Road pit avoidance method, device and equipment and readable storage medium

Abstract

A road pit avoidance method, apparatus and device, and a readable storage medium, the road pit avoidance method comprising: obtaining road pit depths of a road surface in a vehicle driving direction detected by a plurality of radars, the plurality of radars comprising a first radar and a second radar, the distance of the second radar detecting the road surface being greater than the distance of the first radar detecting the road surface; if the road pit depth detected by the first radar is larger than or equal to the first preset depth, the vehicle is controlled to execute a first strategy; if the road pit depth detected by the second radar is larger than or equal to a second preset depth and the road pit depth detected by the first radar is smaller than a first preset depth, the vehicle is controlled to execute a second strategy, the first preset depth is larger than the second preset depth, and the safety level of the first strategy is higher than that of the second strategy. According to the method and the device, a plurality of coping strategies of different safety levels are adopted from far to near aiming at the deep road pit, so that the vehicle is more effective in avoiding the road pit, and neglect and misjudgment of a driver are better avoided.

Description

Technical Field

[0001] This application relates to the technical field of vehicle safety, and particularly to a road pit avoidance method, device, equipment and readable storage medium. Background Art

[0002] When a vehicle is moving, due to vision reasons, it is more difficult for a driver to identify a road pit ahead compared to an obstacle. When the driver identifies a road pit ahead, they are often very close to the road pit, not leaving enough safe braking distance for the vehicle, resulting in the vehicle not having enough time to decelerate and avoid the road pit.

[0003] With the continuous improvement of the requirements for vehicle intelligence, intelligent driving, especially intelligent driving technology related to safety, has increasingly become the most concerned direction for people. In existing technical solutions, radar is used to detect the depth of road pits in front of the vehicle, and after judgment, road pit warning and emergency braking are carried out. However, currently, the detection angles of radars installed on vehicles are fixed, resulting in the radar having fixed detection distances and detection depths for road pits on the road surface in the driving direction of the vehicle. For example, by setting the radar installation angle, the radar is set to detect the road surface 50 meters away from the vehicle in the driving direction of the vehicle, and the radar has a maximum detection depth due to the limitation of the detection angle. The maximum detection depth is assumed to be 50 centimeters. During the forward movement of the vehicle, for a relatively deep road pit more than 50 centimeters deep on the road surface 50 meters away from the vehicle in the driving direction of the vehicle, when the road pit appears within the 50 - meter detection distance of the radar, at first, the deepest depth of the road pit that the radar can detect is 50 centimeters. Due to the fixed detection angle of the radar, as the vehicle moves forward, the depth of the road pit that the radar can detect will gradually become shallower, and the depth of the road pit that the radar can detect will gradually decrease to 40 centimeters, 30 centimeters, 20 centimeters... until the road pit exceeds the 50 - meter detection distance of the radar, and the depth of the road pit detected by the radar drops to 0, while the actual depth of the road pit has always been more than 50 centimeters.

[0004] In summary, due to the fixed detection angle, detection distance and detection depth formed by the fixed installation of the radar, for a relatively deep road pit in the distance in the driving direction of the vehicle, due to the movement of the vehicle, the radar can only detect the deepest depth when first detecting the road pit. When the vehicle is closer to the road pit, the depth of the road pit that the radar can detect will be shallower. This can easily lead to the driver ignoring and misjudging the relatively deep road pit. When the driver approaches the road pit, they only find that the road pit is relatively deep and have no time to take effective measures to avoid it, resulting in ineffective avoidance of the road pit by the vehicle. Summary of the Invention

[0005] The present application provides a road pit avoidance method, device, equipment and readable storage medium, aiming to solve the technical problem that due to the fixed installation of the radar, it is easy for the driver to ignore and misjudge relatively deep road pits, and the vehicle's avoidance of road pits is not effective enough.

[0006] In a first aspect, an embodiment of the present application provides a road pit avoidance method, and the road pit avoidance method includes:

[0007] Obtain the road pit depth of the road surface in the driving direction of the vehicle detected by multiple radars, where the multiple radars include a first radar and a second radar, and the distance of the second radar detecting the road surface is greater than the distance of the first radar detecting the road surface;

[0008] If the road pit depth detected by the first radar is greater than or equal to a first preset depth, control the vehicle to execute a first strategy;

[0009] If the road pit depth detected by the second radar is greater than or equal to a second preset depth and the road pit depth detected by the first radar is less than the first preset depth, control the vehicle to execute a second strategy, where the first preset depth is greater than the second preset depth, and the safety level of the first strategy is higher than the safety level of the second strategy.

[0010] Optionally, the multiple radars further include a third radar, the distance of the third radar detecting the road surface is greater than the distance of the second radar detecting the road surface, and the road pit avoidance method further includes:

[0011] If the road pit depth detected by the third radar is greater than or equal to a third preset depth, the road pit depth detected by the first radar is less than the first preset depth, and the road pit depth detected by the second radar is less than the second preset depth, control the vehicle to execute a third strategy, where the second preset depth is greater than the third preset depth, and the safety level of the second strategy is higher than the safety level of the third strategy.

[0012] Optionally, for each radar, the step of detecting the road pit depth of the road surface in the driving direction of the vehicle includes:

[0013] According to the actual duration from signal transmission to reception when the radar detects the road surface in the driving direction of the vehicle, the calibrated duration from signal transmission to reception when the radar detects a horizontal road surface, and the height of the radar relative to the road surface, calculate the road pit depth of the road surface in the driving direction of the vehicle.

[0014] Optionally, the multiple radars are all single-line lidar radars, and the multiple radars are all installed on the upper part of the vehicle's front windshield.

[0015] Optionally, the multiple radars are installed at the same horizontal position on the upper part of the vehicle, and by setting the installation angles of the multiple radars at different inclinations, the multiple radars can detect road surfaces at different distances in the driving direction of the vehicle.

[0016] Second aspect, embodiments of the present application provide a pothole avoidance device, and the pothole avoidance device includes:

[0017] An acquisition module, configured to acquire the pothole depth of the road surface in the driving direction of the vehicle detected by multiple radars, where the multiple radars include a first radar and a second radar, and the distance of the second radar detecting the road surface is greater than the distance of the first radar detecting the road surface;

[0018] A first execution module, configured to control the vehicle to execute a first strategy if the pothole depth detected by the first radar is greater than or equal to a first preset depth;

[0019] A second execution module, configured to control the vehicle to execute a second strategy if the pothole depth detected by the second radar is greater than or equal to a second preset depth and the pothole depth detected by the first radar is less than the first preset depth, where the first preset depth is greater than the second preset depth, and the safety level of the first strategy is higher than the safety level of the second strategy.

[0020] Optionally, the multiple radars further include a third radar, the distance of the third radar detecting the road surface is greater than the distance of the second radar detecting the road surface, and the pothole avoidance device further includes a third execution module, configured to:

[0021] If the pothole depth detected by the third radar is greater than or equal to a third preset depth, the pothole depth detected by the first radar is less than the first preset depth, and the pothole depth detected by the second radar is less than the second preset depth, control the vehicle to execute a third strategy, where the second preset depth is greater than the third preset depth, and the safety level of the second strategy is higher than the safety level of the third strategy.

[0022] Optionally, the multiple radars are installed at the same horizontal position on the upper part of the vehicle, and by setting the installation of different tilt angles of the multiple radars, the road surfaces at different distances in the driving direction of the vehicle can be detected by the multiple radars.

[0023] Third aspect, embodiments of the present application provide a pothole avoidance device, and the pothole avoidance device includes a processor, a memory, and a pothole avoidance program stored on the memory and executable by the processor. When the pothole avoidance program is executed by the processor, the steps of the pothole avoidance method as described above are implemented.

[0024] Fourth aspect, embodiments of the present application provide a readable storage medium, and a pothole avoidance program is stored on the readable storage medium. When the pothole avoidance program is executed by a processor, the steps of the pothole avoidance method as described above are implemented.

[0025] The beneficial effects brought by the technical solutions provided by the embodiments of the present application include:

[0026] In an embodiment of the present application, the depth of a pothole on the road surface in the driving direction of a vehicle is obtained by multiple radars. The multiple radars include a first radar and a second radar, and the distance at which the second radar detects the road surface is greater than the distance at which the first radar detects the road surface. If the depth of the pothole detected by the first radar is greater than or equal to a first preset depth, the vehicle is controlled to execute a first strategy. If the depth of the pothole detected by the second radar is greater than or equal to a second preset depth and the depth of the pothole detected by the first radar is less than the first preset depth, the vehicle is controlled to execute a second strategy. The first preset depth is greater than the second preset depth, and the safety level of the first strategy is higher than the safety level of the second strategy. Through the embodiment of the present application, compared with the fixed detection angle, detection distance, and detection depth formed by a single radar fixedly installed, the depth of potholes on the road surface at different distances in the driving direction of the vehicle is detected by multiple radars, and corresponding judgments are made and corresponding strategies are executed according to the depths of the potholes detected by different radars. Therefore, for deeper potholes, the vehicle can adopt multiple response strategies with different safety levels from far to near, so that the vehicle's avoidance of potholes is more effective, and it can better avoid the driver's neglect and misjudgment of deeper potholes. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic flowchart of an embodiment of the pothole avoidance method of the present application;

[0028] Figure 2 It is a schematic diagram of the pothole depth detection when a single radar vehicle moves in an embodiment of the pothole avoidance method of the present application;

[0029] Figure 3 It is a schematic diagram of the pothole depth detection by a single radar in an embodiment of the pothole avoidance method of the present application;

[0030] Figure 4 It is a schematic diagram of different detection distances of multiple radars in an embodiment of the pothole avoidance method of the present application;

[0031] Figure 5 It is a schematic diagram of the functional modules of an embodiment of the pothole avoidance device of the present application;

[0032] Figure 6 It is a schematic diagram of the hardware structure of the pothole avoidance device involved in the solution of the embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0034] To make the objectives, technical solutions, and advantages of this application clearer, the following will further describe the embodiments of this application in detail with reference to the accompanying drawings.

[0035] In a first aspect, an embodiment of this application provides a road pit avoidance method.

[0036] In one embodiment, referring to Figure 1 , Figure 1 which is a schematic flowchart of an embodiment of the road pit avoidance method of this application. As shown in Figure 1 , the road pit avoidance method includes:

[0037] Step S10: Obtain the road pit depth of the road surface in the vehicle driving direction detected by multiple radars. The multiple radars include a first radar and a second radar, and the distance of the second radar detecting the road surface is greater than the distance of the first radar detecting the road surface.

[0038] In this embodiment, through multiple vehicle-mounted radars installed on the vehicle, the radar can be a lidar or a millimeter-wave radar, etc., which is not limited herein. When the vehicle is driving, it can detect the road pit depth at different road surface distances in the vehicle driving direction in real time. The multiple radars include but are not limited to the first radar and the second radar, and can also include a third radar and more radars. Among them, the distance of the second radar detecting the road surface is greater than the distance of the first radar detecting the road surface. For example, the first radar detects the road pit depth of the road surface 20 meters away from the vehicle in the vehicle driving direction, and the second radar detects the road pit depth of the road surface 50 meters away from the vehicle in the vehicle driving direction.

[0039] Step S20: If the road pit depth detected by the first radar is greater than or equal to a first preset depth, control the vehicle to execute a first strategy.

[0040] In this embodiment, if the road pit depth of the road surface 20 meters away from the vehicle in the vehicle driving direction detected by the first radar is greater than or equal to the first preset depth, and the first preset depth is, for example, 50 centimeters, it means that the road pit depth of the road surface 20 meters away from the vehicle is relatively deep and exceeds 50 centimeters, and a corresponding road pit avoidance strategy needs to be taken. Then control the vehicle to execute the first strategy. The first strategy is, for example: determine whether the current vehicle speed exceeds the vehicle speed threshold of 15 km / h (kilometers per hour). If the current vehicle speed v≥15 km / h (the specific vehicle speed threshold can be set according to the safe braking distance of different vehicles), then reduce the current vehicle speed to below 15 km / h, and turn on the hazard warning light switch. A voice reminder can also be output at the same time, reminding the driver that there is a road pit more than 50 centimeters ahead 20 meters away, and please decelerate and avoid immediately.

[0041] Step S30: If the road pit depth detected by the second radar is greater than or equal to the second preset depth and the road pit depth detected by the first radar is less than the first preset depth, where the first preset depth is greater than the second preset depth and the safety level of the first strategy is higher than that of the second strategy, then control the vehicle to execute the second strategy.

[0042] In this embodiment, if the road pit depth of the road surface 50 meters away from the vehicle in the driving direction of the vehicle detected by the second radar is greater than or equal to the second preset depth, and the second preset depth is, for example, 20 centimeters, it indicates that the road pit depth of the road surface 50 meters away from the vehicle is relatively deep, exceeding 20 centimeters, and corresponding road pit avoidance strategies also need to be taken. Then control the vehicle to execute the second strategy. The second strategy is, for example: determine whether the current vehicle speed exceeds the speed threshold of 60 km / h. If the current vehicle speed v≥60 km / h (the specific speed threshold can be set according to the safe braking distance of different vehicles), then reduce the current vehicle speed to 60 km / h, and a voice reminder can also be output at the same time, prompting the driver that there is a road pit more than 20 centimeters ahead at 50 meters, and please decelerate and avoid in time. The additional condition when executing the second strategy is that the road pit depth of the road surface 20 meters away from the vehicle in the driving direction of the vehicle detected by the first radar is less than the first preset depth of 50 centimeters. This is used to limit that when the road pit depth of the road surface 20 meters away from the vehicle in the driving direction of the vehicle detected by the first radar is greater than or equal to the first preset depth of 50 centimeters and the road pit depth of the road surface 50 meters away from the vehicle in the driving direction of the vehicle detected by the second radar is greater than or equal to the second preset depth of 20 centimeters are both satisfied, the first strategy is preferentially executed. Only when the road pit depth of the road surface 50 meters away from the vehicle in the driving direction of the vehicle detected by the second radar is greater than or equal to the second preset depth of 20 centimeters and the road pit depth of the road surface 20 meters away from the vehicle in the driving direction of the vehicle detected by the first radar is less than the first preset depth of 50 centimeters, the second strategy is executed. This is because the road pit of the road surface 20 meters away from the vehicle detected by the first radar is closer to the vehicle than the road pit of the road surface 50 meters away from the vehicle detected by the second radar. The first preset depth of 50 centimeters is greater than the second preset depth of 20 centimeters, and the safety level of the preferentially executed first strategy is also higher than that of the second strategy. It should be noted that the values of 20 meters away from the vehicle in the driving direction of the vehicle detected by the first radar and 50 meters away from the vehicle in the driving direction of the vehicle detected by the second radar are only examples and can be adjusted and set according to actual needs. The values of the first preset depth of 50 centimeters and the second preset depth of 20 centimeters are also only examples and can be adjusted and set according to actual needs.

[0043] In this embodiment, it should also be noted that with reference to Figure 2 , Figure 2 is a schematic diagram of road pit depth detection when a single-radar vehicle moves in an embodiment of the road pit avoidance method of this application. As Figure 2As shown, due to the fixed detection angle, detection distance, and detection depth formed by the fixed installation of the radar in the prior art, for a relatively deep pothole in the distance in the vehicle driving direction, for example Figure 2 In Figure 2 , the horizontal distance between the center of the vehicle's front wheel and the point C' on the horizontal road surface detected by the radar is L. Since the vehicle is moving, the radar detects the deepest depth when it first detects the pothole, as shown in Figure 2 H1 shown in the upper part of Figure 2 . As the vehicle moves forward, the point C' on the horizontal road surface detected by the radar moves forward to point C. Due to the fixed detection angle of the single radar, the depth of the pothole that the radar can detect will become shallower, as shown in Figure 2 h1 shown in the lower part of Figure 2 . h1 is less than H1, and in fact, the depth of the pothole exceeds H1 and h1. Even the deepest depth H1 of the pothole detected by the radar at the beginning does not reach the actual deepest depth of the pothole. It can be seen that the existing single radar is limited by the fixed detection angle, and its detection depth ability will also be correspondingly limited, that is, the depth detected by the single radar for a relatively deep pothole is inaccurate. In this application, multiple radars are used to detect the depth of potholes on the road surface at different distances in the vehicle driving direction, and the preset depth value adopted by the closer radar is larger, that is, a higher detection accuracy of the pothole depth is correspondingly set. That is, the radar with a closer detection distance is required to have a higher ability to detect the depth of potholes. This can be achieved by setting a larger detection angle for the radar with a closer detection distance, adopting a pothole avoidance response strategy with a higher safety level. Therefore, compared with a single radar, the vehicle's avoidance of potholes is more effective, and through multiple pothole avoidance response strategies at different levels, it can also better avoid the driver's neglect and misjudgment of relatively deep potholes.

[0044] In this embodiment, multiple vehicle-mounted radars installed on the vehicle are used to detect the depth of road pits on the road surface at different distances in the driving direction of the vehicle in real time while the vehicle is moving. For example, the first radar detects the depth of the road pit on the road surface 20 meters away from the vehicle in the driving direction of the vehicle, and the second radar detects the depth of the road pit on the road surface 50 meters away from the vehicle in the driving direction of the vehicle. If the depth of the road pit on the road surface 20 meters away from the vehicle detected by the first radar is greater than or equal to the first preset depth of 50 centimeters, the vehicle is controlled to execute the first strategy. If the depth of the road pit on the road surface 50 meters away from the vehicle detected by the second radar is greater than or equal to the second preset depth of 20 centimeters and the depth of the road pit on the road surface 20 meters away from the vehicle detected by the first radar is less than the first preset depth of 50 centimeters, the vehicle is controlled to execute the second strategy. The road pit on the road surface 20 meters away from the vehicle detected by the first radar is closer to the vehicle than the road pit on the road surface 50 meters away from the vehicle detected by the second radar. The first preset depth of 50 centimeters is greater than the second preset depth of 20 centimeters, and the safety level of the first strategy preferentially executed is also higher than that of the second strategy. Therefore, compared with the fixed detection angle, detection distance, and detection depth formed by a single fixed-mounted radar, by using multiple radars to detect the depth of road pits on the road surface at different distances in the driving direction of the vehicle, corresponding judgments are made based on the depth of road pits detected by different radars and corresponding strategies are executed, and the larger the preset depth value adopted by the closer radar, that is, a higher detection accuracy for the depth of road pits is correspondingly set. Thus, for deeper road pits, the vehicle can adopt multiple response strategies with different safety levels from far to near, making the vehicle's avoidance of road pits more effective. Moreover, through multiple different-level road pit avoidance response strategies, it can also better avoid the driver's neglect and misjudgment of deeper road pits.

[0045] Further, in one embodiment, the multiple radars further include a third radar, the distance at which the third radar detects the road surface is greater than the distance at which the second radar detects the road surface, and the road pit avoidance method further includes:

[0046] If the depth of the road pit detected by the third radar is greater than or equal to the third preset depth, and the depth of the road pit detected by the first radar is less than the first preset depth, and the depth of the road pit detected by the second radar is less than the second preset depth, the vehicle is controlled to execute the third strategy. The second preset depth is greater than the third preset depth, and the safety level of the second strategy is higher than that of the third strategy.

[0047] In this embodiment, for example, the third radar detects the depth of a pothole on the road surface 100 meters ahead in the driving direction of the vehicle. If the depth of the pothole on the road surface 100 meters ahead in the driving direction of the vehicle detected by the third radar is greater than or equal to the third preset depth, and the third preset depth is, for example, 10 centimeters, it indicates that the pothole on the road surface 100 meters ahead is relatively deep, and a corresponding pothole avoidance strategy needs to be adopted. Then, the vehicle is controlled to execute the third strategy. The third strategy is, for example: output a voice reminder to prompt the driver that there is a pothole more than 10 centimeters ahead 100 meters ahead, and please pay attention to decelerating. In summary, it can also be seen that the safety level of the third strategy is the lowest. When the triggering conditions of the third strategy and the second strategy are both satisfied, the second strategy is preferentially executed. When the triggering conditions of the second strategy and the first strategy are both satisfied, the first strategy is preferentially executed.

[0048] Further, in one embodiment, for each radar, the steps of detecting the depth of a pothole on the road surface in the driving direction of the vehicle include:

[0049] Based on the actual time duration from signal transmission to reception when the radar detects the road surface in the driving direction of the vehicle, the calibrated time duration from signal transmission to reception when the radar detects a horizontal road surface, and the height of the radar relative to the road surface, the depth of the pothole on the road surface in the driving direction of the vehicle is calculated.

[0050] In this embodiment, referring to Figure 3 , Figure 3 is a schematic diagram of single-radar pothole depth detection in an embodiment of the pothole avoidance method of the present application. As Figure 3 shown, for each radar, assume that the height of the radar installation point A from the ground is f. For the pothole B point on the road surface, the actual time duration from signal transmission by the radar through point B to the radar receiving the return signal is T1, and based on the calibrated time duration t1 from signal transmission to reception when the radar detects a horizontal road surface obtained through prior calibration, according to the principle of similar triangles, the pothole depth h1 = f * (T1 - t1) / t1 can be calculated.

[0051] Further, in one embodiment, the multiple radars are all single-line lidar, and the multiple radars are all installed on the upper part of the vehicle's front windshield.

[0052] In this embodiment, multiple radars all use single-line lidar. A single-line lidar refers to a radar in which the laser beam emitted by the laser source is a single line, and it has the characteristics of fast scanning speed, strong resolution, and high reliability. Compared with multi-line lidar, the single-line lidar responds more quickly in terms of angular frequency and sensitivity, so it is also more accurate in the ranging distance and accuracy of obstacles. The multiple radars are all installed on the upper part of the vehicle's front windshield. Compared with being installed in front of the vehicle grille, the height from the ground is higher, and a longer detection distance and a greater detection depth can be achieved at the same detection angle.

[0053] Further, in one embodiment, the multiple radars are installed at the same horizontal position on the upper part of the vehicle. By setting the installation of the multiple radars at different tilting angles, the multiple radars are used to detect the road surface at different distances in the driving direction of the vehicle.

[0054] In this embodiment, referring to Figure 4 , Figure 4 is a schematic diagram of different detection distances of multiple radars in one embodiment of the road pit avoidance method of the present application. As shown in Figure 4 , the multiple radars are installed at the same horizontal position on the upper part of the vehicle. Represented by point A in Figure 4 , by setting the installation of the multiple radars at different tilting angles, the multiple radars are enabled to detect the road surface at different distances in the driving direction of the vehicle. For example, the distances of the road surface detected by three radars in the driving direction of the vehicle are 100 meters, 50 meters, and 20 meters respectively. It should be noted that for the three radars from bottom to top, the detection tilting angle of the lowermost first radar is the largest, and the detection distance is the closest at 20 meters. Since the detection tilting angle is the largest, the depth of the road pit that can be detected correspondingly is also the deepest. For example, a road pit with a depth exceeding 50 centimeters can be detected. The detection tilting angle of the second radar is the second largest, the detection distance is the second closest at 50 meters, and the depth of the road pit that can be detected correspondingly is the second deepest. For example, a road pit with a depth exceeding 20 centimeters can be detected. The detection tilting angle of the uppermost third radar is the smallest, the detection distance is the farthest at 100 meters. Since the detection tilting angle is the smallest, the depth of the road pit that can be detected correspondingly is also the shallowest. For example, at most a road pit with a depth exceeding 10 centimeters can be detected. From this, it can be concluded that for the same relatively deep road pit in the driving direction of the vehicle, for the radars at the same horizontal installation position, due to the setting of the detection tilting angle, the detection accuracy of the road pit depth increases successively from far to near. Correspondingly, the response strategies with gradually increasing safety levels are adopted from far to near. Thus, not only can the road pit avoidance strategy be taken in advance and an early warning be given when the road pit is far from the vehicle, but also the detection accuracy of the road pit depth can be improved when the road pit is close to the vehicle, and the safety level of the road pit avoidance response strategy can be enhanced. Therefore, the vehicle can avoid road pits more effectively and can better avoid the driver's neglect and misjudgment of relatively deep road pits.

[0055] In a second aspect, the embodiments of the present application further provide a road pit avoidance device.

[0056] In one embodiment, referring to Figure 5 , Figure 5 is a schematic diagram of the function modules of one embodiment of the road pit avoidance device of the present application. As shown in Figure 5 , the road pit avoidance device includes:

[0057] Acquisition module 10, configured to acquire the pothole depth of the road surface in the driving direction of the vehicle detected by multiple radars, where the multiple radars include a first radar and a second radar, and the distance of the second radar detecting the road surface is greater than the distance of the first radar detecting the road surface;

[0058] First execution module 20, configured to control the vehicle to execute a first strategy if the pothole depth detected by the first radar is greater than or equal to a first preset depth;

[0059] Second execution module 30, configured to control the vehicle to execute a second strategy if the pothole depth detected by the second radar is greater than or equal to a second preset depth and the pothole depth detected by the first radar is less than the first preset depth, where the first preset depth is greater than the second preset depth, and the safety level of the first strategy is higher than the safety level of the second strategy.

[0060] Further, in an embodiment, the multiple radars further include a third radar, and the distance of the third radar detecting the road surface is greater than the distance of the second radar detecting the road surface. The pothole avoidance device further includes a third execution module, configured to:

[0061] If the pothole depth detected by the third radar is greater than or equal to a third preset depth, the pothole depth detected by the first radar is less than the first preset depth, and the pothole depth detected by the second radar is less than the second preset depth, then control the vehicle to execute a third strategy, where the second preset depth is greater than the third preset depth, and the safety level of the second strategy is higher than the safety level of the third strategy.

[0062] Further, in an embodiment, for each radar, the step of detecting the pothole depth of the road surface in the driving direction of the vehicle includes:

[0063] Calculating the pothole depth of the road surface in the driving direction of the vehicle according to the actual duration from signal transmission to reception when the radar detects the road surface in the driving direction of the vehicle, the calibrated duration from signal transmission to reception when the radar detects the horizontal road surface, and the height of the radar relative to the road surface.

[0064] Further, in an embodiment, the multiple radars are all single-line lidar, and the multiple radars are all installed on the upper part of the vehicle's front windshield.

[0065] Further, in an embodiment, the multiple radars are installed at the same horizontal position on the upper part of the vehicle. By setting the installation angles of the multiple radars differently, the multiple radars can detect road surfaces at different distances in the driving direction of the vehicle.

[0066] Wherein, the function realization of each module in the above pothole avoidance device corresponds to each step in the embodiment of the above pothole avoidance method, and its function and realization process will not be elaborated here one by one.

[0067] In a third aspect, an embodiment of the present application provides a pothole avoidance device.

[0068] Refer to Figure 6 , Figure 6 which is a schematic diagram of the hardware structure of the road pit avoidance device involved in the solution of the embodiment of the present application. In the embodiment of the present application, the road pit avoidance device may include a processor, a memory, a communication interface, and a communication bus.

[0069] Among them, the communication bus can be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0070] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces, etc., which are used to interconnect the components inside the road pit avoidance device, and interfaces for interconnecting the road pit avoidance device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, an optical fiber interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0071] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical memory, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0072] The processor can be a general-purpose processor, and the general-purpose processor can call the road pit avoidance program stored in the memory and execute the road pit avoidance method provided by the embodiment of the present application. For example, the general-purpose processor can be a central processing unit (CPU). Among them, the method executed when the road pit avoidance program is called can refer to the various embodiments of the road pit avoidance method of the present application, which will not be elaborated here.

[0073] Those skilled in the art can understand that Figure 6 the hardware structure shown in

[0074] does not constitute a limitation to the present application, and may include more or fewer components than shown in the figure, or combine some components, or different component arrangements.

[0075] A pothole avoidance program is stored on the readable storage medium of the present application. When the pothole avoidance program is executed by a processor, the steps of the pothole avoidance method as described above are implemented.

[0076] Among them, the method implemented when the pothole avoidance program is executed can refer to each embodiment of the pothole avoidance method of the present application, which will not be elaborated here.

[0077] It should be noted that the serial numbers of the above embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0078] The terms "including" and "having" and any variations thereof in the specification, claims and above-mentioned drawings of the present application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices. The descriptions with terms such as "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit that "first", "second" and "third" are different types.

[0079] In the description of the embodiments of the present application, words such as "exemplary", "for example" or "for instance" are used to indicate examples, illustrations or explanations. Any embodiment or design solution described as "exemplary", "for example" or "for instance" in the embodiments of the present application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "exemplary", "for example" or "for instance" is intended to present relevant concepts in a specific manner.

[0080] In the description of the embodiments of the present application, unless otherwise specified, " / " means "or". For example, A / B can mean A or B; "and / or" in the text is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality of" means two or more than two.

[0081] In some processes described in the embodiments of the present application, a plurality of operations or steps appear in a specific order. However, it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or may be executed in parallel. The serial numbers of the operations are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in order or in parallel, and these operations or steps may be combined.

[0082] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases, the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium as described above (such as ROM / RAM, magnetic disk, optical disc), and includes several instructions for causing a terminal device to execute the methods described in various embodiments of the present application.

[0083] The above are only the preferred embodiments of the present application, and do not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present application, or directly or indirectly applied in other related technical fields, shall be equally included in the patent protection scope of the present application.

Claims

1. A road pit avoidance method, characterized in that, The road pit avoidance method includes: Obtaining the depths of road pits on the road surface in the driving direction of the vehicle detected by multiple radars. The multiple radars include a first radar and a second radar, and the distance at which the second radar detects the road surface is greater than the distance at which the first radar detects the road surface; If the depth of the road pit detected by the first radar is greater than or equal to a first preset depth, control the vehicle to execute a first strategy; If the depth of the road pit detected by the second radar is greater than or equal to a second preset depth and the depth of the road pit detected by the first radar is less than the first preset depth, control the vehicle to execute a second strategy. The first preset depth is greater than the second preset depth, and the safety level of the first strategy is higher than the safety level of the second strategy.

2. The road pit avoidance method according to claim 1, characterized in that, The multiple radars further include a third radar, and the distance at which the third radar detects the road surface is greater than the distance at which the second radar detects the road surface. The road pit avoidance method further includes: If the depth of the road pit detected by the third radar is greater than or equal to a third preset depth, the depth of the road pit detected by the first radar is less than the first preset depth, and the depth of the road pit detected by the second radar is less than the second preset depth, control the vehicle to execute a third strategy. The second preset depth is greater than the third preset depth, and the safety level of the second strategy is higher than the safety level of the third strategy.

3. The road pit avoidance method according to claim 1, wherein For each radar, the step of detecting the depth of the road pit on the road surface in the driving direction of the vehicle includes: Calculating the depth of the road pit on the road surface in the driving direction of the vehicle based on the actual time from signal emission to reception when the radar detects the road surface in the driving direction of the vehicle, the calibrated time from signal emission to reception when the radar detects a horizontal road surface, and the height of the radar relative to the road surface.

4. The road pit avoidance method according to claim 1, characterized in that, The multiple radars are all single-line lidar, and the multiple radars are all installed on the upper part of the vehicle's front windshield.

5. The road pit avoidance method according to claim 1, characterized in that, The multiple radars are installed at the same horizontal position on the upper part of the vehicle. By setting the installation of the multiple radars at different tilt angles, the multiple radars are used to detect road surfaces at different distances in the driving direction of the vehicle.

6. A road pit avoidance device, characterized in that, The road pit avoidance device includes: An acquisition module for obtaining the depths of road pits on the road surface in the driving direction of the vehicle detected by multiple radars. The multiple radars include a first radar and a second radar, and the distance at which the second radar detects the road surface is greater than the distance at which the first radar detects the road surface; A first execution module for controlling the vehicle to execute a first strategy if the depth of the road pit detected by the first radar is greater than or equal to a first preset depth; A second execution module for controlling the vehicle to execute a second strategy if the depth of the road pit detected by the second radar is greater than or equal to a second preset depth and the depth of the road pit detected by the first radar is less than the first preset depth. The first preset depth is greater than the second preset depth, and the safety level of the first strategy is higher than the safety level of the second strategy.

7. The road pit avoidance device according to claim 6, characterized in that, The multiple radars further include a third radar, and the distance at which the third radar detects the road surface is greater than the distance at which the second radar detects the road surface. The road pit avoidance device further includes a third execution module for: If the depth of the road pit detected by the third radar is greater than or equal to a third preset depth, the depth of the road pit detected by the first radar is less than the first preset depth, and the depth of the road pit detected by the second radar is less than the second preset depth, control the vehicle to execute a third strategy. The second preset depth is greater than the third preset depth, and the safety level of the second strategy is higher than the safety level of the third strategy.

8. The road pit avoidance device according to claim 6, wherein, The multiple radars are installed at the same horizontal position on the upper part of the vehicle. By setting the installation of the multiple radars at different tilt angles, the multiple radars are used to detect road surfaces at different distances in the driving direction of the vehicle.

9. A road pit avoidance device, characterized in that, The road pit avoidance device includes a processor, a memory, and a road pit avoidance program stored on the memory and executable by the processor. When the road pit avoidance program is executed by the processor, the steps of the road pit avoidance method according to any one of claims 1 to 5 are implemented.

10. A readable storage medium, characterized in that, The readable storage medium stores a road pit avoidance program. When the road pit avoidance program is executed by a processor, the steps of the road pit avoidance method according to any one of claims 1 to 5 are implemented.

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