CN114821515A

CN114821515A - Method and device for determining road deposit information

Info

Publication number: CN114821515A
Application number: CN202110091228.6A
Authority: CN
Inventors: 乔得志; 刘建琴
Original assignee: Huawei Technologies Co Ltd
Current assignee: Shenzhen Yinwang Intelligent Technology Co ltd
Priority date: 2021-01-22
Filing date: 2021-01-22
Publication date: 2022-07-29
Also published as: WO2022156339A1

Abstract

The application relates to the field of intelligent automobiles, in particular to a method and a device for determining road deposit information. The method is suitable for scenes such as Internet of vehicles, automatic driving and the like. The method comprises the following steps: and determining the target road accumulation object information corresponding to the target accumulation area. The target road deposit information includes a frequency of updating the target road deposit information, a first time, first face position information of the target deposit area at a second time, and a first deposit depth of a lowest road surface point in the target deposit area at the second time or a first risk level of the target deposit area at the second time. And transmitting the target road deposit information to the second device. Here, the target road inventory information may be used for the second device for path planning or urban emergency management. By adopting the method provided by the application, the content richness of the road stockings information can be improved, and the second equipment can more effectively realize functions such as path planning and the like.

Description

Method and device for determining road deposit information

Technical Field

The application relates to the field of intelligent automobiles, in particular to a method and a device for determining road deposit information.

Background

With the continuous development of internet technology and manufacturing technology, intelligent driving of automobiles gradually enters the lives of people. In practical applications, dynamic information related to traffic is important input information of intelligent driving technologies, especially some road accumulated material information (such as road accumulated water information and road snow information) for describing the state of accumulated materials existing on roads. For example, in heavy rain or heavy rain weather, if the intelligent automobile can acquire the road ponding information corresponding to a certain road section in advance, the intelligent automobile can determine whether the road section can completely pass through according to the road ponding information, and then some possible risks are avoided.

However, in the prior art, the road accumulated object information pushed to the smart car contains less content, for example, the road accumulated water information only contains accumulated water range information and approximate depth of the accumulated water area. Therefore, the smart car cannot acquire more contents which are valuable to the smart car through the existing road deposit information, so that the smart car cannot perform functions such as reasonable and effective path planning based on the existing road deposit information.

Disclosure of Invention

In order to solve the above problems, the present application provides a method and an apparatus for determining road deposit information, which can improve the content richness of the road deposit information, and enable a second device receiving the road deposit information to implement functions such as path planning more effectively and reasonably.

It should be noted that the method proposed in the embodiment of the present application may be executed by a computing device supporting a wireless communication function. A computing device is a device that can be abstracted into a computer system. In an embodiment of the present application, in one aspect, the computing device may be a complete machine of the first device, or a part of a device in the first device, such as a chip system having a wireless communication function in the first device, a logic circuit (e.g., a Field Programmable Gate Array (FPGA)), and the like. Here, the first device is specifically a device that is fixed on both sides of a road and has functions of detecting environmental parameters (such as weather, environmental images, and the like) and wireless communication. Such as Road Side Units (RSUs) or monitoring equipment for roadside buildings, etc. Some devices in the first device may specifically be a system chip in an RSU or a monitoring device of a roadside building, a wireless communication module (such as a communication chip including a radio frequency processing chip and a baseband processing chip) serving for the system chip, and the like. On the other hand, the computing device may also be a complete machine of the second device, or a part of devices in the second device, such as a chip system, a logic circuit, and the like with a wireless communication function in the second device. Here, the second device may be a smart car or a telematics box (T-box) on the smart car, a map server (including a local server and/or a cloud server) used by the smart car, a management server used by a city management department, and the like. And some devices in the second device may be a system chip and a communication chip of an on-board system of the smart car or a T-box of the smart car, or a system chip in a map server or a management server and a wireless communication module serving for the system chip, etc. It is to be understood herein that the foregoing description of the first device or the second device is exemplary and not limiting in particular. Hereinafter, for convenience of understanding and distinction, the description will be uniformly replaced with the first device and the second device.

In a first aspect, an embodiment of the present application provides a method for determining road deposit information. The method is applicable to a first device. The method comprises the following steps: the first device determines target road accumulation information corresponding to the target accumulation area. The target road deposit information includes at least an update frequency of the target road deposit information, first time at which the target road deposit information is generated, first surface position information of the target deposit area at second time, and a first deposit depth of a lowest road surface point in the target deposit area at the second time or a first risk level of the target deposit area at the second time. The first surface position information is used to indicate an area and an area position of the target accumulation area at the second time, the first risk level is determined by the first accumulation depth, and the second time is before the first time. And the first equipment sends the target road deposit information to the second equipment. And the target road stockpile information is used for the second equipment to carry out path planning or city emergency management.

In the embodiment of the present application, the first device specifies the target accumulated road information including information attributes such as an update frequency, a first time, first surface position information of the target accumulated region at a preset second time, and a first accumulated depth or a first risk level corresponding to a lowest point of a road surface in the target accumulated region at the second time. Therefore, the content richness of the target road deposit information is remarkably improved, the second equipment can accurately judge the deposit state of the deposit on the road based on the target road deposit information, and the second equipment can reasonably and effectively realize functions of path planning or urban emergency management and the like.

With reference to the first aspect, in a possible implementation manner, the first device may obtain N first distances, in the preset direction, from the lowest point of the road surface to the N depth reference points at the second time. The preset direction is the plumb line direction of the surface of the accumulated object in the target accumulation area, the N depth reference points are located on the N preset reference objects on the periphery of the target accumulation area, a first distance corresponds to the lowest point of the road surface and each depth reference point, and N is a positive integer greater than or equal to 1. And the first equipment acquires N second distances between the surface of the deposit object and the N depth reference points in the preset direction at the second moment. Wherein a second distance corresponds between the accumulation surface and each depth reference point. The first device determines the first depth of accumulation from the N first distances and the N second distances. In this implementation manner, the first accumulation depth is determined based on the distances between the reference points on the multiple reference objects and the lowest point of the road surface and the surface of the accumulated object in the preset direction, so that the acquisition precision of the first accumulation depth can be improved, and the accuracy and the effectiveness of the accumulated object information of the target road can be further improved.

With reference to the first aspect, in a possible implementation manner, the first device determines, according to the N first distances and the N second distances, N distance differences corresponding to the N depth reference points at the second time. The first device determines an average of the N distance differences as the first depth of accumulation. Here, the average value of the distance differences in the predetermined direction between the reference points on the plurality of reference objects and the lowest point of the road surface and the surface of the accumulated object is determined as the first accumulation depth, and the method is simple and easy to implement, and can improve the acquisition efficiency of the first accumulation depth.

With reference to the first aspect, in one possible implementation manner, the target road deposit information further includes one or more of a first depth change speed of the target deposit area at the second time, a first depth change acceleration of the target deposit area at the second time, an initial deposit time corresponding to the target deposit area, and position information of the lowest road surface. Here, the target road deposit information may be further enriched with one or more items of the first depth change speed, the first depth change acceleration, the initial accumulation time corresponding to the target accumulation region, and the position information of the lowest point of the road surface.

With reference to the first aspect, in a possible implementation manner, the preset detection region of the first device is divided into M1 grid regions based on a preset region division rule, and each grid region includes one grid point. Wherein M1 is a positive integer. The target road stockpile information further includes: position information of each of the M2 first target mesh regions, and/or a depth of deposit of each first target mesh point included in each first target mesh region at the second time. Wherein the first target grid region is a grid region in which a deposit exists at the second time in the M1 grid regions, and M2 is a positive integer smaller than or equal to M1. Here, the position information of each first target grid area and/or the accumulation depth corresponding to each first target grid point at the second time are further added to the target road accumulation information, so that the target road accumulation information can more comprehensively indicate the accumulation depth of each different position in the target accumulation area at the second time, and the subsequent second device can more comprehensively judge the accumulation state of the target accumulation area based on the target road accumulation information, so that the second device can more reasonably and effectively realize functions such as route planning and urban emergency management.

With reference to the first aspect, in one possible implementation manner, the target road deposit information includes: one or more of a third time after the first time, second surface position information corresponding to the target accumulation area at the third time, a second accumulation depth of the lowest point of the road surface in the target accumulation area at the third time, and a second risk level of the target accumulation area at the third time, wherein the second risk level is determined by the second accumulation depth. One or more items of second surface position information, second accumulation depth and second danger level predicted by the first device at the third moment are further added into the target road accumulation information, and the richness of the target road accumulation information is further improved, so that the second device can acquire the accumulation state of the target accumulation area at the third moment in the future based on the target road accumulation information, and the second device can more reasonably and effectively realize functions of path planning, urban emergency management and the like.

With reference to the first aspect, in one possible implementation, the second accumulation depth is determined by the first depth-change speed, the first depth-change acceleration, and a time difference between the second time instant and the third time instant.

With reference to the first aspect, in a possible implementation manner, the first device obtains a third distance between a grid point in each grid region of the M1 grid regions and a preset probe point of the first device in the preset direction. And the first device determines a fourth distance between the surface of the deposit in the target accumulation area at the third moment and the preset detection point in the preset direction according to the second accumulation depth. And the first equipment determines M3 second target grid regions from the M1 grid regions according to the third distance and the fourth distance between the grid points in each grid region and the preset detection point in the preset direction. Wherein the second target mesh region is a mesh region in which an inventory exists at the third time, and M3 is a positive integer less than or equal to M1. And the first equipment determines the second surface position information according to the M3 second target grid areas.

With reference to the first aspect, in a possible implementation manner, the target road deposit information further includes: position information of each of the M3 second target grid areas, and/or a depth of accumulation of each second target grid point included in each second target grid area at the third time. The position information of each second target grid area in the M3 second target grid areas is further added to the target road inventory information, and/or the accumulation depth of each second target grid point included in each second target grid area at the third moment is further increased, so that the richness of the target road inventory information is further improved, and the functions of path planning, urban emergency management and the like can be more reasonably and effectively realized by the subsequent second equipment based on the target road inventory information.

With reference to the first aspect, in a possible implementation manner, the update frequency of the target road deposit information is determined by a real-time weather state of an area where the first device is located.

In a second aspect, an embodiment of the present application provides a method for determining road deposit information, where the method is applied to a second device. The method comprises the following steps: the second device receives the target road accumulation information corresponding to the target accumulation area from the first device. The target road deposit information includes at least an update frequency of the target road deposit information, first time at which the first device generates the target road deposit information, first face position information of the target accumulation area at second time, and a first accumulation depth of a lowest road surface point in the target accumulation area at the second time or a first risk level of the target accumulation area at the second time. The first surface position information is used to indicate an area and an area position of the target accumulation area at the second time, the first risk level is determined by the first accumulation depth, and the second time is before the first time. And the second equipment carries out path planning or urban emergency management according to the target road stockpile information.

In one possible implementation manner with reference to the second aspect, the target road deposit information further includes one or more of a first depth change speed of the target deposit area at the second time, a first depth change acceleration of the target deposit area at the second time, an initial deposit time corresponding to the target deposit area, and position information of the lowest road surface.

With reference to the second aspect, in a possible implementation manner, the preset detection region of the first device is divided into M1 grid regions based on a preset region division rule, and each grid region includes one grid point. Wherein M1 is a positive integer. The target road stockpile information further includes: position information of each first target grid region in the M2 first target grid regions, and/or a depth of accumulation of each first target grid point included in each first target grid region at the second time point, where the first target grid region is a grid region in which an accumulation exists at the second time point in the M1 grid regions, and M2 is a positive integer smaller than or equal to M1.

With reference to the second aspect, in one possible implementation manner, the target road deposit information further includes: one or more of a third time point after the first time point, second surface position information corresponding to the target accumulation area at the third time point, a second accumulation depth of a lowest point of a road surface in the target accumulation area at the third time point, and a second risk level of the target accumulation area at the third time point, wherein the second risk level is determined by the second accumulation depth.

With reference to the second aspect, in one possible implementation, the second accumulation depth is determined by the first depth-change speed, the first depth-change acceleration, and a time difference between the second time instant and the third time instant.

With reference to the second aspect, in a possible implementation manner, the position information of each of the M3 second target mesh regions, and/or the accumulated depth of each of the second target mesh points included in each of the second target mesh regions at the third time instant, where the second target mesh region is a mesh region in which an accumulated object exists at the third time instant.

In a third aspect, an apparatus is provided in an embodiment of the present application. The apparatus may be the first device itself, or may be an element or module, such as a chip, inside the first device. The apparatus includes means for performing the method for determining road stock information provided in any one of the possible implementations of the first aspect described above, and thus can also achieve the beneficial effects (or advantages) provided by the method for determining road stock information provided in the first aspect.

In a fourth aspect, an apparatus is provided in an embodiment of the present application. The apparatus may be the second device itself, or may be an element or module, such as a chip, inside the second device. The apparatus includes means for executing the method for determining the road deposit information provided in any one of the possible implementations of the second aspect described above, and thus can also achieve the beneficial effects (or advantages) provided by the method for determining the road deposit information provided in the second aspect.

In a fifth aspect, embodiments of the present application provide an apparatus, which may be a first device. The apparatus includes at least one memory and a processor. The processor is configured to call the code stored in the memory to execute the method for determining the road deposit information according to any one of the possible embodiments of the first aspect.

In a sixth aspect, embodiments of the present application provide an apparatus, which may be a second device. The apparatus includes at least one memory and a processor. The processor is configured to call the code stored in the memory to execute the method for determining the road deposit information provided in any one of the possible embodiments of the second aspect.

In a seventh aspect, an embodiment of the present application provides a chip. The chip includes: at least one processor and interface circuitry. The interface circuit is used for receiving code instructions and transmitting the code instructions to the processor. The processor is configured to execute the code instructions to implement the method for determining the road stock information provided in any possible implementation manner of the first aspect or the second aspect, and also to implement the beneficial effects (or advantages) of the method for determining the road stock information provided in any possible implementation manner of the first aspect or the second aspect.

In an eighth aspect, the present embodiment provides a computer-readable storage medium, where instructions are stored in the computer-readable storage medium, and when the instructions are executed on a computer, the method for determining the road deposit information provided in any one of the above-mentioned first aspect or second aspect may be implemented, and beneficial effects (or advantages) of the method for determining the road deposit information provided in any one of the above-mentioned first aspect or second aspect may also be implemented.

In a ninth aspect, the present application provides a computer program product including instructions, which when executed on a computer, causes the computer to execute the method for determining road accumulation information provided in any one of the above-mentioned first or second possible embodiments, and also can achieve the beneficial effects (or advantages) of the method for determining road accumulation information provided in any one of the above-mentioned first or second possible embodiments.

In a tenth aspect, an embodiment of the present application provides a communication system, which includes the above first device and second device.

In the method provided by the embodiment of the application, the first device may detect and generate target road deposit information including at least information attributes such as an update frequency, a first time, and a second time at which the target deposit area is preset, and a first deposit depth or a first risk level corresponding to a lowest point of a road surface in the target deposit area at the second time, and transmit the target road deposit information to the second device. Therefore, the content of the target road deposit information is enriched, the second equipment can judge the deposit state of the deposit on the road more accurately based on the target road deposit information, and the second equipment can further reasonably and effectively realize the functions of path planning or urban emergency management and the like.

Drawings

Fig. 1 is a schematic structural diagram of a communication system according to an embodiment of the present application;

fig. 2 is a schematic flowchart of a method for determining road deposit information according to an embodiment of the present disclosure;

fig. 3 is a schematic view of a depth detection scene according to an embodiment of the present application;

FIG. 4 is a schematic diagram of another depth detection scenario provided in an embodiment of the present application;

fig. 5 is a schematic diagram of a mesh partitioning scenario provided in the present application;

fig. 6 is a schematic diagram of a second target mesh region determination scenario provided in an embodiment of the present application;

FIG. 7 is a schematic structural diagram of an apparatus according to an embodiment of the present disclosure;

FIG. 8 is a schematic view of another embodiment of an apparatus according to the present disclosure;

FIG. 9 is a schematic view of another embodiment of an apparatus according to the present disclosure;

fig. 10 is a schematic structural diagram of a chip according to an embodiment of the present disclosure;

fig. 11 is a schematic diagram of another structure of a chip according to an embodiment of the present disclosure;

fig. 12 is a schematic view of another structure of an apparatus according to an embodiment of the present disclosure.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings provided in the embodiments of the present application.

Referring to fig. 1, fig. 1 is a schematic structural diagram of a communication system according to an embodiment of the present application, and the method for determining road deposit information according to the embodiment of the present application is applied to the communication system. As can be seen from fig. 1, the communication system may comprise a first device and a second device. The first device and the second device can communicate with each other through a network. The network may be constructed based on a Long Term Evolution (LTE) system, a Universal Mobile Telecommunications System (UMTS), a Worldwide Interoperability for Microwave Access (WiMAX) communication system, a fifth generation (5th generation, 5G) system, a New Radio (NR) system, or the like, and the present application is not limited specifically. The first device may be a device fixed on both sides of a road and having a function of detecting and communicating an environmental parameter (e.g., weather, an environmental image, etc.). For example, the first device may specifically be a Road Side Unit (RSU) or the like. The second device may receive and use the road inventory information. For example, the second device may specifically be a smart car, an on-board system on the smart car, a map server used by the smart car, a management server used by a city management department, and the like. Here, the above-mentioned smart car includes various types of vehicles. The on-board system of the smart car may include on-board software (i.e., a computing platform) and hardware (e.g., a camera, a radar, a processing chip, etc.).

In the prior art, the road accumulated object information pushed to the intelligent automobile contains less content, for example, the road accumulated object information only contains accumulated water range information and approximate depth of an accumulated water area. Therefore, the smart car cannot acquire more contents which are valuable to the smart car through the existing road inventory information, so that the smart car cannot perform functions such as reasonable and effective path planning based on the existing road inventory information.

Therefore, the technical problem to be solved by the present application is: how to improve the richness of the contents of the road deposit information and further enable users of the road deposit information (such as intelligent automobiles and the like) to more effectively and reasonably realize functions of path planning and the like.

Example one

Please refer to fig. 2, fig. 2 is a schematic flow chart of a method for determining road deposit information according to an embodiment of the present disclosure. The method is applicable to the communication system shown in fig. 1, and the method can be specifically executed by the first device and the second device shown in fig. 1. As shown in fig. 2, the communication method includes the steps of:

s210, the first device determines the target road accumulation information corresponding to the target accumulation area.

In some possible implementation manners, after determining that the target road deposit information needs to be sent to the second communication, the first device may acquire content to be included in the target road deposit information and determine the target road deposit information according to the content. Here, the target road accumulation information includes a plurality of information attributes for describing states of the target accumulation area and the road accumulation (such as accumulated water or snow, etc.) therein. The target accumulation area is an area where road accumulation exists on a road surface in a detection area preset by the first device. The area and extent of the target accumulation region vary as the amount of accumulation in the target accumulation region increases or decreases.

In a first alternative implementation, the information attribute included in the target road deposit information may include an update frequency of the target road deposit information, a time when the target road deposit information is generated (for convenience of distinction, the description will be replaced by a first time), face position information of the target accumulation region at a preset second time (for convenience of distinction, the description will be replaced by the first face position information), a accumulation depth corresponding to the lowest point of the road surface in the target accumulation region at the second time (for convenience of distinction, the description will be replaced by a first accumulation depth), or a risk level corresponding to the target accumulation region at the second time (for convenience of distinction, the description will be replaced by a first risk level).

Here, the update frequency of the target road inventory information is a frequency at which the first device updates the contents of the various information attributes included in the target road inventory information. The first time is a time at which the first device generates the target road inventory information. The second time is a time before the first time, and the second surface position information is surface position information that can be used to indicate the accumulation range and the area of the target accumulation region and that is detected by the first device at the second time. Alternatively, in practical applications, the area location information may be specifically world coordinates of geometric points of the target accumulation area or coordinates of the geometric points with respect to the first device. The first accumulation depth is a depth of the accumulated material at the lowest point of the road surface in the target accumulation region detected by the first device at the second time. The first risk level is quantified by the first device based on the first accumulation depth and indicates a risk level of the target accumulation region at the second time.

Optionally, in a specific implementation, the update frequency of the target road deposit information may be a fixed frequency preconfigured by the first device, or may be dynamically adjusted according to a real-time weather state of an area where the first device is located. Specifically, the first device may obtain a real-time weather state of an area where the first device is located, then search for a corresponding update frequency from a preset update frequency indication set according to the real-time weather state, and determine the update frequency as the update frequency of the target road inventory information. Then, the first device may update the content of the information attribute included in the target road deposit information according to the update frequency. Here, the update frequency indication set includes at least one real-time weather state and an update frequency corresponding to each real-time weather state. For example, please refer to table 1-1, where table 1-1 is a set of update frequency indications provided by the embodiments of the present application. It is assumed here that the road deposit is water. As shown in table 1-1, the set of update frequency indications includes four real-time weather conditions of heavy rain, medium rain, light rain and no rain, and four update frequencies of 30 seconds/time, 3 minutes/time, 3 hours/time and 24 hours/time corresponding to the four real-time weather conditions. Assuming that the real-time weather state of the area where the first device is located is a heavy rainstorm, the update frequency of the target road deposit information can be determined to be 30 seconds/time.

TABLE 1-1 update frequency indication set

Real-time weather conditions	Heavy to heavy rain	Medium rain	Light rain	Rain-free
					Update frequency	30 seconds/time	3 minutes per time	3 hours per time	24 hours/time

Alternatively, the first surface position information may be detected by the first device at the second time, and specifically, the first device may acquire a road image including the target accumulation area through a camera at the second time. Then, the first device may process the acquired road image through a preset image processing algorithm to determine a boundary position between the road surface and the surface of the deposit in the target accumulation region from the road image, and determine a boundary of the target accumulation region according to the boundary position and a shooting angle of the camera. Then, the first device may acquire position information of geometric points on the boundary of the target accumulation region, and determine the acquired position information of the geometric points as the first face position information.

Optionally, the first depth may be detected by the first device at the second time. Various specific implementations of the first device detecting the first depth of accumulation are provided, and will be described separately below.

The first implementation of detecting the first depth of accumulation is:

specifically, please refer to fig. 3, where fig. 3 is a schematic view of a depth detection scene according to an embodiment of the present disclosure. As shown in fig. 3, the first device may acquire, at the second timing, the distance in the preset direction between the preset detection point and the lowest point of the road surface in the target accumulation area (for convenience of distinction, the fifth distance H5 will be described instead below) and the distance in the preset direction between the preset detection point and the accumulation surface of the road accumulation in the target accumulation area (for convenience of distinction, the sixth distance H6 will be described instead below). Here, the preset detection point is located on the second device, such as a position of a camera on the second device. The preset direction is the direction of a plumb line on the surface of the accumulation. Specifically, the first device may acquire, at the second time, an image including the lowest point of the road through a camera at the preset detection point, and process the image to obtain a linear distance between the preset detection point and the lowest point of the road surface and an included angle (assumed here to be the first included angle) formed by a straight line connecting the preset detection point and the lowest point of the road surface and a plumb line of the surface of the deposit. Then, the first device may process the straight line distance between the preset detection point and the lowest point of the road surface and the first included angle according to the triangular relationship to obtain the fifth distance H5. Similarly, the first device may also acquire an image including the surface of the deposit at the second time by using a camera at the preset detection point, and then perform image processing on the image to obtain a linear distance between the preset detection point and any one surface detection point on the surface of the deposit and an included angle (assumed here to be a second included angle) formed by a straight line formed by connecting the preset detection point and the surface detection point and a plumb line of the surface of the deposit. Then, the first device may process the linear distance between the preset detection point and the surface detection point and the second included angle according to a trigonometric relationship to obtain the sixth distance H6. Thereafter, the first apparatus may calculate a difference d1 between the fifth distance H5 and the sixth distance H6, where d1 is equal to (H6-H5), and determine the difference d1 as the second depth of accumulation.

Further, after the first device determines the first accumulation depth, the first accumulation depth may be quantized based on a preset quantization rule to obtain the first risk level. For example, assume that the first device is pre-set with a risk rating of A1, a risk rating of A2, and a risk rating of A3. Wherein, danger grade A1 corresponds to first ponding scope, danger grade A2 corresponds to second ponding scope, danger grade A3 corresponds to third ponding scope. The first device can determine which of the first water accumulation range, the second water accumulation range, and the third water accumulation range the first accumulation depth is included in, after acquiring the first accumulation depth. If the first device determines that a first depth of accumulation is included in the first water accumulation range, the first risk level may be determined to be a risk level a 1. If the first device determines that the first accumulation depth is included in the second accumulation range, the first risk level may be determined to be a risk level a 2. If the first device determines that the first accumulation depth is included in the third accumulation range, the first risk level may be determined to be a risk level a 3. Of course, the first device may also quantize the first accumulated depth by using other quantization methods to obtain the first risk level, which is not specifically limited in this application. It should be noted that, since the first risk level is measured by the first water depth, only one of the first water depth and the first risk level may be included in the target road storage information, so that redundant contents may be avoided.

In this implementation, the second accumulation depth is determined based on the distance between the predicted detection point and the lowest point of the road surface in the target accumulation area in the preset direction and the distance between the predicted detection point and the accumulated object surface of the accumulated road object in the target accumulation area in the preset direction, which are obtained by the first device at the second time.

A second implementation of detecting the first depth of accumulation:

it should be noted that N preset relatively stationary reference objects may exist around the target accumulation area. Here, the reference object may be, specifically, a curb, a guardrail, a lamp post, and the like around the target accumulation area, which is not particularly limited in the present application. N is a positive integer greater than or equal to 1. N fixed depth reference points are set on the N preset reference objects, wherein one depth reference point is set on one reference object. In a specific implementation, the first device may obtain, at the second time, N first distances in the preset direction between the lowest point of the road surface in the target accumulation area and the N depth reference points. Here, a first distance is provided between the lowest point of the road surface and each of the depth reference points. In the same manner as in the above-described implementation, the predetermined direction is a direction of a perpendicular line to a surface of the deposit in the target deposit area. Here, the process of the first device acquiring the N first distances is the same as the principle of the first device acquiring the fifth distance H5 described in the above implementation, and a description thereof will not be repeated. Meanwhile, the first device can also acquire N second distances between the surface of the storage object and the N depth reference points in the preset direction at a second moment. Here, there is a second distance between the accumulation surface and each of the depth reference points. The process of the first device obtaining the N second distances is the same as the principle of the first device obtaining the sixth distance H6 described in the first implementation manner, and a description thereof is not repeated here. The first device may then further determine the first accumulation depth based on the N first distances and the N second distances. For example, the first device may calculate a difference between the first distance and the second distance corresponding to each depth reference point to obtain N distance differences, and then the first device may determine an average of the N distance differences as the second depth. Here, the first accumulation depth is determined based on the distances in the preset direction between the reference points on the plurality of reference objects and the lowest point of the road surface and the surface of the accumulated object, so that the acquisition accuracy of the first accumulation depth can be improved, and the accuracy and the effectiveness of the accumulated object information of the target road can be improved.

Referring to fig. 4, fig. 4 is a schematic view of another depth detection scene provided in the embodiment of the present application. As shown in fig. 4, a reference object 1 and a reference object 2 are present around the target area, a depth reference point 1 is set on the reference object 1, and a depth reference point 2 is set on the reference object 2. The first device may acquire, at the second time, the first distance H1a between the depth reference point 1 and the lowest point of the road surface in the preset direction and the first distance H1b between the depth reference point 2 and the lowest point of the road surface in the preset direction. Then, the first device may further obtain, at a second time, a second distance H2a between the depth reference point 1 and the surface of the stored object in the preset direction and a second distance H2b between the depth reference point 2 and the surface of the stored object in the preset direction. Then, the first device may calculate the distance difference d2, d2 (H1b-H1a) corresponding to the depth reference point 1, and the distance difference d3, d3 (H2b-H2a) corresponding to the depth reference point 2. Then, the first device may determine the average value (d2+ d3)/2 of the above d2 and d3 as the above first accumulation depth. Here, the average value of the distance differences in the predetermined direction between the reference points on the plurality of reference objects and the lowest point of the road surface and the surface of the accumulated object is determined as the first accumulation depth, and the method is simple and easy to implement, and can improve the acquisition efficiency of the first accumulation depth.

In this embodiment, the first device may detect and generate the target accumulated road material information including at least information attributes such as an update frequency, a first time, and a second time at which the target accumulated region is preset, and a first accumulated depth or a first risk level corresponding to a second time at which a lowest point of a road surface in the target accumulated region is present. Therefore, the richness of the content of the target road deposit information is improved, the second equipment can more accurately determine the state of the deposit on the road based on the target road deposit information, and further the second equipment can more reasonably and effectively realize the functions of path planning or urban emergency management and the like.

In a second optional implementation manner, the target road deposit information may include, in addition to the plurality of information attributes provided in the first implementation manner, one or more of a depth change speed corresponding to the target deposit region at the second time (for convenience of distinction, the description will be replaced by the first depth change speed hereinafter), a depth change acceleration corresponding to the target deposit region at the second time (for convenience of distinction, the description will be replaced by the first depth change acceleration hereinafter), an initial deposit time corresponding to the target deposit region, and position information of the lowest point of the road surface. That is, after acquiring the various information attributes described in the first optional implementation manner, the first device may further continue to acquire one or more of the first depth change speed, the first depth change acceleration, the initial accumulation time corresponding to the target accumulation area, and the position information of the lowest point of the road surface, and then generate the target accumulated road material information according to the acquired various information attributes.

Alternatively, the first depth change speed of the target accumulation region at the second time may be determined by the first device according to the first accumulation depth, the history accumulation depth acquired by the first device, and the accumulation period. For example, assuming that the second time is t2, the first depth of accumulation is Dt2, and the history depth of the lowest point of the road surface detected by the first device at a time t1 before the second time is Dt1, the first device can calculate the first depth change rate from the time t2, the time t1, the first depth of accumulation Dt2, and the history depth of accumulation is Dt 1. Here, the first depth change speed V2 satisfies the following relational expression (1):

optionally, the first depth change acceleration corresponding to the target accumulation region at the second time may be determined by the first device according to the first depth change speed, the historical depth change speed acquired by the first device, and the accumulation period. For example, assuming that the second time is t2, the first depth change speed is V2, and the historical depth change speed detected by the first device at a time t1 before the second time is V1, the first device may calculate the first depth change acceleration speed from the time t2, the time t1, the first depth change speed V2, and the historical depth change speed V1. Here, the first depth-varying acceleration a2 satisfies the following relational expression (2):

in this embodiment, one or more of the first depth change speed, the first depth change acceleration, the initial accumulation time corresponding to the target accumulation area, and the position information of the lowest point of the road surface are further added to the target road accumulation information, so that the content abundance of the target road accumulation information can be further improved.

In a third optional implementation manner, the preset detection region of the first device may be divided into a plurality of grid regions based on a preset region division rule (now, it is assumed that M1 grid regions, and M1 is a positive integer greater than or equal to 1). Here, the preset region division rule may be specifically a division based on a preset area or a preset region shape, and the present application does not specifically limit the region division rule. Each of the M1 grid areas contains a predetermined grid point. In practical application, the grid point may be the lowest point of the road surface in the grid region, may also be the central point of the grid region, and may also be a point determined from the grid region based on a preset grid point setting rule, which is not specifically limited in the present application. In this case, the target road inventory information may further include position information of each of the M2 first target grid areas, and/or a depth of accumulation of each of the first target grid points included in each of the first target grid areas at the second time. Here, the first target mesh region is a mesh region in which a deposit exists at the second time among the M1 mesh regions, and the first target mesh point is a mesh point included in the first target mesh region. M2 is a positive integer less than or equal to M1. That is, after acquiring the plurality of information attributes according to the first optional implementation manner or the second optional implementation manner, the first device may further continue to acquire the position information of each first target grid area and/or the accumulation depth of each first target grid point at the second time, and then further generate the target road accumulation information.

Optionally, the first device may determine M2 first target mesh regions included in the M1 mesh regions at the second time. For example, the first device may acquire the road image containing the target accumulation area at the second timing. Then, the road image is processed to determine the range of the target accumulation region at the second time, and further, a mesh region overlapping with the range of the target accumulation region at the second time is determined as the first target mesh region, so as to obtain the M2 first target mesh regions. The first device may then obtain location information for each of the M2 first target mesh regions. Alternatively, the position information of the first target mesh region may specifically be position information of a plurality of geometric points of the first target mesh region. Further, the first device may further determine first target grid points included in each first target grid area, and detect to obtain a corresponding accumulation depth of each first target grid point at the second time. Here, the process of detecting by the first device to obtain the accumulation depth corresponding to any first target grid point at the second time may refer to the process of detecting by the first device to obtain the corresponding first accumulation depth of the lowest point of the road surface at the second time described in the first implementation manner, and details thereof are not repeated here.

For example, please refer to fig. 5, fig. 5 is a schematic diagram of a mesh dividing scene provided in the present application. As shown in fig. 5, the preset detection area is divided into a plurality of mesh areas, and a part of the mesh areas are distributed on the road surface. Wherein each grid region is square in shape. The first device may acquire the road image including the target accumulation area at the second time. Then, the first device may further determine the range of the target accumulation area at the second time from the road image. Then, the first device may determine, as the first target mesh regions, the mesh region 1, the mesh region 2, the mesh region 3, the mesh region 4, the mesh region 5, the mesh region 6, the mesh region 7, the mesh region 8, and the mesh region 9 that overlap with the range of the target accumulation region at the second time, thereby obtaining 9 first target mesh regions. Then, the first device may obtain position information corresponding to each first target mesh region in the 9 first target mesh regions. Specifically, the first device may use the positions of four vertices corresponding to each first target mesh region as the position information of each first target mesh region. Further, the first device may further determine the intersection point of the diagonals of each first target grid area as a first target grid point of each first target grid area, and detect to obtain a corresponding depth of accumulation of each first target grid point at the second time.

It should be noted here that, in the case where all the first devices adopt the general mesh region dividing rule, the position information of each mesh region is fixed and invariant for the second device, because the position information of each mesh region can be used as the information preconfigured by the second device. In this case, therefore, the first device does not need to repeatedly transmit the location information of each first target mesh region to the second device, i.e., the target road inventory information may not include the location information of each of the M2 first target mesh regions.

In this implementation manner, the position information of each first target grid point area and/or the corresponding accumulation depth of each first target grid point at the second time are further added to the target road accumulation information, so that the target road accumulation information can more comprehensively indicate the accumulation depth of each different position in the target accumulation area at the second time, and thus the subsequent second device can more comprehensively judge the accumulation state of the target accumulation area based on the target road accumulation information, and the second device can more reasonably and effectively implement functions such as path planning or urban emergency management.

In a fourth optional implementation manner, the target road accumulation information may further include one or more of a third time after the first time, second surface position information corresponding to the target accumulation area at the third time, a second accumulation depth of the lowest point of the road surface in the target accumulation area at the third time, and a second risk level of the target accumulation area at the third time. Here, the third time is a time to be predicted by the first device, and the second surface position information, the second depth of accumulation, and the second risk level are predicted by the first device. That is, after acquiring the plurality of information attributes according to the first optional implementation manner, the second optional implementation manner, or the third optional implementation manner, the first device may further predict one or more of the second face position information, the second accumulation depth, and the second risk level, and further generate target road accumulation information with richer contents.

Alternatively, in a specific implementation, the second accumulation depth may be determined by the first device according to the first depth change speed, the first depth change acceleration, and a time difference between the second time and the third time. For example, assuming that the first depth change speed is V2, the first depth change acceleration is a2, the second time is t2, and the third time is t3, the second depth of accumulation Dt3 can be determined by the first device according to the following equation (3):

further, after the first device determines the second depth of accumulation, the second depth of accumulation may be quantized by a preset quantization rule to obtain the second risk level. Here, the process of quantizing the second depth of accumulation by the first device to obtain the second risk level is similar to the process of quantizing the first depth of accumulation by the first device to obtain the first risk level, and therefore, reference is made to the foregoing description, and details are not repeated here.

Optionally, in a specific implementation, the first device may obtain a third distance between the grid point in each grid area of the M1 grid areas and the preset detection point of the first device in the preset direction. Here, the definition of the predetermined direction is as above, and will not be described herein. Then, the first device may further determine a fourth distance in the preset direction between the surface of the accumulation in the target accumulation region and the preset detection point at the third timing based on the second accumulation depth. Then, the first device may determine, according to a third distance and the fourth distance between the grid points in each grid region and the preset probe point in the preset direction, which of M1 grid regions have deposits at the third time, determine the grid regions having deposits at the third time as second target grid regions, and further determine M3 second target grid regions from the M1 grid regions. Wherein M3 is a positive integer less than or equal to M1. When a third distance between a grid point in a certain grid region and a preset detection point of the first device in the preset direction is smaller than the fourth distance, it indicates that a deposit exists in the grid region at the third moment, and the grid region is a second target grid region. When a third distance between a grid point in a certain grid region and a preset detection point of the first device in the preset direction is equal to or greater than the fourth distance, it indicates that no deposit exists in the grid region at the third moment, and the grid region is not a second target grid region.

The process of determining the second target mesh region by the first device is described below by taking mesh region 1 of the M1 mesh regions as an example. Referring to fig. 6 together, fig. 6 is a schematic diagram of a second target mesh region determination scenario provided in this embodiment of the present application. As shown in fig. 6, the first device may determine the positions of the corresponding grid points 11 in the grid region 1, and then detect a third distance between the grid point 11 and the predetermined detection point in the predetermined direction. Here, the process of detecting the third distance by the first device is similar to the process of detecting the fifth distance H5 between the lowest point of the road surface and the preset detection point in the preset direction by the first device, and the description is not repeated here. Then, the first device may obtain the second accumulation depth, and determine a difference between a distance between the lowest point of the road surface and the preset detection point in the preset direction and the second accumulation depth as a fourth distance between the accumulation surface and the preset reference point at a third time. Then, if the first device determines that the third distance between the mesh point 11 and the preset detection point in the preset direction is smaller than the fourth distance, it may be determined that the mesh region 1 does not have an accumulated object at the third time, and the mesh region 1 is not the second target mesh region. If the first device determines that the third distance between the mesh point 11 and the preset detection point in the preset direction is equal to or greater than the fourth distance, it may be determined that the mesh region 1 has an accumulated object at the third time, and then the mesh region 1 is the second target mesh region.

Further, after the first device determines the M3 second target grid regions, the shape and size of the target accumulation region at the third time point can be predicted according to the M3 second target grid regions. For example, the first device may directly stitch together the M3 second target grid areas, and determine the stitched areas as the target accumulation areas at the third time. Then, the first device may acquire the boundary of the target accumulation area at the third time, and further determine the second surface position information according to the boundary. For example, the first device may determine, as the above-described second surface position information, position information of a geometric point of the boundary of the target accumulation area at the third time.

In this implementation manner, one or more of the second surface position information, the second accumulation depth and the second danger level at the third time predicted by the first device are further added to the target road accumulation information, and the richness of the target road accumulation information is further improved, so that the second device can acquire the accumulation state of the target accumulation area at the third time in the future based on the target road accumulation information, and the second device can more reasonably and effectively implement functions such as path planning and urban emergency management.

In a fifth optional implementation manner, the target road inventory information may further include position information of each of the M3 second target grid areas, and/or a depth of accumulation of each of the second target grid points included in each of the second target grid areas at the third time. That is to say, after acquiring the multiple information attributes described in the first optional implementation manner, the second optional implementation manner, the third optional implementation manner, or the fourth optional implementation manner, the first device may further acquire the position information of each second target grid area, and/or the accumulation depth of each second target grid point included in each second target grid area at the third time, and further generate target road accumulation information with richer content.

In a specific implementation, the process of the first device acquiring the position information of each second target mesh region in the M3 second mesh regions may refer to the process of the first device acquiring the position information of each first target mesh region in the M2 first target mesh regions, which is not described herein again. Meanwhile, the process of acquiring the accumulated depth of each second target grid point at the third moment by the first device may refer to the process of acquiring the second accumulated depth of the lowest point of the road by the first device, which is not described herein again.

It should be noted that, when there are overlapping mesh areas in the M3 second mesh areas and the M2 first target mesh areas, the position information corresponding to the overlapping mesh areas or the accumulated depth of the mesh points included in the overlapping mesh areas at the third time may be merged, so as to save the data resources occupied by the target road accumulated object information and avoid the redundancy of the content of the target road accumulated object information.

In this implementation manner, the position information of each second target grid area in the M3 second target grid areas and/or the accumulation depth of each second target grid point included in each second target grid area at the third time is further added to the target road inventory information, so that the richness of the target road inventory information is further improved, and thus, the subsequent second device can more reasonably and effectively implement functions such as path planning or urban emergency management based on the target road inventory information.

And S220, the first device sends the target road deposit information to the second device.

In some possible implementations, after determining the target road deposit information, the first device may send the target road deposit information to the second device through a wireless network.

And S230, the second equipment carries out path planning or city emergency management according to the target road stockpile information.

In some possible implementations, the second device may receive the target road deposit information from the first device through the network, and further perform route planning or city emergency management according to various information attributes included in the target road deposit information.

For example, after acquiring the target road accumulation information, the first device may determine its own position information with respect to the target accumulation area by using the first surface position information and the acquired high-precision point cloud map. If the second facility determines that the target accumulation area is located on the predetermined travel route and is about to pass through the target accumulation area, the second facility can determine whether the second facility can safely pass through the target accumulation area by combining the first accumulation depth and the self-allowable accumulation depth. If the second device determines that it cannot safely pass through the target accumulation area, waiting may be suspended or a new path may be re-planned. Alternatively, if the second device determines that the target accumulation region is located on the predetermined travel route and that a predetermined distance exists between the second device and the target accumulation region, the first device may estimate the accumulation depth corresponding to the target accumulation region when the first device reaches the target accumulation region, by combining the first depth change rate and the estimated time to reach the target accumulation region. Then, if the second device determines that the accumulation depth of the target accumulation area has exceeded its own allowable accumulation depth when it reaches the target accumulation area, it can determine to detour ahead of time.

For another example, the second device may further generate a risk level dynamic layer according to the first risk level included in the target road inventory information at different times, and further transmit the risk level dynamic layer to a server of the urban emergency management department, so that the urban emergency management department may perform effective urban emergency management and the like according to the risk level dynamic layer.

It should be understood that the second device may also implement functions such as route planning or city emergency management from other aspects based on other contents in the above target road inventory information, which is not listed in this application.

In the embodiment of the present application, the first device may detect and generate target road deposit information including at least information attributes such as an update frequency, a first time, and a second time at which the target deposit area is preset, and a first deposit depth or a first risk level corresponding to a lowest point of a road surface in the target deposit area at the second time, and transmit the target road deposit information to the second device. Therefore, the content of the target road deposit information is enriched, the second equipment can judge the deposit state of the deposit on the road more accurately based on the target road deposit information, and the second equipment can further reasonably and effectively realize the functions of path planning or urban emergency management and the like.

Referring to fig. 7, fig. 7 is a schematic structural diagram of an apparatus according to an embodiment of the present disclosure. The apparatus may be the first device described in example one. As shown in fig. 7, the apparatus includes:

the processing unit 701 is configured to determine target road accumulation information corresponding to the target accumulation region. The target road deposit information includes at least an update frequency of the target road deposit information, first time at which the target road deposit information is generated, first surface position information of the target deposit area at second time, and a first deposit depth of a lowest road surface point in the target deposit area at the second time or a first risk level of the target deposit area at the second time. The first surface position information is used to indicate an area and an area position of the target accumulation area at the second time, the first risk level is determined by the first accumulation depth, and the second time is before the first time.

A transceiving unit 702, configured to send the target road deposit information to a second device. And the target road stockpile information is used for the second equipment to carry out path planning or city emergency management.

In some possible embodiments, the processing unit 701 is further configured to: and acquiring N first distances from the lowest point of the road surface to N depth reference points in a preset direction at the second time. The preset direction is the plumb line direction of the surface of the accumulated object in the target accumulation area, the N depth reference points are located on the N preset reference objects on the periphery of the target accumulation area, a first distance corresponds to the lowest point of the road surface and each depth reference point, and N is a positive integer greater than or equal to 1. And acquiring N second distances between the surface of the accumulated object and the N depth reference points in the preset direction at the second time, wherein one second distance corresponds to each depth reference point. Determining the first depth of accumulation from the N first distances and the N second distances.

In some possible embodiments, the processing unit 701 is specifically configured to: and determining N distance differences corresponding to the N depth reference points at the second moment according to the N first distances and the N second distances. Determining an average of the N distance differences as the first depth of accumulation.

In some possible embodiments, the target road deposit information further includes one or more of a first depth change speed of the target deposit area at the second time, a first depth change acceleration of the target deposit area at the second time, an initial deposit time corresponding to the target deposit area, and position information of the lowest point of the road surface.

In some possible embodiments, the preset detection region of the first device is divided into M1 grid regions based on a preset region division rule, and each grid region contains one grid point. Wherein M1 is a positive integer. The target road stockpile information further includes: position information of each first target grid region in the M2 first target grid regions, and/or a depth of accumulation of each first target grid point included in each first target grid region at the second time point, where the first target grid region is a grid region in which an accumulation exists at the second time point in the M1 grid regions, and M2 is a positive integer smaller than or equal to M1.

In some possible embodiments, the target road deposit information includes: one or more of third time after the first time, second surface position information corresponding to the target accumulation area at the third time, a second accumulation depth of the lowest point of the road surface in the target accumulation area at the third time, and a second risk level of the target accumulation area at the third time. Wherein the second risk level is determined by the second depth of accumulation.

In some possible embodiments, the second depth of accumulation is determined by the first rate of depth change, the first acceleration of depth change, and a time difference between the second time and the third time.

In some possible embodiments, the processing unit 701 is further configured to: and acquiring a third distance between the grid point in each grid area of the M1 grid areas and a preset detection point of the first device in the preset direction. And determining a fourth distance between the surface of the deposit in the target accumulation area at the third moment and the preset detection point in the preset direction according to the second accumulation depth. And determining M3 second target grid regions from the M1 grid regions according to the third distance and the fourth distance between the grid points in each grid region and the preset detection points in the preset direction. Wherein the second target mesh region is a mesh region in which an inventory exists at the third time, and M3 is a positive integer less than or equal to M1. And determining the second surface position information according to the M3 second target grid areas.

In some possible embodiments, the target road deposit information further includes: position information of each of the M3 second target grid areas, and/or a depth of accumulation of each second target grid point included in each second target grid area at the third time.

In some possible embodiments, the update frequency of the target road inventory information is determined by a real-time weather condition of an area in which the first device is located.

In a specific implementation, the process of implementing the steps in the various possible implementation manners by the processing unit 701 and the transceiver unit 702 may specifically refer to the process executed by the first device in the first embodiment, and details are not described here.

The embodiment of the present application further provides a computer-readable medium, on which a computer program is stored, where the computer program, when executed by a computer, implements the method or the steps performed by the first device in the first embodiment.

The embodiment of the present application further provides a computer program product, and when executed by a computer, the computer program product implements the method or the steps performed by the first device in the first embodiment.

Embodiments of the present application also provide a processor coupled to a memory, where the memory stores instructions that, when executed by the processor, cause the processor to perform the methods or functions described above in the implementations that relate to the processor 701.

Referring to fig. 7, the apparatus may also be the second device described in the first embodiment. In this case:

the target road deposit information includes at least an update frequency of the target road deposit information, first time at which the first device generates the target road deposit information, first face position information of the target deposit area at second time, and a first deposit depth of a lowest road surface point in the target deposit area at the second time or a first risk level of the target deposit area at the second time. The first surface position information is used to indicate an area and an area position of the target accumulation area at the second time, the first risk level is determined by the first accumulation depth, and the second time is before the first time. And the processing unit 702 is configured to perform path planning or urban emergency management according to the target road inventory information.

In some possible embodiments, the target road deposit information further includes one or more of a first depth change speed of the target accumulation area at the second time, a first depth change acceleration of the target accumulation area at the second time, an initial accumulation time corresponding to the target accumulation area, and position information of the lowest road surface point.

In some possible embodiments, the target road deposit information further includes: one or more of a third time after the first time, second surface position information corresponding to the target accumulation area at the third time, a second accumulation depth of the lowest point of the road surface in the target accumulation area at the third time, and a second risk level of the target accumulation area at the third time, wherein the second risk level is determined by the second accumulation depth.

In some possible embodiments, the target road deposit information further includes: position information of each second target mesh region in the M3 second target mesh regions, and/or a depth of accumulation of each second target mesh point included in each second target mesh region at the third time, where the second target mesh region is a mesh region in which an accumulation exists at the third time.

The embodiment of the present application further provides a computer-readable medium, on which a computer program is stored, where the computer program, when executed by a computer, implements the method or the steps performed by the second device in the first embodiment.

The embodiment of the present application further provides a computer program product, and when executed by a computer, the computer program product implements the method or the steps performed by the second device in the first embodiment.

Referring to fig. 8, fig. 8 is a schematic view of another structure of an apparatus provided in the present application, in which a first device may be implemented. The apparatus generally includes at least one processor 801, at least one memory 802, and at least one wireless communication module 803. The processor 801, the memory 802 and the wireless communication module 803 are connected through a communication bus or a communication interface to complete communication therebetween. In the case where the apparatus shown in fig. 7 is a first device, the processor 801 and the memory 802 may be a specific implementation form of the processing unit 701, and the wireless communication module 803 may be a specific implementation form of the transceiver module 701. That is, the processor 801 and the memory 802 may be used to implement various functions of the first device that can be implemented by the processing unit 701, and the wireless communication module 803 may be used to implement various functions of the first device that can be implemented by the transceiver unit 702.

Specifically, the memory 802 is used for storing program codes for implementing the method for determining the road deposit information implemented by the first device in the first embodiment, and the processor 801 is used for executing the program codes stored in the memory 802 to implement the steps of the method for determining the road deposit information implemented by the first device in the first embodiment. The wireless communication module 803 is used for transmitting or receiving a message to other apparatuses (e.g., a second device) except the apparatus.

For example, the processor 801 may be configured to target the target road inventory information and send the target road inventory information to the wireless communication module 803. The wireless communication module 803 may transmit the target road deposit information to the second device. For a specific process, reference may be made to the corresponding contents described in the foregoing embodiment one, and details are not repeated here.

Further, please refer to fig. 9, fig. 9 is a schematic view of another structure of an apparatus according to an embodiment of the present application. As shown in fig. 9, the apparatus may further include a sensing module 804. The sensing module 804 may specifically include various sensing devices, such as a laser range finder, a camera, etc., and is not limited herein. The sensing module 804 is connected to the processor 801, the memory 802 and the wireless communication module 803 via a communication bus or a communication interface, and performs communication with each other. The sensing module 804 may acquire images of some roads and transmit the images to the processor 801, so that the processor 801 can further obtain information such as the first distance, the second distance, and the like in the first embodiment through image processing. For a specific process, refer to a process executed by the first device in the first embodiment, and details are not described here. In this case, the processor 801, the memory 802 and the sensing module 804 are concrete implementations of the processing unit 701.

Referring to fig. 10, fig. 10 is a schematic structural diagram of a chip according to an embodiment of the disclosure. The first device may also be implemented in the form of the chip. The chip may generally include a processor 1001 and one or more interface circuits 1002 coupled to the processor 1001.

Illustratively, the processor 1001 may be configured to read and execute computer readable instructions. In particular implementations, the processor 1001 may mainly include a controller, an operator, and a register. Illustratively, the controller is mainly responsible for instruction decoding and sending out control signals for operations corresponding to the instructions. The arithmetic unit is mainly responsible for executing fixed-point or floating-point arithmetic operation, shift operation, logic operation and the like, and can also execute address operation and conversion. The register is mainly responsible for storing register operands, intermediate operation results and the like temporarily stored in the instruction execution process. In a specific implementation, the hardware architecture of the processor 1001 may be an Application Specific Integrated Circuit (ASIC) architecture, a microprocessor without interlocked pipeline stage architecture (MIPS) architecture, an advanced reduced instruction set machine (ARM) architecture, or an NP architecture. The processor 1001 may be single-core or multi-core.

For example, the interface circuit 1002 may be configured to input data to be processed to the processor 1001 and may output a processing result of the processor 1001 to the outside. In a specific implementation, the interface circuit 1002 may be a General Purpose Input Output (GPIO) interface, and may be connected to a plurality of peripheral devices (e.g., a wireless communication module, a sensing module, etc.). The interface circuit 1002 is connected to the processor 1001 through a bus 1003.

In this case, the processor 1001 and the one or more interface circuits 1002 coupled to the processor 1001 may be a specific implementation form of the processing unit 701, and the wireless communication module externally connected to the chip may be a specific implementation form of the transceiver module 701. That is, the processor 1001 and the one or more interface circuits 1002 coupled to the processor 1001 may be configured to implement various functions of the first device that can be implemented by the processing unit 701, and the external wireless communication module may be configured to implement various functions of the first device that can be implemented by the transceiver unit 702.

In a specific implementation, the processor 1001 may be configured to call, from the memory, the code of the method for determining the road deposit information implemented by the first device in the first embodiment, so that the chip may implement the steps of the method for determining the road deposit information implemented by the first device in the first embodiment. For example, the processor 1001 may determine that the target road inventory information is obtained, and transmit the target road inventory information to the wireless communication module through the bus 1003 and the interface circuit 1002. Then, the wireless communication module may transmit the target road deposit information to the second device. The specific implementation process of these functions can be the corresponding content described in the first embodiment, and will not be described herein again.

It should be noted that the functions corresponding to the processor 1001 and the interface circuit 1002 may be implemented by hardware design, software design, or a combination of hardware and software, which is not limited herein.

Further, please refer to fig. 11, where fig. 11 is a schematic view of another structure of a chip according to an embodiment of the present application. As shown in fig. 11, the chip further includes a sensing module. In a specific implementation, the sensing module may acquire some road images and transmit the road images to the processor 1001 through the interface circuit 1002 and the bus 1003, so that the processor 1001 can further obtain information such as the first distance and the second distance in the first embodiment through image processing. For a specific process, refer to a process executed by the first device in the first embodiment, and details are not described here.

Referring to fig. 12, fig. 12 is a schematic view of another structure of an apparatus according to an embodiment of the present disclosure. The apparatus may be an intelligent car and the second device may be implemented in the form of the apparatus. As can be seen in FIG. 12, the apparatus includes various systems such as a travel system 1202, a control system 1203, one or more peripheral devices 1204, a computer system 1201, and the like. Alternatively, the apparatus may include more or fewer systems, and each system may include multiple elements. In addition, each system of the apparatus may be interconnected by wire or wirelessly.

The travel system 1202 may include components that provide powered motion to the device. In one embodiment, the travel system 1202 may include an engine, transmission, wheels/tires, and the like.

A control system 1203 may control the operation of the device and its components. The control system 1203 may include various elements, which may include, for example, a steering system, a throttle, a brake unit, etc.

The device may also interact with other devices, other computer systems, or users through the peripheral 1204. Peripheral devices 1204 may include a wireless communication system, a microphone and/or a speaker, and the like.

The computer control system includes a processor 12012 and a memory 12011. The processor 12012 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor may be a dedicated device such as an ASIC or other hardware-based processor. Although fig. 12 functionally illustrates a processor, memory, and other elements of a computer system in the same block, those skilled in the art will appreciate that the processor, computer, or memory may actually comprise multiple processors, computers, or memories, which may or may not be stored within the same physical housing.

In some embodiments, the memory 12011 may contain instructions (e.g., program logic) that are executable by the processor 12012 to perform various functions of the device, including those described above. Additional instructions may also be contained in memory 12011, including instructions to send data to, receive data from, interact with, and/or control one or more of the propulsion system, sensor system, control system, and peripheral devices.

Optionally, the above components are only an example, in practical applications, components in the above systems may be added or deleted according to practical needs, and fig. 12 should not be construed as limiting the embodiment of the present invention.

It should be noted that the processing unit 701 described above in fig. 7 may be the computer system 1201 in the apparatus, and the transceiver unit 702 may be the wireless communication system in the apparatus.

In a specific implementation, when the systems cooperate with each other and the apparatus is in a normal operating state, the memory 12011 may store a code corresponding to the method for determining the target road storage information executed by the second device in the first embodiment. The processor 12012 may execute the code to implement the steps of the method for determining the target road deposit information performed by the second device in the first embodiment. Here, the process of the processor 12012 executing the code to implement the steps in the method for determining the target road inventory information executed by the second device may participate in the process described in the first embodiment, and will not be described herein again.

Referring also to fig. 8, the second device may also be implemented in the form of the apparatus. In this case, the memory 802 is used for storing program codes for implementing the method for determining the target road deposit information implemented by the second device in the first embodiment, and the processor 801 is used for executing the program codes stored in the memory 802 to implement the steps of the method for determining the target road deposit information implemented by the second device in the first embodiment. The wireless communication module 803 is used for sending or receiving messages to other apparatuses (such as a service device or other terminal devices) besides the apparatus. In the case where the apparatus shown in fig. 7 is a second device, the processor 801 and the memory 802 may be a specific implementation form of the processing unit 701, and the wireless communication module 803 may be a specific implementation form of the transceiver unit 701. That is, the processor 801 and the memory 802 may be used to implement various functions of the second device that can be implemented by the processing unit 701, and the wireless communication module 803 may be used to implement various functions of the second device that can be implemented by the transceiver unit 702.

For example, the wireless communication module 803 may be used to receive the target road inventory information from the second device and transmit it to the processor 801. The processor 801 may perform route planning or urban emergency management according to the target road inventory information. For a specific process, reference may be made to the corresponding contents described in the first embodiment, and details are not repeated here.

Referring also to fig. 10, the terminal device may also be in the form of the chip. In a specific implementation, the processor 1001 may be configured to call, from the memory, the code of the method for determining the target road deposit information implemented by the second device in the first embodiment, so that the chip may implement the steps of the method for determining the target road deposit information implemented by the second device in the first embodiment. The memory may be integrated with the processor 1001 or may be coupled to the chip via the interface 1002, i.e. the memory may be part of the chip or may be separate from the chip. The interface circuit 1002 may be used to output the execution result of the processor 1001. In this case, the processor 1001 and the one or more interface circuits 1002 coupled to the processor 1001 may be a specific implementation form of the processing unit 701, and the wireless communication module externally connected to the chip may be a specific implementation form of the transceiver module 701. That is, the processor 1001 and the one or more interface circuits 1002 coupled to the processor 1001 may implement various functions of the second device that can be implemented by the processing unit 701, and the wireless communication module externally connected to the chip may be used to implement various functions of the second device that can be implemented by the transceiver unit 702.

In the embodiments of the present application, the processor may be a general purpose Central Processing Unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the above programs.

The Memory may be, but is not limited to, a Read-Only Memory (ROM) or other type of static storage device that can store static information and instructions, a Random Access Memory (RAM) or other type of dynamic storage device that can store information and instructions, an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical Disc storage, optical Disc storage (including Compact Disc, laser Disc, optical Disc, digital versatile Disc, blu-ray Disc, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory may be self-contained and coupled to the processor via a bus. The memory may also be integral to the processor.

The wireless communication module or the wireless communication system may be a device or a module, such as a radio frequency module, which can realize communication with other devices or communication networks.

In the above method embodiments, the implementation may be wholly or partly implemented by software, hardware, firmware or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions described above are loaded and executed on a computer, the processes or functions described above according to the embodiments of the present application are generated in whole or in part. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on or transmitted from a computer-readable storage medium to another computer-readable storage medium, for example, from a website, computer, server, or data center, over a wired (e.g., coaxial cable, fiber optics, Digital Subscriber Line (DSL), or wireless (e.g., infrared, wireless, microwave, etc.) network, to another website, computer, server, or data center, to any available medium that is accessible by a computer or that contains one or more data storage devices, such as a server, data center, etc., integrated with the available medium, which may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., high density digital video disks, DVD), or semiconductor media (e.g., Solid State Disk (SSD), etc.

It should be understood that the terms "system" and "network" in the embodiments of the present application may often be used interchangeably. The term "and/or" in this embodiment is only one kind of association relationship describing the associated object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.

Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the examples described in connection with the embodiments disclosed herein may be embodied in electronic hardware, computer software, or combinations of both, and that the components and steps of the examples have been described in a functional general in the foregoing description for the purpose of illustrating clearly the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus is merely illustrative, and for example, a division of a unit is merely a division of one logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may also be an electric, mechanical or other form of connection.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

In short, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of determining road inventory information, the method comprising:

determining target road deposit information corresponding to a target deposit area, wherein the target road deposit information includes at least an update frequency of the target road deposit information, a first time point at which the target road deposit information is generated, and first face position information of the target deposit area at a second time point, and a first deposit depth of a lowest road surface in the target deposit area at the second time point or a first risk level of the target deposit area at the second time point, the first face position information indicating an area and an area position of the target deposit area at the second time point, the first risk level being determined by the first deposit depth, the second time point being before the first time point;

and sending the target road deposit information, wherein the target road deposit information is used for path planning or urban emergency management.

2. The method of claim 1, further comprising:

acquiring N first distances from the lowest point of the road surface to N depth reference points in a preset direction at the second time, wherein the preset direction is the direction of a plumb line of the surface of the accumulated object in the target accumulation area, the N depth reference points are located on N preset reference objects on the periphery of the target accumulation area, a first distance corresponds to the lowest point of the road surface and each depth reference point, and N is a positive integer greater than or equal to 1;

acquiring N second distances between the surface of the accumulated object and the N depth reference points in the preset direction at the second time, wherein one second distance corresponds to each depth reference point;

determining the first depth of accumulation from the N first distances and the N second distances.

3. The method of claim 2, wherein said determining a depth of accumulation for the lowest point of the roadway at the second time based on the N first distances and the N second distances comprises:

determining N distance differences corresponding to the N depth reference points at the second moment according to the N first distances and the N second distances;

determining an average of the N distance differences as the first depth of accumulation.

4. The method according to any one of claims 1 to 3, wherein the target road deposit information further includes one or more of a first depth change speed of the target deposit area at the second time, a first depth change acceleration of the target deposit area at the second time, an initial deposit time corresponding to the target deposit area, and position information of the lowest point of the road surface.

5. The method according to claim 4, wherein the preset detection region is divided into M1 grid regions based on a preset region division rule, and each grid region comprises a grid point, wherein M1 is a positive integer;

the target road stockpile information further includes:

position information of each first target grid region in the M2 first target grid regions, and/or a depth of accumulation of each first target grid point included in each first target grid region at the second time point, where the first target grid region is a grid region in which an accumulation exists at the second time point in the M1 grid regions, and M2 is a positive integer smaller than or equal to M1.

6. The method according to claim 4 or 5, wherein the target road deposit information includes:

one or more of a third time after the first time, second surface position information corresponding to the target accumulation area at the third time, a second accumulation depth of the lowest point of the road surface in the target accumulation area at the third time, and a second risk level of the target accumulation area at the third time, wherein the second risk level is determined by the second accumulation depth.

7. The method of claim 6, wherein the second depth of accumulation is determined by the first rate of depth change, the first acceleration of depth change, and a time difference between the second time and the third time.

8. The method according to claim 6 or 7, characterized in that the method further comprises:

acquiring a third distance between a grid point in each grid area of the M1 grid areas and a preset detection point in the preset direction;

determining a fourth distance between the surface of the deposit in the target accumulation area at the third moment and the preset detection point in the preset direction according to the second accumulation depth;

determining M3 second target grid regions from the M1 grid regions according to a third distance and a fourth distance between the grid points in each grid region and the preset probe point in the preset direction, where the second target grid regions are grid regions in which an accumulated object exists at the third time, and M3 is a positive integer smaller than or equal to M1;

and determining the second surface position information according to the M3 second target grid areas.

9. The method according to claim 8, wherein the target road deposit information further comprises:

position information of each of the M3 second target grid areas, and/or a depth of accumulation of each second target grid point included in each second target grid area at the third time.

10. The method according to any one of claims 1 to 9, wherein the frequency of updating the target road inventory information is determined by real-time weather conditions.

11. A method of determining road deposit information, the method comprising:

receiving target road deposit information corresponding to a target deposit area, wherein the target road deposit information at least includes an update frequency of the target road deposit information, a first time point of generating the target road deposit information, and first face position information of the target deposit area at a second time point, and a first deposit depth of a lowest road surface in the target deposit area at the second time point or a first risk level of the target deposit area at the second time point, the first face position information is used for indicating an area and an area position of the target deposit area at the second time point, the first risk level is determined by the first deposit depth, and the second time point is before the first time point;

and carrying out path planning or urban emergency management according to the target road stockpile information.

12. The method according to claim 11, wherein the target road deposit information further includes one or more of a first depth change speed of the target deposit area at the second time, a first depth change acceleration of the target deposit area at the second time, an initial deposit time corresponding to the target deposit area, and position information of the lowest point of the road surface.

13. The method according to claim 12, wherein the preset detection region is divided into M1 grid regions based on a preset region division rule, and each grid region comprises a grid point, wherein the M1 is a positive integer;

the target road stockpile information further includes:

14. The method according to claim 12 or 13, wherein the target road deposit information further comprises:

15. The method of claim 14, wherein the second depth of accumulation is determined by the first rate of depth change, the first acceleration of depth change, and a time difference between the second time and the third time.

16. The method according to claim 14 or 15, wherein the target road inventory information further comprises:

position information of each second target mesh region in the M3 second target mesh regions, and/or a depth of accumulation of each second target mesh point included in each second target mesh region at the third time, where the second target mesh region is a mesh region in which an accumulation exists at the third time.

17. An apparatus, characterized in that the apparatus comprises:

a processing unit configured to determine target road deposit information corresponding to a target deposit area, wherein the target road deposit information includes at least an update frequency of the target road deposit information, a first time point at which the target road deposit information is generated, and first face position information of the target deposit area at a second time point, and a first deposit depth of a lowest road surface in the target deposit area at the second time point or a first risk level of the target deposit area at the second time point, the first face position information indicating an area and an area position of the target deposit area at the second time point, the first risk level being determined by the first deposit depth, the second time point being before the first time point;

and the receiving and sending unit is used for sending the target road deposit information, wherein the target road deposit information is used for path planning or urban emergency management.

18. The apparatus of claim 1, wherein the processing unit is configured to:

acquiring N first distances between the lowest point of the road surface and N depth reference points in a preset direction at the second time, wherein the preset direction is the direction of a plumb line of the surface of the deposit in the target deposit area, the N depth reference points are located on N preset reference objects on the periphery of the target deposit area, a first distance corresponds to the position between the lowest point of the road surface and each depth reference point, and N is a positive integer greater than or equal to 1;

19. The apparatus according to claim 18, wherein the processing unit is specifically configured to:

20. The apparatus according to any one of claims 17 to 19, wherein the target road deposit information further includes one or more of a first depth change speed of the target deposit area at the second time, a first depth change acceleration of the target deposit area at the second time, an initial deposit time corresponding to the target deposit area, and position information of the lowest point of the road surface.

21. The apparatus according to claim 20, wherein the preset detection region is divided into M1 grid regions based on a preset region division rule, and each grid region comprises a grid point, wherein M1 is a positive integer;

the target road stockpile information further includes:

22. The apparatus according to claim 20 or 21, wherein the target road deposit information includes:

23. The apparatus of claim 22 wherein the second depth of accumulation is determined by the first rate of depth change, the first acceleration of depth change, and the time difference between the second time and the third time.

24. The apparatus according to claim 22 or 23, wherein the processing unit is further configured to:

25. The apparatus according to claim 24, wherein the target road deposit information further comprises:

26. The apparatus of any one of claims 17-25, wherein the frequency of updating the target road inventory information is determined by real-time weather conditions.

27. An apparatus, characterized in that the apparatus comprises:

a transceiver unit configured to receive target road deposit information corresponding to a target deposit area, wherein the target road deposit information includes at least an update frequency of the target road deposit information, first time at which the target road deposit information is generated, and first surface position information of the target deposit area at a second time, and a first deposit depth of a lowest point of a road surface in the target deposit area at the second time or a first risk level of the target deposit area at the second time, the first surface position information indicating an area and an area position of the target deposit area at the second time, the first risk level being determined by the first deposit depth, the second time being before the first time;

and the processing unit is used for carrying out path planning or urban emergency management according to the target road stockpile information.

28. The apparatus according to claim 17, wherein the target road deposit information further includes one or more of a first depth change speed of the target deposit region at the second time, a first depth change acceleration of the target deposit region at the second time, an initial deposit time corresponding to the target deposit region, and position information of the lowest road surface.

29. The apparatus according to claim 28, wherein the preset detection region is divided into M1 grid regions based on a preset region division rule, and each grid region comprises a grid point, wherein M1 is a positive integer;

the target road stockpile information further includes:

30. The apparatus according to claim 28 or 29, wherein the target road deposit information further comprises:

31. The apparatus of claim 30 wherein said second depth of accumulation is determined by said first rate of depth change, said first acceleration of depth change, and a time difference between said second time and said third time.

32. The apparatus according to claim 30 or 31, wherein the target road deposit information further comprises:

33. A readable storage medium storing instructions that, when executed, cause the method of any of claims 1-11 or claims 1-10 or claims 11-16 to be implemented.

34. An apparatus, comprising: a processor, a memory;

the memory for storing a computer program;

the processor configured to execute a computer program stored in the memory to cause the communication device to perform the method of any of claims 1-10 or claims 11-16.