CN118362604B - Road surface icing state detection method and device, electronic equipment and storage medium - Google Patents
Road surface icing state detection method and device, electronic equipment and storage medium Download PDFInfo
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Abstract
The embodiment of the application provides a pavement icing condition detection method, a pavement icing condition detection device, electronic equipment and a storage medium, wherein the method comprises the following steps: obtaining the temperature of a road surface; when the pavement temperature meets preset conditions, acquiring detection data for detecting the icing state of the pavement; processing different detection data by using different icing state detection methods to obtain a plurality of detection results output by the different icing state detection methods; and acquiring the icing state of the road surface according to the detection results. The road surface icing state detection method can acquire various different detection data and detect the different detection data according to different detection methods, and further obtains a final icing state result based on detection results obtained by the different detection methods.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to a pavement icing state detection method, a pavement icing state detection device, electronic equipment and a computer readable storage medium.
Background
Many kinds of ice and snow pavements are often formed in winter, such as pavements of snow accumulation, ice formation, slush ice and the like, and pavement ice formation can cause obvious reduction of pavement friction coefficient, so traffic accidents are extremely easy to cause, and therefore detection and identification of pavement states by using advanced vehicle-mounted sensors are particularly important. If the current road surface state cannot be accurately identified and the vehicle still runs according to the static speed limit sign, traffic accidents are very easy to occur. Therefore, whether the ice road surface state can be accurately detected and identified is a key problem for ensuring that the automatic driving automobile safely runs on the low-grade ice road.
In the prior art, some systems are greatly influenced by environmental factors, the accuracy of road surface icing state detection may be reduced, for example, a thermal imaging technology is sensitive to factors such as environmental temperature and humidity, an image recognition technology is sensitive to factors such as light rays and camera pixels, infrared measurement requires that a measurement distance is kept unchanged, and image analysis is difficult to meet mobile measurement.
Disclosure of Invention
The embodiment of the application aims to provide a road surface icing state detection method, a device, electronic equipment and a storage medium, which can acquire various different detection data and detect the different detection data according to different detection methods, and further obtain a final icing state result based on detection results obtained by the different detection methods.
In a first aspect, an embodiment of the present application provides a method for detecting an icing condition of a road surface, including:
Obtaining the temperature of a road surface;
when the pavement temperature meets preset conditions, acquiring detection data for detecting the icing state of the pavement;
processing different detection data by using different icing state detection methods to obtain a plurality of detection results output by the different icing state detection methods;
And acquiring the icing state of the road surface according to the detection results.
In the implementation process, when the road temperature meets the preset condition, different icing state detection methods are utilized to process different detection data, a plurality of detection results output by the different icing state detection methods are obtained, and a final icing state result is obtained based on the detection results obtained by the different detection methods.
Further, the obtaining the road surface temperature includes:
The road surface temperature is obtained through an infrared temperature measuring module, the infrared temperature measuring module is arranged on a front bumper of a vehicle, and an angle formed by the infrared temperature measuring module and a plane where the bottom of a wheel is positioned is within a preset range;
when the road surface temperature meets a preset condition, acquiring sensing data for detecting the icing state of the road surface, wherein the sensing data comprises the following steps:
and if the acquired road surface temperature through the infrared temperature measuring module and the acquired environment temperature through the temperature sensor are smaller than a preset temperature threshold value, acquiring data for detecting the icing state of the road surface.
In the implementation process, the infrared temperature measurement module is kept at a certain angle with the road surface, so that the interference of motion blur can be reduced to a certain extent. Even if the vehicle moves to a certain extent in the high-speed running process, the infrared temperature measuring module can still point to the road surface relatively stably, so that the influence of motion blur is reduced. If the acquired road surface temperature through the infrared temperature measurement module and the acquired environment temperature through the temperature sensor are smaller than the preset temperature threshold value, the error can be reduced and the measurement accuracy can be improved by acquiring the data for detecting the road surface icing state.
Further, the acquiring detection data for detecting the icing condition of the road surface includes:
Transmitting a first light ray and a second light ray to a road surface, wherein the wavelength range of the first light ray is 1.4-2.4 mu m, and the wavelength range of the second light ray is 2-3.2 mu m;
receiving a first reflected light ray corresponding to the first light ray reflected by the road surface and a second reflected light ray corresponding to the second light ray reflected by the road surface;
The method for detecting the icing state comprises the steps of processing different detection data by using different icing state detection methods to obtain a plurality of detection results output by the different icing state detection methods, and comprises the following steps:
and acquiring a first detection result according to the reflectivity of the first reflected light and the reflectivity of the second reflected light.
In the implementation process, the reflection characteristics of different substances under different wavelengths are also different, and the reflection characteristics of the dry road surface are relatively stable, so that the change of the wavelength fluctuation range is avoided; the frozen road surface can generate different reflection characteristics under the light rays with different wavelengths, and the spectrum fluctuation range of the road surface reflection can be changed. The first detection result of the road surface is indirectly estimated by measuring the reflection condition of the road surface on light rays with different wavelengths and analyzing the change of the fluctuation range of the wavelengths to judge the wetting degree of the road surface.
Further, the acquiring detection data for detecting the icing condition of the road surface includes:
continuously acquiring a first distance from a first laser range finder to a road surface, wherein the first distance is measured by the first laser range finder arranged at the tail part of a vehicle;
Continuously acquiring a second distance from a second laser range finder, which is measured by the second laser range finder arranged on the head of the vehicle, to the road surface;
The laser emitted by the first laser range finder is perpendicular to the plane where the bottom of the wheel is located, and the laser emitted by the second laser range finder is not perpendicular to the road surface;
The method for detecting the icing state comprises the steps of processing different detection data by using different icing state detection methods to obtain a plurality of detection results output by the different icing state detection methods, and comprises the following steps:
And acquiring a second detection result according to the first distance and the second distance and the installation angle of the second laser range finder.
In the implementation process, continuously acquiring a first distance from a first laser range finder, which is measured by the first laser range finder arranged at the tail of a vehicle, to a road surface; the second distance from the second laser range finder to the road surface, which is measured by the second laser range finder arranged on the head of the vehicle, is continuously obtained, the road surfaces in different icing states have different flatness degrees, and the measured relation between the first distance and the second distance is different, so that a second detection result can be accurately obtained by the installation angle of the second laser range finder according to the first distance and the second distance.
Further, the obtaining a second detection result according to the first distance and the second distance and the installation angle of the second laser range finder includes:
obtaining a vertical thickness change curve of the road surface according to the first distance and the second distance and the installation angle of the second laser range finder;
and obtaining the second detection result according to the vertical thickness change curve of the pavement.
In the implementation process, the road surfaces in different icing states have different vertical thickness changes, so that the icing state of the road surfaces can be obtained according to the vertical thickness change curve of the road surfaces.
Further, the acquiring detection data for detecting the icing condition of the road surface includes:
acquiring a color image of a pavement road area;
processing different detection data by using different icing state detection methods to obtain a plurality of detection results output by the different icing state detection methods, wherein the detection results comprise:
Acquiring a gray level histogram of the pavement road area according to the color image of the pavement road area;
threshold segmentation is carried out on the gray level histogram of the road surface road area, and a travelable area is extracted from the segmented gray level histogram;
Acquiring a color image of the drivable region;
Extracting H channel characteristics of the color image of the drivable region and V channel characteristics of the color image of the drivable region in HSV space of the color image of the drivable region;
Acquiring the second step distance, contrast, correlation, entropy and inverse difference distance of the color image of the drivable region according to the H-channel characteristic of the color image of the drivable region and the V-channel characteristic of the color image of the drivable region;
And obtaining a third detection result according to the second order distance, the contrast, the correlation, the entropy, the inverse difference and the SVM algorithm of the color image of the drivable region.
In the implementation process, the color characteristics of the pavement under the conditions of drying, icing, snow accumulation and the like are obvious, so that the characteristics of the image after graying are also obvious, and the drivable area can be accurately extracted from the segmented gray histogram. In different road conditions, the change of the H channel characteristics and the V channel characteristics is obvious, so that the second step, the contrast, the correlation, the entropy and the inverse difference are obtained according to the H channel characteristics and the V channel characteristics of the drivable region, and the third detection result can be accurately obtained according to the second step, the contrast, the correlation, the entropy, the inverse difference and the SVM algorithm of the color image of the drivable region.
Further, the obtaining the icing state of the road surface according to the plurality of detection results includes:
acquiring the total score of each icing state according to the weight corresponding to each detection result and the score of each detection result about different icing states;
And acquiring the icing state of the road surface according to the total score of each icing state.
In the implementation process, different icing condition detection methods have different accuracies, and the total score of each icing condition is obtained according to the weight corresponding to each detection result and the score of each detection result on different icing conditions; the accuracy of the icing state can be further improved by acquiring the icing state of the road surface according to the total score of each icing state.
In a second aspect, an embodiment of the present application provides a road surface icing condition detection apparatus, including:
the road surface temperature acquisition module is used for acquiring the road surface temperature;
The detection data acquisition module is used for acquiring detection data for detecting the icing state of the road surface when the road surface temperature meets a preset condition;
The detection module is used for processing different detection data by utilizing different icing state detection methods to obtain a plurality of detection results output by the different icing state detection methods;
And the icing state acquisition module is used for acquiring the icing state of the road surface according to the detection results.
In a third aspect, an embodiment of the present application provides an electronic device, including: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method according to any of the first aspects when the computer program is executed.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having instructions stored thereon, which when run on a computer, cause the computer to perform the method according to any of the first aspects.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and should not be considered as limiting the scope, and other related drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 shows a method for detecting icing conditions of a road surface according to an embodiment of the present application;
FIG. 2 is a schematic diagram illustrating an installation of an infrared temperature measurement module according to an embodiment of the present application;
fig. 3 is an installation schematic diagram of a laser range finder provided in an embodiment of the present application;
Fig. 4 is a schematic structural diagram of an icing condition detection device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the accompanying drawings in the embodiments of the present application.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only to distinguish the description, and are not to be construed as indicating or implying relative importance.
Referring to fig. 1, an embodiment of the present application provides a method for detecting icing condition of a road surface, which can be applied to a vehicle controller or an electronic device, and the method includes:
s1: obtaining the temperature of a road surface;
S2: when the temperature of the road surface meets the preset condition, acquiring detection data for detecting the icing state of the road surface;
in some embodiments, S2 and subsequent steps are performed when the road surface temperature is less than a preset threshold.
S3: processing different detection data by using different icing state detection methods to obtain a plurality of detection results output by the different icing state detection methods;
s4: and acquiring the icing state of the road surface according to the detection results.
In the embodiment of the application, each detection result comprises: a plurality of icing conditions, the icing conditions comprising: drying, slush, icing and snow.
In the implementation process, when the road temperature meets the preset condition, different icing state detection methods are utilized to process different detection data, a plurality of detection results output by the different icing state detection methods are obtained, and a final icing state result is obtained based on the detection results obtained by the different detection methods.
In some embodiments, obtaining the road surface temperature includes: the road surface temperature is obtained through an infrared temperature measuring module, the infrared temperature measuring module is arranged on a front bumper of the vehicle, and an angle formed by the infrared temperature measuring module and a plane where the bottom of the wheel is positioned is within a preset range; when the road surface temperature meets the preset condition, acquiring sensing data for detecting the icing state of the road surface, wherein the sensing data comprises the following steps: and if the acquired road surface temperature through the infrared temperature measuring module and the acquired environment temperature through the temperature sensor are smaller than a preset temperature threshold value, acquiring data for detecting the icing state of the road surface.
In some embodiments, the predetermined angle range is 30 degrees to 60 degrees.
Illustratively, referring to FIG. 2, the angle of the plane in which the infrared thermometry module A1 and the wheel base lie is 45.
In some embodiments, the preset temperature threshold is 1 degree to 3 degrees.
In the implementation process, the infrared temperature measurement module A1 is kept at a certain angle with the road surface, so that the interference of motion blur can be reduced to a certain extent. This arrangement helps to fix the measurement view angle and reduce the change in target position due to vehicle movement. Therefore, even if the vehicle moves to some extent during high-speed running, the infrared thermometry module A1 can be relatively stably directed to the road surface, thereby reducing the influence of motion blur. If the acquired road surface temperature through the infrared temperature measurement module A1 and the acquired environment temperature through the temperature sensor are greater than a preset temperature threshold value, the error can be reduced and the measurement accuracy can be improved by acquiring the data for detecting the icing state of the road surface.
In some embodiments, acquiring detection data for road surface icing condition detection comprises:
Transmitting a first light ray and a second light ray to the pavement, wherein the wavelength range of the first light ray is 1.4-2.4 mu m, and the wavelength range of the second light ray is 2-3.2 mu m; receiving first reflected light corresponding to first light reflected by the road surface and second reflected light corresponding to second light reflected by the road surface; processing different detection data by using different icing state detection methods to obtain a plurality of detection results output by the different icing state detection methods, wherein the detection results comprise: and acquiring a first detection result according to the reflectivity of the first reflected light and the reflectivity of the second reflected light.
Illustratively, detection is performed using infrared light having a wavelength fluctuation range of 50nm, two wavelength light reflectances having wavelengths of 3050nm and 2900nm, the infrared light wavelengths λi and λj being within respective 50nm error ranges around the center of the respective transmission ranges. Namely: λi=3050 nm, λj=2900 nm, and λi= father λj=50 nm.
In some embodiments, the first light and the second light are transmitted by the light source transmitting module, and the light source transmitting module is mainly responsible for realizing light emitting control of the light source. The design of the light source transmitting module can use three LED light sources at the same time, but no narrow wave generator with the wavelength of 2900nm and 3050nm changed to 50nm exists in the market, so the light source transmitting module comprises an LED light source with the wavelength of 1.4-2.4 mu m and an LED light source with the wavelength of 2-3.2 mu m.
The different wavelength reflected light intensities are distinguished by the receiving device. In order to receive two narrow-wave optical signals with the wavelengths of 2900nm and 3050nm, according to the optical reflection principle, two optical waves with the wavelengths of 2900nm and 3050nm are separated by using reflecting lenses with different angles, and optical reflection signals with the wavelengths of 2900nm and 3050nm can be measured simultaneously by using optical intensity detectors with different positions. The receiving circuit is mainly composed of a pre-amplifying circuit and a main amplifying circuit.
In some embodiments, obtaining the first detection result according to the reflectivity of the first reflected light ray and the reflectivity of the second reflected light ray includes: and obtaining a first detection result according to the ratio of the reflectivity of the first reflection pipeline to the reflectivity of the second reflection light.
Illustratively, assuming that the first light has a reflectance of Fi at 3050nm and the second light has a reflectance of Fj at 2900nm, the values of Fi/Fj may represent three conditions of the road surface, corresponding to dryness, slush and icing, respectively. When the Fi/Fj value is about 1, the road surface is dry; when the Fi/Fj value is about 2, the road surface is a slush road surface with different water film thicknesses; and when the Fi/Fj value exceeds 5, the road surface is an ice road surface with different ice layer thicknesses.
In the implementation process, the reflection characteristics of different substances under different wavelengths are also different, and the reflection characteristics of the dry road surface are relatively stable, so that the change of the wavelength fluctuation range is avoided; the frozen road surface can generate different reflection characteristics under the light rays with different wavelengths, and the spectrum fluctuation range of the road surface reflection can be changed. The first detection result of the road surface is indirectly estimated by measuring the reflection condition of the road surface on light rays with different wavelengths and analyzing the change of the fluctuation range of the wavelengths to judge the wetting degree of the road surface.
In some embodiments, acquiring detection data for road surface icing condition detection comprises: continuously acquiring a first distance from a first laser range finder A2 to a road surface, wherein the first distance is measured by the first laser range finder A2 arranged at the tail part of the vehicle; continuously acquiring a second distance from a second laser range finder A3 to a road surface, wherein the second distance is measured by the second laser range finder A3 arranged on the head of the vehicle; the laser emitted by the first laser range finder A2 is perpendicular to the plane where the bottom of the wheel is positioned, and the laser emitted by the second laser range finder A3 is not perpendicular to the road surface; processing different detection data by using different icing state detection methods to obtain a plurality of detection results output by the different icing state detection methods, wherein the detection results comprise: and acquiring a second detection result according to the first distance and the second distance and the installation angle of the second laser range finder A3.
In some embodiments, the first laser rangefinder A2 emits a single line laser and the second laser rangefinder A3 emits a two-dimensional rotating laser.
For example, referring to fig. 3, the laser beam in the laser rangefinder is deflected by an angle to realize scanning of the road surface, one laser rangefinder is respectively installed at the same horizontal position of the vehicle head and the vehicle tail, the single-line laser (the first laser rangefinder A2) is installed at the vehicle tail, the two-dimensional rotating laser (the second laser rangefinder A3) is installed at the vehicle head, the installation angle of the two-dimensional rotating laser is θ (i.e., the angle between the laser of the second laser rangefinder A3 and the vertical plane of the bottom of the wheel is θ), and the distance can be measured on the multi-point sweeping road surface within the θ range (i.e., the angle range between the laser of the second laser rangefinder A3 and the vertical plane of the bottom of the wheel is 0 to θ). When the vehicle is traveling on a snowless road, the rear laser rangefinder 2 measures the vertical distance (first distance) H0 from the road surface to the instrument, and the laser rangefinder 1 measures the distance L (second distance) from the ice and snow road surface to the instrument 1 when the front has a cover of ice, snow, or the like, at an angle θ.
In the implementation process, continuously acquiring a first distance from a first laser range finder A2 to a road surface, wherein the first distance is measured by the first laser range finder A2 arranged at the tail part of a vehicle; the second distance from the second laser range finder to the road surface, which is measured by the second laser range finder arranged on the head of the vehicle, is continuously acquired, and the road surfaces in different icing states are different in flatness degrees, so that the second detection result can be accurately acquired by the installation angle of the second laser range finder according to the first distance and the second distance.
In some embodiments, obtaining the second detection result according to the first distance and the second distance and the installation angle of the second laser range finder includes: obtaining a vertical thickness change curve of the road surface according to the installation angles of the first distance and the second distance of the second laser range finder; and obtaining a second detection result according to the vertical thickness change curve of the pavement.
In some embodiments, the cover (ice or snow) thickness may be obtained by the following equation:
; wherein, For the vertical thickness of the covering,At the first distance of the first distance,At the time of the second distance from the first distance,Is the installation angle of the second laser range finder.
In some embodiments, the vertical thickness of the cover may be obtained by the following equation,
;
;
Wherein, Is thatCover (ice or snow) thickness at time; Is that A first distance of time; Is that A second distance from the moment of time,Is thatThe mounting angle of the second laser rangefinder at time,To monitor the number of monitoring times during the time period.
And drawing a vertical thickness change curve according to the vertical thickness of the covering obtained in the multiple monitoring time periods, and judging the possible type of the current road surface by comparing curve characteristics of several typical road surfaces when the curve is suddenly changed to 2-3 cm or more.
In some embodiments, determining that the icing condition is currently present when the average slope of the curve is within a first predetermined range; when the average slope of the curve is in the second preset range, the current semi-melting state is determined, and when the average slope of the curve is in the third preset range, the road surface is in a dry state. The first preset range, the second preset range and the third preset range may be obtained according to a test experiment or empirically preset.
In the implementation process, the road surfaces in different icing states have different vertical thickness changes, so that the icing state of the road surfaces can be obtained according to the vertical thickness change curve of the road surfaces.
In some embodiments, acquiring detection data for road surface icing condition detection comprises:
Acquiring a color image of a pavement road area; processing different detection data by using different icing state detection methods to obtain a plurality of detection results output by the different icing state detection methods, wherein the detection results comprise: acquiring a gray level histogram of the road area according to the color image of the road area; threshold segmentation is carried out on the gray level histogram of the road surface road area, and a travelable area is extracted from the segmented gray level histogram; acquiring a color image of a drivable area; extracting H channel characteristics of the color image of the drivable region and V channel characteristics of the color image of the drivable region in HSV space of the color image of the drivable region; acquiring the second-order distance, contrast, correlation, entropy and inverse difference of the color image of the drivable region according to the H-channel characteristic of the color image of the drivable region and the V-channel characteristic of the color image of the drivable region; and obtaining a third detection result according to the second order distance, the contrast, the correlation, the entropy, the inverse difference and a support vector machine (SVM, support Vector Machine, SVM) algorithm of the color image of the drivable region.
In some embodiments, a color image of a road area of a pavement is acquired by an image sensor mounted in front of a vehicle.
In some embodiments, a gray scale map is obtained using a weighted average method, the formula of which is as follows;
;
wherein, Coordinates in a colour image of a road area of a pavementCorresponding gray scale of the pixel points;
coordinates in a colour image of a road area of a pavement The brightness or intensity value of the corresponding red channel of the pixel point of (a);
coordinates in a colour image of a road area of a pavement Brightness or intensity values of the corresponding green channel of the pixel points of (a);
coordinates in a colour image of a road area of a pavement The brightness or intensity value of the corresponding blue-red channel of the pixel point.
In the implementation process, the weighted average method is selected for graying treatment, the weighted average method keeps the color information of the original image to a greater extent, the grayed image is more reasonable, the characteristics are more obvious, and the influence on the subsequent color characteristic extraction is smaller.
After the gray scale map is obtained, a gray scale histogram is obtained by binarization processing.
In some embodiments, the gray level histogram may be obtained by the following formula:
;
wherein, Is the coordinates in the gray level histogramThe corresponding gray scale frequency of the pixel points of (c), in some embodiments,=1,Gray-scale histogram, i.e. binary image, =1.
In some embodiments of the present invention, in some embodiments,Representing the threshold, the thresholding operation may be seen as a function of the gray level of a point in the image, some local characteristic of that point, and the position of that point in the image. This is prior art and will not be described in detail here.
In some embodiments of the present invention, in some embodiments,But also a preset value.
In some embodiments, since the color features of the road surface are obvious under the conditions of drying, icing, snow accumulation and the like, the features of the image after graying are obvious, and are not black or white, a threshold segmentation method based on the gray value of the road surface partial image is adopted, after threshold segmentation, a black irrelevant area taking the road edge stone as a boundary is used for filtering and denoising the image, and then a drivable area is obtained.
Illustratively, the H-channel characteristics of the road surface image and the V-channel characteristics of the color image of the drivable region may be acquired by: reading an RGB color image; color space conversion; reading pixel information of each component of the HSV image, and drawing a gray level histogram of each component of the HSV image; and (5) comparing H, S, V features of different road surface states, and selecting the most obvious component features. The H component histogram in the pavement image is discrete and not concentrated, and is suitable for being used as a characteristic parameter; most of the S component histograms are concentrated in a range of 0-0.3, and are not suitable for being used as characteristic parameters; the V component histogram features have obvious interval, obvious distinction and high-low peak identification, and the H channel and the V channel in the HSV space are selected to extract and calculate the features of the image.
In some embodiments, the second order distance may be obtained by the following formula:
;
the contrast of the second step can be obtained by the following formula:
;
the correlation of the second order distance can be obtained by the following formula:
;
the entropy of the second order distance can be obtained by the following formula:
;
The inverse distance of the second order distance can be obtained by the following formula:
;
wherein, Is a second order distance; Is contrast; Is a correlation; Is entropy; is the inverse gap; For the horizontal pixel point maximum coordinates and the vertical pixel point maximum coordinates, Is the coordinatesThe H-channel characteristics and/or V-channel characteristics of the pixel (including but not limited to: brightness or intensity etc.),、、、、Is a preset value.
The core of the SVM is to have the largest separation of the separate classes, which has a higher confidence and can have a better predictive effect on unknown samples. The SVM's solution to describe the maximum interval is: the hyperplanes C1 and C2 parallel to the hyperplane and equidistant from each other are found to have the greatest distance, and the points on C1 and C2 are theoretically the closest points to the separating hyperplane.
The training and testing problem of the road surface characteristic parameters is converted into an optimal solution problem through an SVM algorithm.
The training process of the SVM is a prior art and will not be described in detail here. In the application, the SVM is trained through the historical training data to obtain a trained SVM algorithm, and the second order distance, the contrast, the correlation, the entropy and the inverse difference distance of the color image of the drivable region are input into the trained SVM algorithm to obtain a third detection result.
In the implementation process, the color characteristics of the pavement under the conditions of drying, icing, snow accumulation and the like are obvious, so that the characteristics of the image after graying are also obvious, and the drivable area can be accurately extracted from the segmented gray histogram. In different road conditions, the change of the H channel characteristics and the V channel characteristics is obvious, so that the second step, the contrast, the correlation, the entropy and the inverse difference are obtained according to the H channel characteristics and the V channel characteristics of the drivable region, and the third detection result can be accurately obtained according to the second step, the contrast, the correlation, the entropy, the inverse difference and the SVM algorithm of the color image of the drivable region.
In some embodiments, acquiring the icing condition of the road surface based on the plurality of detection results comprises: obtaining the score of each icing state corresponding to each detection result according to the weight corresponding to each detection result; and acquiring the icing state of the road surface according to the score corresponding to each prediction condition.
In some embodiments, the weights of the first, second, and third test results are empirically set to 0.3, 0.2, and 0.5, respectively.
Illustratively, referring to FIG. 1, icing conditions for a road surface may be detected for different detection methods.
Table 1 different detection methods can detect ice formation on road surfaces
In the above figure, v indicates that the detection method can detect the corresponding road surface icing condition, and x indicates that the detection method cannot detect the corresponding road surface icing condition.
Based on the result set, a soft voting-based model fusion technology is adopted, prediction results of a plurality of basic models are combined, and respective prediction confidence degrees of the models are considered, so that more accurate and stable overall prediction is obtained. The model fusion flow is as follows: firstly, setting a weight for the prediction output of basic modules such as optical detection, laser detection, image detection and the like, and setting the result weights of the optical detection, the laser detection and the image detection to be 0.3, 0.2 and 0.5 respectively according to experience; and multiplying the prediction result of each module by corresponding weight, adding the weighted results, taking the condition of the maximum weighted sum as a final decision result, taking the table 2 as an effective decision result, and finally obtaining four effective outputs, wherein the icing score is the maximum, and the final detection result is dry.
Table 2 road surface condition decision results
In the implementation process, different icing condition detection methods have different accuracies, and the total score of each icing condition is obtained according to the weight corresponding to each detection result and the score of each detection result on different icing conditions; the accuracy of the icing state can be further improved by acquiring the icing state of the road surface according to the total score of each icing state.
Referring to fig. 4, an embodiment of the present application further provides a device for detecting an icing condition of a road surface, including:
The road surface temperature acquisition module 1 is used for acquiring the road surface temperature;
The detection data acquisition module 2 is used for acquiring detection data for detecting the icing state of the road surface when the temperature of the road surface meets preset conditions;
The detection module 3 is used for processing different detection data by utilizing different icing state detection methods to obtain a plurality of detection results output by the different icing state detection methods;
and the icing state acquisition module 4 is used for acquiring the icing state of the pavement according to a plurality of detection results.
The apparatus is further configured to perform the steps of the above method, which are not described herein.
The application further provides an electronic device, please refer to fig. 5, and fig. 5 is a block diagram of an electronic device according to an embodiment of the application. The electronic device may include a processor 51, a communication interface 52, a memory 53, and at least one communication bus 54. Wherein the communication bus 54 is used to enable direct connection communication of these components. The communication interface 52 of the electronic device in the embodiment of the present application is used for performing signaling or data communication with other node devices. The processor 51 may be an integrated circuit chip with signal processing capabilities.
The processor 51 may be a general-purpose processor, including a central processing unit (CPU, centralProcessingUnit), a network processor (NP, networkProcessor), etc.; but may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present application may be implemented or performed. The general purpose processor may be a microprocessor or the processor 51 may be any conventional processor or the like.
The Memory 53 may be, but is not limited to, random access Memory (RAM, randomAccessMemory), read Only Memory (ROM), programmable Read Only Memory (PROM, programmable Read-Only Memory), erasable Read Only Memory (EPROM, erasable Programmable Read-Only Memory), electrically erasable Read Only Memory (EEPROM, electric Erasable Programmable Read-Only Memory), and the like. The memory 53 has stored therein computer readable instructions which, when executed by the processor 51, can perform the steps involved in the above-described method embodiments.
Optionally, the electronic device may further include a storage controller, an input-output unit.
The memory 53, the memory controller, the processor 51, the peripheral interface, and the input/output unit are electrically connected directly or indirectly to each other, so as to realize data transmission or interaction. For example, the components may be electrically coupled to each other via one or more communication buses 54. The processor 51 is adapted to execute executable modules stored in the memory 53, such as software functional modules or computer programs comprised by the electronic device.
The input-output unit is used for providing the user with the creation task and creating the starting selectable period or the preset execution time for the task so as to realize the interaction between the user and the server. The input/output unit may be, but is not limited to, a mouse, a keyboard, and the like.
It will be appreciated that the configuration shown in fig. 5 is merely illustrative, and that the electronic device may also include more or fewer components than shown in fig. 5, or have a different configuration than shown in fig. 5. The components shown in fig. 5 may be implemented in hardware, software, or a combination thereof.
The embodiment of the application also provides a storage medium, on which instructions are stored, which when executed on a computer, implement the method of the method embodiment when the computer program is executed by a processor, and in order to avoid repetition, the description is omitted here.
The application also provides a computer program product which, when run on a computer, causes the computer to perform the method of the method embodiment.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The apparatus embodiments described above are merely illustrative, for example, of the flowcharts and block diagrams in the figures that illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in the embodiments of the present application may be integrated together to form a single part, or each module may exist alone, or two or more modules may be integrated to form a single part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored on a computer readable storage medium. Based on this understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments of the present application are only examples, and are not intended to limit the scope of the present application, and various modifications and variations will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
The foregoing is merely illustrative embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily think about variations or substitutions within the technical scope of the present application, and the application should be covered. Therefore, the protection scope of the application is subject to the protection scope of the claims.
It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
Claims (5)
1. A method for detecting icing conditions of a roadway, comprising:
Obtaining the temperature of a road surface;
when the pavement temperature meets preset conditions, acquiring detection data for detecting the icing state of the pavement;
processing different detection data by using different icing state detection methods to obtain a plurality of detection results output by the different icing state detection methods;
acquiring the icing state of the road surface according to the detection results;
The obtaining the road surface temperature comprises the following steps:
The road surface temperature is obtained through an infrared temperature measuring module, the infrared temperature measuring module is arranged on a front bumper of a vehicle, and an angle formed by the infrared temperature measuring module and a plane where the bottom of a wheel is positioned is within a preset range;
when the road surface temperature meets a preset condition, acquiring sensing data for detecting the icing state of the road surface, wherein the sensing data comprises the following steps:
If the acquired road surface temperature through the infrared temperature measuring module and the acquired environment temperature through the temperature sensor are smaller than a preset temperature threshold value, acquiring data for detecting the icing state of the road surface;
the obtaining detection data for detecting the icing state of the road surface comprises the following steps:
continuously acquiring a first distance from a first laser range finder to a road surface, wherein the first distance is measured by the first laser range finder arranged at the tail part of a vehicle;
Continuously acquiring a second distance from a second laser range finder, which is measured by the second laser range finder arranged on the head of the vehicle, to the road surface;
The laser emitted by the first laser range finder is perpendicular to the plane where the bottom of the wheel is located, and the laser emitted by the second laser range finder is not perpendicular to the road surface;
The method for detecting the icing state comprises the steps of processing different detection data by using different icing state detection methods to obtain a plurality of detection results output by the different icing state detection methods, and comprises the following steps:
acquiring a second detection result according to the first distance and the second distance and the installation angle of the second laser range finder;
the obtaining detection data for detecting the icing state of the road surface comprises the following steps:
Transmitting a first light ray and a second light ray to a road surface, wherein the wavelength range of the first light ray is 1.4-2.4 mu m, and the wavelength range of the second light ray is 2-3.2 mu m;
receiving a first reflected light ray corresponding to the first light ray reflected by the road surface and a second reflected light ray corresponding to the second light ray reflected by the road surface;
The method for detecting the icing state comprises the steps of processing different detection data by using different icing state detection methods to obtain a plurality of detection results output by the different icing state detection methods, and comprises the following steps:
acquiring a first detection result according to the reflectivity of the first reflected light and the reflectivity of the second reflected light;
The obtaining a second detection result according to the first distance and the second distance and the installation angle of the second laser range finder comprises the following steps:
obtaining a vertical thickness change curve of the road surface according to the first distance and the second distance and the installation angle of the second laser range finder;
acquiring the second detection junction according to the vertical thickness change curve of the pavement;
The obtaining the icing state of the road surface according to the detection results comprises the following steps:
acquiring the total score of each icing state according to the weight corresponding to each detection result and the score of each detection result about different icing states;
And acquiring the icing state of the road surface according to the total score of each icing state.
2. The method according to claim 1, wherein the acquiring detection data for road surface icing condition detection comprises:
acquiring a color image of a pavement road area;
processing different detection data by using different icing state detection methods to obtain a plurality of detection results output by the different icing state detection methods, wherein the detection results comprise:
Acquiring a gray level histogram of the pavement road area according to the color image of the pavement road area;
threshold segmentation is carried out on the gray level histogram of the road surface road area, and a travelable area is extracted from the segmented gray level histogram;
Acquiring a color image of the drivable region;
Extracting H channel characteristics of the color image of the drivable region and V channel characteristics of the color image of the drivable region in HSV space of the color image of the drivable region;
Acquiring the second step distance, contrast, correlation, entropy and inverse difference distance of the color image of the drivable region according to the H-channel characteristic of the color image of the drivable region and the V-channel characteristic of the color image of the drivable region;
And obtaining a third detection result according to the second order distance, the contrast, the correlation, the entropy, the inverse difference and the SVM algorithm of the color image of the drivable region.
3. A road surface icing condition detection device, comprising:
the road surface temperature acquisition module is used for acquiring the road surface temperature;
The detection data acquisition module is used for acquiring detection data for detecting the icing state of the road surface when the road surface temperature meets a preset condition;
The detection module is used for processing different detection data by utilizing different icing state detection methods to obtain a plurality of detection results output by the different icing state detection methods;
the icing state acquisition module is used for acquiring the icing state of the road surface according to the detection results;
The obtaining the road surface temperature comprises the following steps:
The road surface temperature is obtained through an infrared temperature measuring module, the infrared temperature measuring module is arranged on a front bumper of a vehicle, and an angle formed by the infrared temperature measuring module and a plane where the bottom of a wheel is positioned is within a preset range;
when the road surface temperature meets a preset condition, acquiring sensing data for detecting the icing state of the road surface, wherein the sensing data comprises the following steps:
If the acquired road surface temperature through the infrared temperature measuring module and the acquired environment temperature through the temperature sensor are smaller than a preset temperature threshold value, acquiring data for detecting the icing state of the road surface;
the obtaining detection data for detecting the icing state of the road surface comprises the following steps:
continuously acquiring a first distance from a first laser range finder to a road surface, wherein the first distance is measured by the first laser range finder arranged at the tail part of a vehicle;
Continuously acquiring a second distance from a second laser range finder, which is measured by the second laser range finder arranged on the head of the vehicle, to the road surface;
The laser emitted by the first laser range finder is perpendicular to the plane where the bottom of the wheel is located, and the laser emitted by the second laser range finder is not perpendicular to the road surface;
The method for detecting the icing state comprises the steps of processing different detection data by using different icing state detection methods to obtain a plurality of detection results output by the different icing state detection methods, and comprises the following steps:
acquiring a second detection result according to the first distance and the second distance and the installation angle of the second laser range finder;
the obtaining detection data for detecting the icing state of the road surface comprises the following steps:
Transmitting a first light ray and a second light ray to a road surface, wherein the wavelength range of the first light ray is 1.4-2.4 mu m, and the wavelength range of the second light ray is 2-3.2 mu m;
receiving a first reflected light ray corresponding to the first light ray reflected by the road surface and a second reflected light ray corresponding to the second light ray reflected by the road surface;
The method for detecting the icing state comprises the steps of processing different detection data by using different icing state detection methods to obtain a plurality of detection results output by the different icing state detection methods, and comprises the following steps:
acquiring a first detection result according to the reflectivity of the first reflected light and the reflectivity of the second reflected light;
The obtaining a second detection result according to the first distance and the second distance and the installation angle of the second laser range finder comprises the following steps:
obtaining a vertical thickness change curve of the road surface according to the first distance and the second distance and the installation angle of the second laser range finder;
acquiring the second detection junction according to the vertical thickness change curve of the pavement;
The obtaining the icing state of the road surface according to the detection results comprises the following steps:
acquiring the total score of each icing state according to the weight corresponding to each detection result and the score of each detection result about different icing states;
And acquiring the icing state of the road surface according to the total score of each icing state.
4. An electronic device, comprising: memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method according to claim 1 or 2 when executing the computer program.
5. A computer readable storage medium having instructions stored thereon which, when run on a computer, cause the computer to perform the method of claim 1 or 2.
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