above, only the preferred embodiments of the present invention are given, and they are not used to limit the protection scope of the present invention.

Claims

1. A road surface scanning method, which is applied to a first vehicle device, wherein, The first vehicle device includes a first antenna, a second antenna, and an image sensor. The method includes: Receiving wireless signals sent by at least one second vehicle device through the first antenna and the second antenna, and determining distance parameters of the at least one second vehicle device according to the wireless signals; Determining a vehicle device to be monitored from the at least one second vehicle device according to the distance parameters and the signal type corresponding to the wireless signals; Determining first trajectory information through the image sensor, and simultaneously determining second trajectory information corresponding to the vehicle device to be monitored through the first antenna and the second antenna; Generating a road surface scanning result according to the first trajectory information and the second trajectory information.

2. The method according to claim 1, characterized in that, The determining of the first trajectory information through the image sensor includes: Obtaining image information at the i-th moment through the image sensor; where i is greater than 0; Generating the first trajectory information based on the image information at the i-th moment.

3. The method according to claim 1, characterized in that, The determining of the second trajectory information corresponding to the vehicle device to be monitored through the first antenna and the second antenna includes: Receiving the wireless signal at the i-th moment sent by the vehicle device to be monitored through the first antenna and the second antenna, and determining the distance parameter of the vehicle device to be monitored at the i-th moment according to the wireless signal at the i-th moment; where i is greater than 0; Generating the second trajectory information corresponding to the vehicle device to be monitored based on the distance parameter at the i-th moment.

4. The method according to claim 2 or 3, characterized in that, The generating of the road surface scanning result according to the first trajectory information and the second trajectory information includes: Performing a matching process on the first trajectory information and the second trajectory information to determine matching parameters corresponding to the second trajectory information; Filtering the second trajectory information according to the matching parameters to determine reference trajectory information from the second trajectory information; Generating the road surface scanning result according to the reference trajectory information and the first trajectory information.

5. The method according to claim 4, characterized in that, The generating of the road surface scanning result according to the reference trajectory information and the first trajectory information includes: Performing trajectory processing on the reference trajectory information according to a preset processing strategy to determine processed trajectory information; where the preset processing strategy includes at least one of the following processing strategies: clustering processing, aggregation processing, and fitting processing; Generating the road surface scanning result according to the processed trajectory information and the first trajectory information.

6. The method according to claim 1, characterized in that, The receiving of wireless signals sent by at least one second vehicle device through the first antenna and the second antenna, and the determining of distance parameters of the at least one second vehicle device according to the wireless signals includes: Receiving a first wireless signal sent by the second vehicle device through the first antenna, and receiving a second wireless signal sent by the second vehicle device through the second antenna; Determining the distance parameter of the second vehicle device according to the first wireless signal and the second wireless signal.

7. The method according to any one of claims 1-3, 5-6, characterized in that, The signal type of the wireless signals can at least include any one of the following types: Bluetooth signal, wireless network WiFi signal, and cellular network signal.

8. The method according to claim 7, characterized in that, Determining a vehicle device to be monitored from the at least one second vehicle device according to the distance parameter and the signal type corresponding to the wireless signal includes: For any one of the second vehicle devices, determining a distance threshold corresponding to the signal type; When the distance parameter is greater than or equal to the distance threshold, determining that the second vehicle device is not the vehicle device to be monitored; When the distance parameter is less than the distance threshold, determining that the second vehicle device is the vehicle device to be monitored.

9. A road surface scanning device, characterized in that, The road surface scanning device is applied to a first vehicle device, where the first vehicle device includes a first antenna, a second antenna, and an image sensor, and the road surface scanning device includes: A receiving module, configured to receive wireless signals sent by at least one second vehicle device through the first antenna and the second antenna; A determining module, configured to determine a distance parameter of the at least one second vehicle device according to the wireless signal; determine a vehicle device to be monitored from the at least one second vehicle device according to the distance parameter and the signal type corresponding to the wireless signal; determine first trajectory information through the image sensor, and at the same time determine second trajectory information corresponding to the vehicle device to be monitored through the first antenna and the second antenna; A generating module, configured to generate a road surface scanning result according to the first trajectory information and the second trajectory information.

10. A vehicle device, characterized in that, Including: A processor and a storage medium storing executable instructions, the storage medium depends on the processor to execute operations through a communication bus, and when the executable instructions are executed by the processor, the road surface scanning method according to any one of claims 1-8 above is executed.

11. A computer storage medium, characterized in that, Storing executable instructions, and when the executable instructions are executed by a processor, the processor executes the road surface scanning method according to any one of claims 1-8.

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