The invention relates to the technical field of ultrasonic
road surface recognition, in particular to a
road surface pothole area recognition method for road repairing and flattening. The method comprises the following steps: acquiring an ultrasonic
echo signal sequence; after the ultrasonic echo sequence is equally divided, the local scattering degree is determined based on the equally divided waveform entropy difference; the waveform entropy of the ultrasonic
echo signal sequence forms an entropy sequence, after coarse graining is conducted on the entropy sequence, the optimal time
delay and the optimal embedding dimension are obtained, and then a
state vector is determined; constructing a recursive matrix based on the similarity of the state vectors, and determining a first surface
feature based on the feature of the recursive matrix and the local scattering degree; a second surface
feature based on an entropy value of frequency energy in a Hilbert
marginal spectrum converted based on an ultrasonic
echo signal sequence and a
Hilbert spectrum time point amplitude; complexity is determined based on the surface features, the complexity serves as a weight to adjust an amplitude threshold value, and then the
signal is enhanced; and identifying the pothole area by comparing the enhanced
signal with the safety
signal. According to the invention, the detection precision of the pothole area is improved.