Road mirage processing method and device, vehicle and storage medium

Abstract

The invention relates to a road mirage processing method and device, a vehicle, a storage medium and a computer program. Relates to the field of intelligent perception, and the method comprises the steps: obtaining road image information which is used for representing road image information in a vehicle driving direction; acquiring temperature information in a preset range; and outputting a road mirage prompt to a user according to the road image information and the temperature information. According to the embodiment of the invention, whether the mirage phenomenon exists in the road is identified according to the road image information in the vehicle driving direction and the detected temperature information. According to the method, the related mirage early warning prompt is sent to the driver, so that potential safety hazards brought to the driver by the mirage phenomenon can be eliminated, and the road traffic safety is improved.

Description

Technical Field

[0001] The present disclosure relates to the field of intelligent perception, and more specifically, to a road mirage processing method, device, vehicle, computer-readable storage medium, and computer program. Background Art

[0002] A road mirage is an optical phenomenon common in hot or dry regions. It is caused by layers of warm air formed by sunlight striking the ground. When sunlight passes through these warmer layers, it refracts, causing distant objects to appear closer, creating an optical illusion.

[0003] Mirages pose a potential safety hazard to drivers. This visual illusion can cause drivers to misjudge distance, speed, and road conditions ahead, increasing the risk of traffic accidents. Therefore, identifying mirages and providing timely warnings to drivers has become a pressing issue. Summary of the Invention

[0004] To overcome the problems existing in the related art, the present disclosure provides a road mirage processing method, device, vehicle, computer-readable storage medium and computer program.

[0005] According to a first aspect of an embodiment of the present disclosure, a road mirage processing method is provided, the method comprising: acquiring road image information, the road image information being used to represent road image information in a vehicle's driving direction; acquiring temperature information within a preset range; and outputting a road mirage prompt to a user based on the road image information and the temperature information.

[0006] In some exemplary embodiments of the present disclosure, obtaining temperature information within a preset range includes: obtaining near-ground temperature and air temperature; the collection altitude of the near-ground temperature is lower than the collection altitude of the air temperature; and calculating the temperature difference based on the near-ground temperature and the air temperature to determine the temperature information.

[0007] In some exemplary embodiments of the present disclosure, obtaining the near-ground temperature and the air temperature includes: determining a near-ground temperature compensation value and an air temperature compensation value based on the acquired vehicle driving status information; determining the near-ground temperature based on the acquired first temperature and the near-ground temperature compensation value; and determining the air temperature based on the acquired second temperature and the air temperature compensation value.

[0008] In some exemplary embodiments of the present disclosure, determining the near-ground temperature compensation value and the air temperature compensation value based on the acquired vehicle driving state information includes: acquiring the vehicle driving speed; and determining the near-ground temperature compensation value and the air temperature compensation value based on the vehicle driving speed.

[0009] In some exemplary embodiments of the present disclosure, determining the near-ground temperature compensation value and the air temperature compensation value based on the acquired vehicle driving status information includes: acquiring road surface type information; and determining the near-ground temperature compensation value and the air temperature compensation value based on the road surface type information.

[0010] In some exemplary embodiments of the present disclosure, the acquiring of temperature information within a preset range includes: acquiring the temperature information within the preset range in response to the road image information including a target image feature.

[0011] In some exemplary embodiments of the present disclosure, the method further includes: obtaining weather information within a preset time; in response to the weather information being the first target weather, determining that there is no mirage on the road; and in response to the weather information being the second target weather, obtaining the road image information.

[0012] In some exemplary embodiments of the present disclosure, the method further includes: uploading the road mirage prompt to the cloud; the road mirage prompt includes geographic information.

[0013] In some exemplary embodiments of the present disclosure, the method further includes: sending the road mirage prompt to an automatic driving module; the automatic driving module is configured to perform automatic driving control of the vehicle according to the road mirage prompt.

[0014] In some exemplary embodiments of the present disclosure, the method further includes: in response to determining that a mirage exists on the road, displaying a virtual lane line on a head-up display; the virtual lane line at least partially overlaps with a road lane line.

[0015] In some exemplary embodiments of the present disclosure, outputting a road mirage prompt to a user based on the road image information and the temperature information includes: performing mirage recognition based on the road image information and the temperature information through a road mirage recognition model to obtain mirage recognition information; and determining that a mirage exists on the road in response to the mirage recognition information, outputting a road mirage prompt to the user.

[0016] According to a second aspect of an embodiment of the present disclosure, a road mirage processing device is provided, including: an image acquisition unit for acquiring road image information, wherein the road image information is used to represent road image information in the direction of vehicle travel; a temperature acquisition unit for acquiring temperature information within a preset range; and a mirage prompt unit for outputting a road mirage prompt to a user based on the road image information and the temperature information.

[0017] In some exemplary embodiments of the present disclosure, the temperature acquisition unit includes at least: a near-ground temperature acquisition unit and an air temperature acquisition unit; the near-ground temperature acquisition unit is higher than the air temperature acquisition unit; the near-ground temperature acquisition unit is used to obtain the near-ground temperature; the air temperature acquisition unit is used to obtain the air temperature; the temperature acquisition unit is used to calculate the temperature difference based on the near-ground temperature and the air temperature to determine the temperature information.

[0018] In some exemplary embodiments of the present disclosure, the present invention further includes: a cloud uploading unit, configured to upload the road mirage prompt to the cloud; the road mirage prompt includes geographic information.

[0019] In some exemplary embodiments of the present disclosure, it further includes: an automatic driving module, used to receive and perform automatic driving control of the vehicle according to the road mirage prompt.

[0020] In some exemplary embodiments of the present disclosure, the method further includes: a head-up display screen for displaying a virtual lane line in response to determining that a mirage exists on the road; the virtual lane line at least partially overlaps with the road lane line.

[0021] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to: implement the steps of any one of the road mirage processing methods.

[0022] According to a fourth aspect of an embodiment of the present disclosure, a non-transitory computer-readable storage medium is provided. When instructions in the storage medium are executed by a processor of a mobile terminal, the mobile terminal is enabled to execute any one of the road mirage processing methods.

[0023] According to a fifth aspect of an embodiment of the present disclosure, a computer program is provided, characterized in that it includes a computer program, and when the computer program is executed by a processor, it implements any one of the road mirage processing methods.

[0024] The technical solutions provided by the embodiments of the present disclosure may have the following beneficial effects:

[0025] The road mirage processing method provided by this disclosure identifies whether a mirage is present on the road based on road image information and detected temperature information in the vehicle's travel direction. By issuing a mirage warning to the driver, the safety hazards posed by mirages can be eliminated, improving road traffic safety.

[0026] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0028] Figure 1 This is a process of a road mirage processing method according to an exemplary embodiment of the present disclosure. Figure 1 .

[0029] Figure 2 FIG. 4 is a flow chart of a method for obtaining temperature information according to an exemplary embodiment of the present disclosure.

[0030] Figure 3 It is a schematic diagram of vehicle information perception according to an exemplary embodiment of the present disclosure.

[0031] Figure 4 This is a process of a road mirage processing method according to an exemplary embodiment of the present disclosure. Figure 2 .

[0032] Figure 5 This is a process of a road mirage processing method according to an exemplary embodiment of the present disclosure. Figure 3 .

[0033] Figure 6 The figure is a schematic diagram of a mirage warning information synchronization process according to an exemplary embodiment of the present disclosure.

[0034] Figure 7 FIG. 4 is a flowchart of a method for identifying a road mirage according to an exemplary embodiment of the present disclosure.

[0035] Figure 8 The process of the road mirage recognition method according to an exemplary embodiment of the present disclosure is shown as follows Figure 1 .

[0036] Figure 9 The process of the road mirage recognition method according to an exemplary embodiment of the present disclosure is shown as follows Figure 2 .

[0037] Figure 10 The process of the road mirage recognition method according to an exemplary embodiment of the present disclosure is shown as follows Figure 3 .

[0038] Figure 11 The figure is a block diagram of a road mirage processing device according to an exemplary embodiment of the present disclosure.

[0039] Figure 12 It is a functional block diagram of a vehicle according to an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0040] Some exemplary embodiments of the present disclosure will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. Various changes, modifications and equivalents of the methods, devices and / or systems described herein will become apparent after understanding the present disclosure. For example, the order of operations described herein is merely an example and is not limited to those orders set forth herein, but may be changed as becomes apparent after understanding the present disclosure, except for operations that must be performed in a specific order. In addition, descriptions of features known in the art may be omitted for clarity and brevity.

[0041] The following exemplary embodiments of the present disclosure do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0042] Hereinafter, each step of the method in the exemplary embodiment of the present disclosure will be described in more detail with reference to the accompanying drawings and embodiments.

[0043] Figure 1 This is a process of a road mirage processing method according to an exemplary embodiment of the present disclosure. Figure 1 . Figure 3 FIG2 is a schematic diagram illustrating vehicle information perception according to an exemplary embodiment of the present disclosure. The method of this embodiment can be applied to electronic devices, including vehicles.

[0044] like Figure 1 、 3 As shown, in some embodiments, the road mirage processing method of the present disclosure includes:

[0045] In step S110 , road image information is acquired, where the road image information is used to represent road image information in the vehicle's driving direction.

[0046] In the disclosed embodiments, a vehicle may be equipped with various sensors and communication devices, which can sense and acquire the current vehicle driving state information, so as to identify and determine whether the vehicle is currently experiencing a mirage based on the vehicle driving state information.

[0047] In the disclosed embodiments, an image sensor positioned in front of a vehicle acquires road image information. This road image information represents the road image information in the vehicle's direction of travel. By performing image analysis on this road image information, road mirage can be identified and determined based on relevant image features. These relevant image features may include, but are not limited to, road reflections, color stratification, and lane line blur.

[0048] In an exemplary embodiment, as Figure 3 As shown, the image sensor can be set to the top front position of the vehicle. During the vehicle's driving process, a real-time image of the road ahead is collected.

[0049] In step S120 , temperature information within a preset range is acquired.

[0050] Mirages are closely linked to temperature conditions, so ambient temperature is also an important factor in determining whether a mirage is present. In the disclosed embodiment, a temperature sensor installed on the vehicle acquires temperature information within a preset range. This preset range is a pre-calibrated temperature collection area or target. The current ambient temperature data collected by the relevant sensors can be used to analyze whether the conditions for mirage formation are met, allowing for more accurate and efficient mirage determination.

[0051] In an exemplary embodiment, as Figure 3 As shown, multiple temperature sensors can be installed on the vehicle to obtain temperature information at different locations of the vehicle. By comparing the temperature information at different locations, it is possible to more accurately determine whether there is a mirage phenomenon on the road.

[0052] In an exemplary embodiment, the acquisition of temperature information may be triggered based on road image information. In response to the road image information acquired in step S110 containing a target image feature, the acquisition of temperature information within a preset range is triggered. The target image feature may be determined to contain a target image feature associated with a mirage phenomenon based on image analysis of the road image information.

[0053] In step S130 , a road mirage prompt is output to the user based on the road image information and the temperature information.

[0054] As previously mentioned, mirages are optical phenomena caused by sunlight striking the ground, creating a layer of warm air. Therefore, a certain ambient temperature is required for this phenomenon to occur. Furthermore, mirages can cause visual effects such as distortion, layering, and blurring of road images.

[0055] In the disclosed embodiments, based on the causes and visual effects of mirages, combined with collected road image information and temperature information, it is possible to identify and determine whether a mirage exists on the current road, thereby obtaining mirage identification information. This mirage identification information indicates whether a mirage exists on the road or not. Based on this mirage identification information, a road mirage notification is issued to the driver or other information recipient.

[0056] In an exemplary embodiment, a mirage warning prompt may be issued to the driver in a variety of forms. For example, based on a HUD (Head Up Display) system, a mirage warning prompt may be projected in front of the driver's line of sight. For example, based on a voice prompt system, a mirage warning prompt may be issued to the driver via a voice prompt. For example, based on a tactile feedback system, a mirage warning prompt may be issued to the driver via seat vibration or other tactile means. This disclosure does not limit the specific form of issuing a mirage warning prompt to the driver.

[0057] The road mirage processing method provided by this disclosure identifies whether a mirage is present on the road based on road image information and detected temperature information in the vehicle's travel direction. By issuing a mirage warning to the driver, the safety hazards posed by mirages can be eliminated, improving road traffic safety.

[0058] Figure 2 FIG. 4 is a flow chart of a method for obtaining temperature information according to an exemplary embodiment of the present disclosure. Figure 3 It is a schematic diagram of vehicle information perception according to an exemplary embodiment of the present disclosure.

[0059] like Figure 2 、 3 As shown, in Figure 1 Based on the road mirage processing method shown in the figure, Figure 1 Step S120 shown may include the following steps.

[0060] In step S210, the ground temperature and the air temperature are acquired; the acquisition altitude of the ground temperature is lower than the acquisition altitude of the air temperature.

[0061] In the disclosed embodiment, a temperature sensor installed in the vehicle acquires a first temperature and a second temperature. The first temperature is the ground temperature, i.e., the temperature at the vehicle's location near the ground; the second temperature is the air temperature, i.e., the temperature of the air surrounding the vehicle while it is in motion. Using the current ambient temperature data collected by the relevant sensors, it is possible to analyze whether the conditions for mirage formation are met, thereby making mirage detection more accurate and efficient.

[0062] In an exemplary embodiment, as Figure 3 As shown, the vehicle includes at least two sets of temperature sensors. The first temperature sensor is located near the vehicle chassis and detects a first temperature, T1. The second temperature sensor is located near the top of the vehicle and detects a second temperature, T2. It should be noted that the temperature sensors should be placed away from locations where the vehicle's internal temperature may differ from the surrounding environment, such as the engine and the fuel tank, to avoid interference with the measured data.

[0063] In an exemplary embodiment, since the vehicle may not be able to directly collect accurate temperature information through the temperature sensor due to the influence of the surrounding airflow or environment during driving, the present disclosure also provides a method for compensating the collected temperature value. Figure 2 As shown, the temperature compensation method may include the following steps.

[0064] In step S211 , a ground temperature compensation value and an air temperature compensation value are determined based on the acquired vehicle driving state information.

[0065] In the disclosed embodiments, vehicle driving state information is obtained while the vehicle is in motion. This vehicle driving state information may be vehicle driving parameters, vehicle surrounding environment parameters, or a combination of multiple driving parameters. This vehicle driving state information may be acquired through various sensors installed on the vehicle or obtained from a network via an onboard communication device. Based on a pre-calibrated compensation correspondence between the vehicle driving state information and corresponding temperature sensors, a ground temperature compensation value and an air temperature compensation value that match the current vehicle driving state information are determined.

[0066] In an exemplary embodiment, the vehicle driving state information may be the vehicle's driving speed. Different vehicle speeds may result in different temperature offsets. Furthermore, the magnitude of the temperature offset varies depending on the measurement location. Therefore, a pre-calibrated relationship between vehicle speed and the associated temperature offset is determined, and the ground temperature compensation value and the air temperature compensation value are then determined based on the vehicle speed.

[0067] In an exemplary embodiment, the vehicle's driving status information may be road surface type information. The vehicle's navigation module, combined with high-precision map data, can obtain the road surface type information for the current road. This road surface type information may include asphalt, cement, gravel, or dirt. Because different road surface types have different heat absorption capacities, temperature offset values ​​corresponding to different road surface types are pre-calibrated and then used to determine ground temperature compensation and air temperature compensation values.

[0068] In step S212, the near-ground temperature is determined based on the acquired first temperature and the near-ground temperature compensation value.

[0069] In the embodiment of the present disclosure, a more accurate near-ground temperature is determined based on the first temperature collected by the first temperature sensor and the near-ground temperature compensation value.

[0070] In step S213, the air temperature is determined according to the collected second temperature and the air temperature compensation value.

[0071] In the embodiment of the present disclosure, a more accurate air temperature is determined based on the second temperature collected by the second temperature sensor and the air temperature compensation value.

[0072] In step S220 , a temperature difference is calculated based on the ground near temperature and the air temperature to determine the temperature information.

[0073] In the embodiment of the present disclosure, since the cause of the mirage phenomenon is mainly related to the temperature difference between the ground and the air, based on the near-ground temperature and the air temperature obtained in the above steps, the temperature difference between the two temperatures is calculated, and the temperature information is determined based on the temperature difference.

[0074] The road mirage processing method provided by this disclosure obtains the vehicle's ground temperature and air temperature based on the cause of the mirage phenomenon, and determines this temperature information based on the temperature difference between the two temperatures to assist in mirage identification. A temperature compensation scheme has been designed to address the difficulty of directly collecting accurate temperature information while a vehicle is in motion. By obtaining information about the vehicle's driving state and determining the corresponding temperature compensation value, a more accurate ground temperature and air temperature can be determined, providing a data foundation for more accurate mirage identification.

[0075] Figure 4 This is a process of a road mirage processing method according to an exemplary embodiment of the present disclosure. Figure 2 In the embodiments of the present disclosure, Figure 4 Steps S440 and S450 in the road mirage processing method are respectively Figure 1 Steps S120 and S130 in the road mirage processing method shown correspond to each other and will not be repeated here.

[0076] In the embodiment of the present disclosure, Figure 1 Based on the road mirage processing method shown in Figure 4 The road mirage processing method shown may further include the following steps.

[0077] In step S410, weather information within a preset time period is obtained.

[0078] In step S420 , in response to the weather information being the first target weather, it is determined that no mirage exists on the road.

[0079] In step S430 , in response to the weather information being the second target weather, the road image information is acquired.

[0080] In the embodiment of the present disclosure, the mirage phenomenon is also closely related to the current weather conditions, so the weather conditions are also an important reference factor for determining whether the mirage phenomenon exists. In the embodiment of the present disclosure, the current weather information is obtained from the cloud through the communication device set in the vehicle.

[0081] When the weather information is the first target weather, it can be determined based on the weather that there are no conditions for generating mirage phenomenon, and then it is directly determined that there is no mirage on the road without performing Figure 1 The road mirage processing method shown here avoids the resource overhead of the related processing process.

[0082] When the weather information is the second target weather, it can be determined based on the weather that there are conditions for generating a mirage phenomenon, and then the processing process of the aforementioned step S110 is executed. Figure 1 The road mirage processing method shown.

[0083] In an exemplary embodiment, the first target weather condition is rainy, and the second target weather condition is no rain. Research has shown that when it is raining, the conditions for a mirage to form are not met. Therefore, when the weather information indicates rainy, since the conditions for a mirage to form are not met, it can be determined that no mirage exists on the road.

[0084] In an exemplary embodiment, current weather information can also be obtained through other third-party devices connected to the vehicle, such as a mobile terminal that is communicatively connected to the vehicle.

[0085] The present invention obtains current weather information from the cloud through a communication device installed in the vehicle, and assists in judging whether the vehicle currently has a mirage phenomenon based on whether the weather conditions meet the conditions for the formation of a mirage, thereby optimizing the processing process of the road mirage processing method.

[0086] Figure 5 This is a process of a road mirage processing method according to an exemplary embodiment of the present disclosure. Figure 3 . Figure 6 The figure is a schematic diagram of a mirage warning information synchronization process according to an exemplary embodiment of the present disclosure.

[0087] In the embodiment of the present disclosure, Figure 5 Steps S510, S520, and S530 in the road mirage processing method are respectively Figure 1 Steps S110 , S120 , and S130 in the road mirage processing method shown correspond to each other and are not repeated here.

[0088] In the embodiment of the present disclosure, Figure 1 Based on the road mirage processing method shown in Figure 5 The road mirage processing method shown may further include the following steps.

[0089] In step S540, the road mirage prompt is uploaded to the cloud; the road mirage prompt includes geographic information.

[0090] In the disclosed embodiment, in addition to determining whether a mirage exists on the vehicle's current road, the mirage determination conclusion can be further converted into mirage warning information, which can be uploaded to the cloud via the network to share the relevant mirage warning information with other connected vehicles. In addition to the mirage determination conclusion, the mirage warning information also includes geographic information to facilitate identification of the road section where the mirage exists.

[0091] In an exemplary embodiment, a user confirmation button may be provided in the vehicle display interface. Based on the user's confirmation to upload the mirage warning information, the mirage warning information is uploaded to a designated cloud.

[0092] In an exemplary embodiment, as Figure 6 As shown, the Internet of Vehicles cloud can send the mirage warning information uploaded by the user to other connected vehicles near the geographic location, so that other connected vehicles can skip the mirage judgment process, directly obtain the mirage warning information, and issue the corresponding mirage warning prompt. Of course, the cloud can also determine the accuracy of the mirage warning information and the geographical range of the mirage phenomenon based on the statistics of the mirage warning information uploaded by multiple users. Through relevant statistics, users can be provided with more abundant and accurate mirage warning prompts.

[0093] Based on the determination of whether a mirage exists on the vehicle's current road, the present invention further uploads mirage warning information to the cloud via the network to share this information with other connected vehicles. Furthermore, by compiling statistics on mirage warning information uploaded by each vehicle through the cloud, users can be provided with more comprehensive and accurate mirage warning alerts.

[0094] In some exemplary embodiments of the present disclosure, the road mirage processing method further includes: sending the road mirage prompt to an automatic driving module; the automatic driving module is used to perform automatic driving control of the vehicle according to the road mirage prompt.

[0095] In the disclosed embodiments, based on the aforementioned recognition of mirage, a road mirage alert can be sent to the vehicle's autonomous driving module to assist the module in making driving decisions. The autonomous driving module can then perform autonomous vehicle control based on the road mirage alert. Upon receiving the alert, the autonomous driving module activates a pre-set response algorithm and adjusts the vehicle's driving strategy. For example, when there are no other vehicles ahead, the vehicle can maintain a constant speed, as mirages are visual illusions and do not affect driving. When there are other vehicles ahead, the vehicle can reduce speed to increase the safe distance from the vehicle ahead, avoiding unnecessary lane changes or braking operations caused by the preceding vehicle's visual misinterpretation of the mirage, which could pose safety risks. Simultaneously, the system may activate additional sensors, such as radar and lidar, to more accurately perceive the surrounding environment and ensure safe navigation even in poor optical conditions. Furthermore, the autonomous driving module may issue a warning to the driver, reminding them to pay attention to the current visual conditions and preparing to take over vehicle control. By controlling the vehicle based on the road mirage alert, autonomous driving decisions can be made more accurately and ensure safety.

[0096] In some exemplary embodiments of the present disclosure, the road mirage processing method further includes: in response to determining that a mirage exists on the road, displaying a virtual lane line on a head-up display; the virtual lane line at least partially overlaps with the road lane line.

[0097] In the disclosed embodiment, when it is determined that there is a mirage on the road, the vehicle can also display virtual lane lines on the vehicle's head-up display (HUD) or augmented reality head-up display (AR-HUD) according to the mirage prompt, and combine this information with the vehicle's current position and direction data. Subsequently, the system generates and projects virtual lane lines on the head-up display based on the real-time road conditions and vehicle status. Among them, the virtual lane lines at least partially overlap with the lane lines on the actual road, and some lanes involving the mirage phenomenon are displayed through virtual lane lines. In this way, the driver can be provided with clear road guidance that is not affected by mirages, helping to maintain the correct driving path. This function is achieved through augmented reality technology, which can ensure the effectiveness of the lane keeping assist system even in poor visual conditions, thereby improving driving safety and comfort.

[0098] Figure 7 FIG. 1 is a flow chart of a method for identifying a road mirage according to an exemplary embodiment of the present disclosure. Figure 1 Based on the road mirage processing method shown, step S130 may include the following steps.

[0099] In step S710, mirage recognition is performed based on the road image information and the temperature information using a road mirage recognition model to obtain mirage recognition information.

[0100] In the disclosed embodiments, the recognition and determination of mirage phenomena can be achieved using a pre-trained road mirage recognition model. This model, based on a deep learning algorithm and trained on a large number of samples, can analyze potential visual distortion features in an image and, combined with temperature information, determine whether the conditions for mirage formation exist. Based on the previously acquired road image and temperature information, the road mirage recognition model identifies mirages and thereby determines mirage identification information. This mirage identification information indicates whether a mirage exists on the road or not. This model can improve the accuracy and response speed of mirage recognition.

[0101] In step S720, in response to the mirage identification information, it is determined that a mirage exists on the road, and a road mirage prompt is output to the user.

[0102] Figure 8 The process of the road mirage recognition method according to an exemplary embodiment of the present disclosure is shown as follows Figure 1 .like Figure 8 As shown, in some implementations, the road mirage recognition method in step S710 may include the following steps.

[0103] In step S810 , road image information and temperature information are acquired.

[0104] In the embodiment of the present disclosure, the road mirage recognition model obtains the road image information and temperature information, and performs recognition and judgment based on the road image information and temperature information.

[0105] In the disclosed embodiment, the road image information may also include road surface type information. The road surface type information may be determined based on analysis of the road image information. The road surface type information of the current road may also be obtained by combining the vehicle's navigation module with high-precision map data. The road surface type information may include: asphalt road surface, cement road surface, gravel road surface or dirt road surface, etc. The road surface type information may also include: expressway or city road, etc. Since the probability of road mirages occurring on different road surfaces is different, the probability of road mirages occurring on asphalt roads, expressways or city roads may be greater, and the mirage image features presented by different road surface types are also different. Therefore, the road surface type information is combined to assist in identifying and judging whether the vehicle currently has a mirage phenomenon.

[0106] In an exemplary embodiment, the navigation module can be located anywhere in the vehicle, without limitation. The high-precision map data can be pre-stored in the vehicle's storage space, and high-precision map data related to the current location can be obtained in real time from the cloud via an onboard communication device, without limitation.

[0107] In step S820, mirage recognition is performed on the road image information based on the road surface type information using a pre-trained road mirage recognition model to obtain a mirage probability value; the mirage probability value is used to represent the probability of a mirage existing on the road.

[0108] As mentioned above, the image features of mirages presented in different road surface types are also different. In the disclosed embodiment, a deep learning model is used in combination with the above-mentioned road image information and road surface type information to pre-train a road mirage recognition model. This road mirage recognition model uses a large number of real-life images of highway mirages and images without highway mirages as training data, and performs data preprocessing and feature extraction on the road image information based on the road surface type information. Mirage recognition is performed based on the extracted relevant image features to obtain a mirage probability value. This mirage probability value P is used to characterize the probability of a mirage on the road. The value range of this mirage probability value P is [0, 1].

[0109] In an exemplary embodiment, the road mirage recognition model is essentially a probabilistic classification model that can predict the probability of whether a mirage exists on the road in the road image information under a specific road surface type and environment, thereby determining the mirage probability value. The road mirage recognition model can be constructed based on convolutional neural networks (CNN) or recurrent neural networks (RNN).

[0110] In step S830 , in response to the mirage probability value being less than the mirage threshold, it is determined that no mirage exists on the road.

[0111] In the disclosed embodiment, the presence of a mirage on the current road is determined by comparing the mirage probability value obtained by the road mirage recognition model with a pre-set mirage threshold. The mirage threshold can be a manually pre-set probability threshold. When the mirage probability value is less than the mirage threshold, it is determined that the current road does not have a mirage. Therefore, no mirage-related warning prompt is required.

[0112] In an exemplary embodiment, the mirage threshold is 0.5. When the mirage probability value obtained by the road mirage recognition model is 0.3, it is determined that no mirage phenomenon exists on the current road.

[0113] In step S840 , in response to the mirage probability value being greater than or equal to the mirage threshold, it is determined that a mirage exists on the road.

[0114] In the embodiment of the present disclosure, when the mirage probability value is greater than or equal to the mirage threshold, it is determined that a mirage phenomenon exists on the current road. Based on this, a mirage warning prompt is triggered and a relevant mirage warning prompt is issued to the driver.

[0115] In an exemplary embodiment, the mirage threshold is 0.5. When the mirage probability value obtained by the road mirage recognition model is 0.8, it is determined that a mirage phenomenon exists on the current road.

[0116] This disclosure utilizes a pre-trained road mirage recognition model to identify mirages in road image information based on road surface type information, obtaining a mirage probability value. Based on this mirage probability value, the system determines whether a mirage exists on the current road and issues a mirage warning to the driver. This disclosed embodiment utilizes deep learning technology to analyze road image information based on different road surface types, identifying and determining road mirages based on relevant image features, thereby achieving intelligent perception of mirage phenomena.

[0117] Figure 9 The process of the road mirage recognition method according to an exemplary embodiment of the present disclosure is shown as follows Figure 2 .like Figure 9 As shown, the road mirage recognition method in step S710 may further include the following steps.

[0118] In step S910, a first temperature and a second temperature are acquired; the first temperature is the ground temperature; the second temperature is the air temperature.

[0119] As described in step S210 , the ground temperature and the air temperature are obtained respectively.

[0120] In step S920 , a temperature difference is calculated based on the first temperature and the second temperature.

[0121] In the embodiment of the present disclosure, based on the first temperature T1 and the second temperature T2 acquired in the aforementioned step S910 , the temperature difference T between the two temperatures is calculated, that is, T=T2−T1, in degrees Celsius.

[0122] In step S930 , in response to the temperature difference being outside a preset temperature range, it is determined that no mirage exists on the road.

[0123] Research has shown that mirage formation conditions are only met when the temperature difference is within a certain temperature range. Therefore, this temperature range can be pre-set. When the temperature difference is outside the pre-set temperature range, the mirage formation conditions are not met, and therefore, it can be determined that no mirage exists on the road.

[0124] In an exemplary embodiment, the temperature range is [4, 30]. That is, when the temperature difference is less than 4°C or greater than 30°C, since the conditions for mirage formation are not met, it can be determined that there is no mirage on the road.

[0125] In step S940 , in response to the temperature difference being within a preset temperature range, the mirage probability value is calculated using the road mirage recognition model.

[0126] Accordingly, when the temperature difference is within the preset temperature range, the mirage formation condition is met, thus triggering the aforementioned step to calculate the mirage probability value using the road mirage recognition model. The specific calculation process of the mirage probability value has been introduced and will not be repeated here.

[0127] In this way, it is possible to pre-judge whether the conditions for mirage formation are met based on the temperature difference, and then determine whether it is necessary to trigger the calculation process of the mirage probability value, thereby optimizing the processing process of the road mirage processing method.

[0128] In an exemplary embodiment, the temperature range is [4, 30]. That is, when the temperature difference is greater than 4° C. and less than or equal to 30° C., the mirage probability value calculation process can be triggered because the mirage formation condition is met.

[0129] In an exemplary embodiment, the adjusted mirage probability value G can be calculated based on the formula G=min(1, P·(1+(T-4) / 26)). Wherein, T is the temperature difference, P is the mirage probability value calculated by the road mirage recognition model, and G is the mirage probability value adjusted based on the temperature difference. According to the adjusted mirage probability value G, the adjusted mirage probability value G can be compared with a pre-set mirage threshold to determine whether there is a mirage phenomenon on the current road. It should be noted that since the mirage probability value is adjusted by the temperature difference, the mirage threshold corresponding to the adjusted mirage probability value G can be set differently from the mirage threshold corresponding to the unadjusted mirage probability value P. For example, the mirage threshold corresponding to the adjusted mirage probability value G is set to 0.7.

[0130] The present disclosure uses a temperature sensor installed in the vehicle to obtain the vehicle's current ambient temperature. Based on whether the ambient temperature satisfies mirage formation conditions, this helps determine whether the vehicle is currently experiencing a mirage phenomenon and, in turn, determines whether to trigger the calculation of a mirage probability value, thereby optimizing the process of the road mirage processing method. Furthermore, the mirage probability value is adjusted based on the ambient temperature to make it more accurate.

[0131] Figure 10 The process of the road mirage recognition method according to an exemplary embodiment of the present disclosure is shown as follows Figure 3 .

[0132] like Figure 10 As shown, the road mirage recognition method in step S710 may further include the following steps.

[0133] In step S1010, weather information is acquired.

[0134] In step S1020 , in response to the weather information indicating rain, it is determined that no mirage exists on the road.

[0135] According to research, when the weather is rainy, the conditions for the formation of a mirage are not met. Therefore, when the weather information indicates that it is rainy, since the conditions for the formation of a mirage are not met, it can be determined that there is no mirage on the road.

[0136] In step S1030, in response to the weather information indicating no rain, the mirage probability value is calculated using the road mirage recognition model.

[0137] Accordingly, when the weather is rainless, the conditions for mirage formation are met, thus triggering the aforementioned steps to calculate the mirage probability value using the road mirage recognition model. The specific process for calculating the mirage probability value has been introduced in the aforementioned steps and will not be repeated here. Through the above method, it is possible to pre-determine whether the conditions for mirage formation are met based on the current weather information, and then determine whether the mirage probability value calculation process needs to be triggered, thereby optimizing the processing process of the road mirage processing method.

[0138] The present invention obtains current weather information from the cloud through a communication device installed in the vehicle, and based on whether the weather conditions meet the conditions for the formation of a mirage, assists in judging whether the vehicle currently has a mirage phenomenon, and then determines whether it is necessary to trigger the calculation process of the mirage probability value, thereby optimizing the processing process of the road mirage processing method.

[0139] The following are embodiments of the apparatus disclosed herein, which can be used to implement the method embodiments disclosed herein. For details not disclosed in the apparatus embodiments disclosed herein, please refer to the method embodiments disclosed herein.

[0140] Figure 11 FIG2 is a block diagram of a road mirage processing device according to an exemplary embodiment of the present disclosure. The device of this embodiment can be applied to electronic devices.

[0141] like Figure 11 As shown, the road mirage processing device 1100 may include: an image acquisition unit 1110 , a temperature acquisition unit 1120 and a mirage prompting unit 1130 .

[0142] The image acquisition unit 1110 is used to acquire road image information, where the road image information is used to represent road image information in the direction of vehicle travel.

[0143] The temperature acquisition unit 1120 is used to obtain temperature information within a preset range.

[0144] The mirage prompting unit 1130 is configured to output a road mirage prompt to the user based on the road image information and the temperature information.

[0145] In some exemplary embodiments of the present disclosure, the temperature acquisition unit 1 120 includes at least: a near-ground temperature acquisition unit and an air temperature acquisition unit; the near-ground temperature acquisition unit is higher than the air temperature acquisition unit; the near-ground temperature acquisition unit is used to obtain the near-ground temperature; the air temperature acquisition unit is used to obtain the air temperature; the temperature acquisition unit is used to calculate the temperature difference based on the near-ground temperature and the air temperature to determine the temperature information.

[0146] In some exemplary embodiments of the present disclosure, the temperature acquisition unit 1120 is further used to determine a near-ground temperature compensation value and an air temperature compensation value based on the acquired vehicle driving status information; determine the near-ground temperature based on the acquired first temperature and the near-ground temperature compensation value; and determine the air temperature based on the acquired second temperature and the air temperature compensation value.

[0147] In some exemplary embodiments of the present disclosure, the temperature acquisition unit 1120 is further configured to obtain a vehicle driving speed; and determine the near-ground temperature compensation value and the air temperature compensation value according to the vehicle driving speed.

[0148] In some exemplary embodiments of the present disclosure, the temperature acquisition unit 1120 is further configured to obtain road surface type information; and determine the near-ground temperature compensation value and the air temperature compensation value according to the road surface type information.

[0149] In some exemplary embodiments of the present disclosure, the temperature acquisition unit 1120 is further configured to acquire the temperature information within a preset range in response to the road image information containing a target image feature.

[0150] In some exemplary embodiments of the present disclosure, the weather information unit is used to obtain weather information within a preset time; in response to the weather information being the first target weather, determine that there is no mirage on the road; and in response to the weather information being the second target weather, obtain the road image information.

[0151] In some exemplary embodiments of the present disclosure, a cloud uploading unit is used to upload the road mirage prompt to the cloud; the road mirage prompt includes geographic information.

[0152] In some exemplary embodiments of the present disclosure, the autonomous driving module is configured to receive and perform autonomous driving control of the vehicle based on the road mirage prompt.

[0153] In some exemplary embodiments of the present disclosure, a head-up display is configured to display a virtual lane line in response to determining that a mirage exists on the road; the virtual lane line at least partially overlaps with a road lane line.

[0154] In some exemplary embodiments of the present disclosure, the mirage prompt unit 1130 is further used to perform mirage recognition based on the road image information and the temperature information through a road mirage recognition model to obtain mirage recognition information; in response to the mirage recognition information, it is determined that there is a mirage on the road, and a road mirage prompt is output to the user.

[0155] Figure 12 1 is a functional block diagram of a vehicle according to an exemplary embodiment of the present disclosure. For example, vehicle 1200 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or another type of vehicle. Vehicle 1200 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0156] Reference Figure 12 Vehicle 1200 may include various subsystems, such as an infotainment system 1210, a perception system 1220, a decision-making and control system 1230, a drive system 1240, and a computing platform 1250. Vehicle 1200 may also include more or fewer subsystems, and each subsystem may include multiple components. Furthermore, each subsystem and each component of vehicle 1200 may be interconnected via wired or wireless means.

[0157] In some embodiments, the infotainment system 1210 may include a communication system, an entertainment system, a navigation system, and the like.

[0158] The perception system 1220 may include several sensors for sensing information about the environment surrounding the vehicle 1200. For example, the perception system 1220 may include a global positioning system (which may be a GPS system, a BeiDou system, or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter-wave radar, an ultrasonic radar, and a camera.

[0159] The decision control system 1230 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0160] Drive system 1240 may include components that provide power to vehicle 1200. In one embodiment, drive system 1240 may include an engine, a power source, a transmission system, and wheels. The engine may be an internal combustion engine, an electric motor, an air compression engine, or a combination thereof. The engine is capable of converting energy provided by the power source into mechanical energy.

[0161] Some or all functions of the vehicle 1200 are controlled by a computing platform 1250. The computing platform 1250 may include at least one processor 1251 and a memory 1252. The processor 1251 may execute instructions 1253 stored in the memory 1252.

[0162] The processor 1251 can be any conventional processor, such as a commercially available CPU. The processor can also include a graphics processor (GPU), a field programmable gate array (FPGA), a system on chip (SOC), an application specific integrated circuit (ASIC), or a combination thereof.

[0163] Memory 1252 can be implemented by any type of volatile or non-volatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0164] In addition to instructions 1253 , memory 1252 may also store data, such as road maps, route information, and vehicle location, direction, speed, etc. The data stored in memory 1252 may be used by computing platform 1250 .

[0165] In the embodiment of the present disclosure, the processor 1251 may execute the instruction 1253 to complete all or part of the steps of the above-mentioned data transmission method.

[0166] In some embodiments of the present disclosure, a non-transitory computer-readable storage medium, when instructions in the storage medium are executed by a processor of a mobile terminal, enables the mobile terminal to perform all or part of the steps of the above-mentioned road mirage processing method.

[0167] In some embodiments of the present disclosure, a computer program includes a computer program, which implements all or part of the steps of the above-mentioned road mirage processing method when executed by a processor.

[0168] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0169] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method for processing road mirage, characterized in that: The method comprises: Acquiring road image information, where the road image information is used to represent road image information in the direction of vehicle travel; Get temperature information within a preset range; A road mirage prompt is output to the user based on the road image information and the temperature information.

2. The method according to claim 1, characterized in that The obtaining of temperature information within a preset range includes: Acquiring a ground temperature and an air temperature; wherein the ground temperature is collected at a lower altitude than the air temperature; The temperature information is determined by calculating a temperature difference based on the ground near temperature and the air temperature.

3. The method according to claim 2, characterized in that The obtaining of the ground temperature and the air temperature includes: Determining a ground temperature compensation value and an air temperature compensation value based on the acquired vehicle driving state information; Determining the near-ground temperature based on the acquired first temperature and the near-ground temperature compensation value; The air temperature is determined according to the collected second temperature and the air temperature compensation value.

4. The method according to claim 3, characterized in that The determining of the ground temperature compensation value and the air temperature compensation value based on the acquired vehicle driving state information includes: Get the vehicle speed; The ground temperature compensation value and the air temperature compensation value are determined according to the vehicle travel speed.

5. The method according to claim 3, characterized in that The determining of the ground temperature compensation value and the air temperature compensation value based on the acquired vehicle driving state information includes: Get road surface type information; The near-ground temperature compensation value and the air temperature compensation value are determined according to the road surface type information.

6. The method according to claim 1, wherein The obtaining of temperature information within a preset range includes: In response to the road image information including the target image feature, the temperature information within a preset range is acquired.

7. The method according to claim 1, characterized in that The method further comprises: Get weather information within the preset time; In response to the weather information being the first target weather, determining that no mirage exists on the road; In response to the weather information being the second target weather, the road image information is acquired.

8. The method according to claim 1, characterized in that The method further comprises: The road mirage prompt is uploaded to the cloud; the road mirage prompt includes geographic information.

9. The method according to claim 1, characterized in that The method further comprises: The road mirage prompt is sent to an automatic driving module; the automatic driving module is used to perform automatic driving control of the vehicle according to the road mirage prompt.

10. The method according to claim 1, characterized in that The method further comprises: In response to determining that a mirage exists on the road, a virtual lane line is displayed on a head-up display; the virtual lane line at least partially overlaps with a road lane line.

11. The method according to claim 1, wherein The outputting a road mirage prompt to the user according to the road image information and the temperature information includes: performing mirage recognition based on the road image information and the temperature information using a road mirage recognition model to obtain mirage recognition information; In response to determining that a mirage exists on the road based on the mirage identification information, a road mirage prompt is output to the user.

12. A road mirage processing device, characterized in that: include: An image acquisition unit is used to obtain road image information, where the road image information is used to represent road image information in the direction of vehicle travel; A temperature acquisition unit, used to obtain temperature information within a preset range; A mirage prompting unit is used to output a road mirage prompt to the user based on the road image information and the temperature information.

13. The device according to claim 12, characterized in that The temperature acquisition unit includes at least: a near-ground temperature acquisition unit and an air temperature acquisition unit; the near-ground temperature acquisition unit is higher than the air temperature acquisition unit; The near-ground temperature acquisition unit is used to obtain the near-ground temperature; The air temperature acquisition unit is used to obtain the air temperature; The temperature acquisition unit is configured to calculate a temperature difference based on the near-ground temperature and the air temperature to determine the temperature information.

14. The device according to claim 12, characterized in that Also includes: The cloud uploading unit is used to upload the road mirage prompt to the cloud; the road mirage prompt includes geographic information.

15. The device according to claim 12, characterized in that Also includes: The automatic driving module is used to receive and perform automatic driving control of the vehicle according to the road mirage prompt.

16. The device according to claim 12, characterized in that Also includes: A head-up display is configured to display a virtual lane line in response to determining that a mirage exists on the road; the virtual lane line at least partially overlaps with a road lane line.

17. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: Implement the steps of the road mirage processing method described in any one of claims 1 to 11.

18. A non-transitory computer-readable storage medium, which, when instructions in the storage medium are executed by a processor of a mobile terminal, enables the mobile terminal to perform the steps of the road mirage processing method according to any one of claims 1 to 11.

19. A computer program, characterized in that The invention comprises a computer program, which implements the road mirage processing method according to any one of claims 1 to 11 when the computer program is executed by a processor.

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