WO2022156339A1 - Method and apparatus for determining road accumulation information - Google Patents

Method and apparatus for determining road accumulation information Download PDF

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Publication number
WO2022156339A1
WO2022156339A1 PCT/CN2021/131567 CN2021131567W WO2022156339A1 WO 2022156339 A1 WO2022156339 A1 WO 2022156339A1 CN 2021131567 W CN2021131567 W CN 2021131567W WO 2022156339 A1 WO2022156339 A1 WO 2022156339A1
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Prior art keywords
target
accumulation
area
depth
moment
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PCT/CN2021/131567
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French (fr)
Chinese (zh)
Inventor
乔得志
刘建琴
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华为技术有限公司
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Publication of WO2022156339A1 publication Critical patent/WO2022156339A1/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G06F17/18—Complex mathematical operations for evaluating statistical data, e.g. average values, frequency distributions, probability functions, regression analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads

Definitions

  • the present application relates to the field of smart cars, and in particular, to a method and device for determining information on road deposits.
  • road accumulation information such as road water information, road snow accumulation
  • the smart car can obtain the road water information corresponding to a certain road section in advance, it can determine whether the road section can pass completely according to the road water information, thereby avoiding some possible existing problems. risk.
  • the road accumulation information pushed to the smart car contains less content, for example, the road accumulation information only includes the accumulation range information and the approximate depth of the accumulation area. Therefore, the smart car cannot obtain more useful content through the existing road accumulation information, so that the smart car cannot perform reasonable and effective path planning and other functions based on the existing road accumulation information.
  • the present application provides a method and device for determining road accumulation information, which can improve the content richness of road accumulation information, and enable the second device that receives the road accumulation information to be more effectively and reasonably realized. path planning and other functions.
  • the methods proposed in the embodiments of the present application may be executed by a computing device supporting a wireless communication function.
  • the so-called computing device refers to a device that can be abstracted into a computer system.
  • the computing device may be the entire machine of the first device, or a part of the device in the first device, such as a chip system with a wireless communication function in the first device, a logic circuit (such as field programmable gate array (field programmable gate array, FPGA)) and so on.
  • FPGA field programmable gate array
  • the above-mentioned first device is specifically a device that is fixed on both sides of the road and has functions of detecting environmental parameters (such as weather, environmental images, etc.) and wireless communication.
  • environmental parameters such as weather, environmental images, etc.
  • wireless communication For example, roadside unit (RSU) or monitoring equipment of roadside buildings, etc.
  • RSU roadside unit
  • Some of the devices in the first device may specifically be in the RSU or the monitoring device of the roadside building.
  • the system chip and the wireless communication module (such as a communication chip including a radio frequency processing chip and a baseband processing chip, etc.) serving the system chip, etc.
  • the computing device may also be the whole machine of the second device, or a part of the device in the second device, such as a chip system and a logic circuit with a wireless communication function in the second device.
  • the above-mentioned second device may specifically be a smart car or a telematics box (T-box) on a smart car, a map server (including a local server and/or a cloud server) used by the smart car, a city management department The management server used, etc.
  • Some devices in the second device may be the on-board system of the smart car or the system chip and communication chip of the T-box of the smart car, or the system chip in the map server or the management server and the wireless communication for the system chip. modules etc. It should be understood here that, the foregoing description of the first device or the second device is exemplary, and not specifically limited. Hereinafter, for the convenience of understanding and distinction, the description will be replaced by the first device and the second device.
  • an embodiment of the present application provides a method for determining road accumulation information.
  • the method is applicable to the first device.
  • the method includes: the first device determines target road accumulation information corresponding to the target accumulation area.
  • the target road accumulation information at least includes the update frequency of the target road accumulation information, the first time when the target road accumulation information was generated, and the first surface of the target accumulation area at the second time. position information, and the first accumulation depth of the lowest point of the road surface in the target accumulation area at the second time or the first danger level of the target accumulation area at the second time.
  • the first surface position information is used to indicate the area area and area position of the target accumulation area at the second moment, the first danger level is determined from the first accumulation depth, and the second moment is at the second moment. before said first moment.
  • the first device sends the target road accumulation information to the second device.
  • the target road accumulation information is used for the second device to perform path planning or urban emergency management.
  • the first device determines the first surface position information including the update frequency, the first time, and the target accumulation area at the preset second time, and the lowest point of the road surface in the target accumulation area is in the above-mentioned
  • the target road accumulation information of information attributes such as the first accumulation depth or the first danger level corresponding to the second time.
  • the second device can accurately determine the accumulation state of the accumulation on the road based on the target road accumulation information, so that the second device can reasonably and It can effectively realize functions such as path planning or urban emergency management.
  • the first device may acquire N first distances in preset directions between the lowest point of the road surface and N depth reference points at the second moment.
  • the preset direction is the vertical line direction of the surface of the accumulation object in the target accumulation area
  • the N depth reference points are located on N preset reference objects around the target accumulation area
  • the A first distance corresponds to the lowest point of the road surface and each depth reference point
  • N is a positive integer greater than or equal to 1.
  • the first device acquires N second distances in the preset direction between the surface of the accumulated object and the N depth reference points at the second moment.
  • a second distance corresponds to the surface of the accumulation object and each depth reference point.
  • the first device determines the first accumulation depth according to the N first distances and the N second distances.
  • 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 accumulation object in the preset direction, which can improve the acquisition accuracy of the first accumulation depth, and further improve the Accuracy and validity of target road accumulation information.
  • the first device determines that the N depth reference points are at the second moment according to the N first distances and the N second distances The corresponding N distance differences.
  • the first device determines an average value of the N distance differences as the first accumulation depth.
  • the average value of the distance differences 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 is determined as the above-mentioned first accumulation depth.
  • the method is simple and easy to implement, and the first accumulation depth can be improved. acquisition efficiency.
  • the target road accumulation information further includes the first depth change speed of the target accumulation area at the second moment, the target accumulation area in the One or more items of the first depth change acceleration at the second time, the initial accumulation time corresponding to the target accumulation area, and the position information of the lowest point of the road surface.
  • one or more items 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, which can further improve the target The content richness of road deposit information.
  • the preset detection area of the first device is divided into M1 grid areas based on a preset area division rule, and each grid area includes one grid point.
  • the M1 is a positive integer.
  • the target road accumulation information further includes: position information of each first target grid area in the M2 first target grid areas, and/or each first target included in each first target grid area The storage depth of grid points at the second moment.
  • the first target grid area is a grid area with accumulated objects at the second moment among the M1 grid areas
  • the M2 is a positive integer less than or equal to M1.
  • the position information of each first target grid area is further added to the target road accumulation information, and/or the accumulation depth corresponding to each first target grid point at the second time, so that the above target road accumulation information can be More comprehensively indicate the accumulation depth of each different position in the target accumulation area at the second moment, so that the subsequent second device can more comprehensively judge the accumulation state of the target accumulation area based on the information of the target road accumulation, so that the first The second device can more reasonably and effectively realize functions such as path planning or urban emergency management.
  • the target road accumulation information includes: a third time after the first time, a second time corresponding to the target accumulation area at the third time one or more of surface location information, the second accumulation depth of the lowest point of the road surface in the target accumulation area at the third moment, and the second danger level of the target accumulation area at the third moment, Wherein, the second danger level is determined by the second accumulation depth.
  • One or more items 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 target road accumulation information is further improved. so that the second device can obtain the accumulation state of the target accumulation area at the third moment in the future based on the information of the target road accumulation, so that the second device can more reasonably and effectively implement path planning or urban emergency management and other functions.
  • the second accumulation depth is determined by the first depth change speed, the first depth change acceleration, and the time difference between the second moment and the third moment Sure.
  • the first device obtains the grid points in each grid area of the M1 grid areas and the preset detection point of the first device is in the The third distance in the preset direction.
  • the first device determines, according to the second accumulation depth, a fourth distance in the preset direction between the surface of the accumulation object in the target accumulation area at the third moment and the preset detection point.
  • the first device determines from the M1 grid areas according to the third distance and the fourth distance between the grid points in the grid areas and the preset detection point in the preset direction Out M3 second target grid areas.
  • the second target grid area is a grid area with accumulated objects at the third moment
  • the M3 is a positive integer less than or equal to M1.
  • the first device determines the second surface position information according to the M3 second target grid areas.
  • the target road accumulation information further includes: 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 instant.
  • the position information of each second target grid area in the M3 second target grid areas is further added to the target road accumulation information, and/or, each second target grid point included in each second target grid area
  • the accumulation depth at the third moment further improves the richness of the target road accumulation information, so that the subsequent second device can more reasonably and effectively implement path planning or urban emergency management based on the target road accumulation information. Function.
  • the update frequency of the target road accumulation information is determined by the real-time weather state of the region where the first device is located.
  • an embodiment of the present application provides a method for determining road accumulation information, and the method is applicable to a second device.
  • the method includes: the second device receives target road accumulation information corresponding to the target accumulation area from the first device.
  • the target road accumulation information at least includes the update frequency of the target road accumulation information, the first time when the first device generates the target road accumulation information, and the target accumulation area at the second time and the first accumulation depth of the lowest point of the road surface in the target accumulation area at the second moment or the first danger level of the target accumulation area at the second moment.
  • the first surface position information is used to indicate the area area and area position of the target accumulation area at the second moment, the first danger level is determined from the first accumulation depth, and the second moment is at the second moment. before said first moment.
  • the second device performs route planning or urban emergency management according to the target road accumulation information.
  • the target road accumulation information further includes the first depth change speed of the target accumulation area at the second moment, the target accumulation area at the One or more items of the first depth change acceleration at the second time, the initial accumulation time corresponding to the target accumulation area, and the position information of the lowest point of the road surface.
  • the preset detection area of the first device is divided into M1 grid areas based on a preset area division rule, and each grid area includes one grid point.
  • the M1 is a positive integer.
  • the target road accumulation information further includes: position information of each first target grid area in the M2 first target grid areas, and/or each first target included in each first target grid area The accumulation depth of grid points at the second moment, wherein the first target grid area is the grid area in which there is accumulation at the second moment among the M1 grid areas, and the M2 is less than Or a positive integer equal to M1.
  • the target road accumulation information further includes: a third time after the first time, a second corresponding to the target accumulation area at the third time one or more of surface location information, the second accumulation depth of the lowest point of the road surface in the target accumulation area at the third moment, and the second danger level of the target accumulation area at the third moment, Wherein, the second danger level is determined by the second accumulation depth.
  • the second accumulation depth is determined by the first depth change speed, the first depth change acceleration, and the time difference between the second moment and the third moment Sure.
  • an apparatus is provided by an embodiment of the present application.
  • the device may be the first device itself, or may be an element or module such as a chip inside the first device.
  • the device includes a unit for executing the method for determining road accumulation information provided by any one of the possible implementations of the first aspect, so it can also be provided for implementing the method for determining road accumulation information provided by the first aspect. beneficial effects (or advantages).
  • an apparatus is provided by an embodiment of the present application.
  • the device may be the second device itself, or may be an element or module such as a chip inside the second device.
  • the device includes a unit for executing the method for determining road accumulation information provided by any one of the possible implementations of the second aspect, so it can also be provided for implementing the method for determining road accumulation information provided by the second aspect. beneficial effects (or advantages).
  • an embodiment of the present application provides an apparatus, and the apparatus 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 road accumulation information provided by any possible implementation manner of the first aspect.
  • an embodiment of the present application provides an apparatus, and the apparatus 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 road accumulation information provided by any possible implementation manner of the second aspect.
  • an embodiment of the present application provides a chip.
  • the chip includes: at least one processor and an interface circuit.
  • the interface circuit is used to receive code instructions and transmit them to the processor.
  • the processor is configured to run the above code instructions to implement the method for determining road accumulation information provided by any possible implementation manner of the above first aspect or the second aspect, and can also implement any one of the above first aspect or the second aspect.
  • the beneficial effects (or advantages) of the method for determining road accumulation information provided by possible embodiments.
  • an embodiment of the present application provides a computer-readable storage medium, where an instruction is stored in the computer-readable storage medium, and when the instruction is executed on a computer, any one of the above-mentioned first aspect or the second aspect is implemented
  • the method for determining road accumulation information provided by the possible embodiments can also achieve the beneficial effects (or advantages) provided by the method for determining road accumulation information provided by any possible implementation of the first aspect or the second aspect. ).
  • an embodiment of the present application provides a computer program product containing instructions, when the computer program product is run on a computer, the computer program product enables the computer to execute any one of the possible implementations of the first aspect or the second aspect.
  • the method for determining road accumulation information can also achieve the beneficial effects (or advantages) provided by the method for determining road accumulation information provided by any possible implementation manner of the first aspect or the second aspect.
  • an embodiment of the present application provides a communication system, where the communication system includes the above-mentioned first device and the second device.
  • the first device may detect and generate the first surface position information at least including the update frequency, the first moment, the target storage area at a preset second moment, and the target storage area
  • the target road accumulation information of the information attribute such as the first accumulation depth or the first danger level corresponding to the lowest point of the road surface at the above-mentioned second time, and the target road accumulation information is sent to the second device.
  • the content of the accumulated object information on the target road is enriched, so that the second device can more accurately determine the accumulation state of the accumulated objects on the road based on the accumulated object information on the target road, so that the second device can be more reasonable and effective. Realize functions such as route planning or urban emergency management.
  • FIG. 1 is a schematic structural diagram of a communication system provided by an embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a method for determining road accumulation information provided by an embodiment of the present application
  • FIG. 3 is a schematic diagram of a depth detection scene provided by an embodiment of the present application.
  • FIG. 4 is a schematic diagram of another depth detection scene provided by an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a grid division scene provided by the present application.
  • FIG. 6 is a schematic diagram of a scene for determining a second target grid area provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a device provided by an embodiment of the present application.
  • FIG. 8 is another schematic structural diagram of a device provided by an embodiment of the present application.
  • FIG. 9 is another schematic structural diagram of a device provided by an embodiment of the present application.
  • FIG. 10 is a schematic structural diagram of a chip according to an embodiment of the present application.
  • FIG. 11 is another schematic structural diagram of a chip provided by an embodiment of the present application.
  • FIG. 12 is another schematic structural diagram of an apparatus provided by an embodiment of the present application.
  • FIG. 1 is a schematic structural diagram of a communication system provided by an embodiment of the present application, and the method for determining road accumulation information provided by an embodiment of the present application is applicable to the communication system.
  • the communication system may include a first device and a second device. Communication between the first device and the second device is possible through a network.
  • the network may be based on a long term evolution (LTE) system, a universal mobile telecommunication system (UMTS), a worldwide interoperability for microwave access (WiMAX) communication system, a fifth generation ( 5th generation, 5G) system or new radio (new radio, NR) system, etc., this application does not make specific limitations.
  • LTE long term evolution
  • UMTS universal mobile telecommunication system
  • WiMAX worldwide interoperability for microwave access
  • 5th generation, 5G fifth generation
  • new radio new radio
  • the above-mentioned first device may be a device that is fixed on both sides of the road and has functions of detection and communication of environmental parameters (such as weather, environmental images, etc.).
  • the above-mentioned first device may specifically be a roadside unit (road side unit, RSU) and other devices.
  • the above-mentioned second device is a device that can receive and use road accumulation information.
  • the above-mentioned second device may specifically be a smart car, an in-vehicle system on a smart car, a map server used by the smart car, a management server used by a city management department, and the like.
  • the above-mentioned smart car includes various types of vehicles.
  • the in-vehicle system of a smart car may include in-vehicle software (ie, a computing platform) and hardware (such as cameras, radars, processing chips, etc.).
  • the road accumulation information pushed to the smart car contains less content, for example, the road accumulation information only includes the accumulation area information and the approximate depth of the accumulation area. Therefore, the smart car cannot obtain more useful content through the existing road accumulation information, so that the smart car cannot perform reasonable and effective path planning and other functions based on the existing road accumulation information.
  • the technical problem to be solved by this application is: how to improve the richness of the content of the road accumulation information, so that the user of the road accumulation information (such as smart cars, etc.) can more effectively and reasonably realize functions such as path planning.
  • FIG. 2 is a schematic flowchart of a method for determining road accumulation information provided by an embodiment of the present application.
  • 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 .
  • the communication method includes the steps:
  • the first device determines target road accumulation information corresponding to the target accumulation area.
  • the first device determines that it needs to send the target road storage information to the second communication, it can obtain the content to be included in the target road storage information and determine the target road according to the content.
  • Stockpiling information includes a plurality of information attributes for describing the state of the target accumulation area and the road accumulations (such as accumulated water or snow) in the target accumulation area.
  • the target accumulation area is an area where road accumulations exist on the road surface within the detection area preset by the first device. The area and range of the target accumulation area will change with the increase or decrease of accumulations in the target accumulation area.
  • the information attributes included in the above-mentioned target road accumulation information may include the update frequency of the target road accumulation information, the time at which the target road accumulation information is generated (for the convenience of distinction, the following will be referred to as The first moment replaces the description), the surface position information of the target storage area at the preset second moment (for the convenience of distinction, the description will be replaced by the first surface position information below), and the lowest point of the road surface in the above-mentioned target storage area is The accumulation depth corresponding to the second moment (for the convenience of distinction, the description will be replaced by the first accumulation depth below) or the danger level corresponding to the target accumulation area at the second moment (for the convenience of distinction, the following will be the first accumulation depth) Hazard class instead of description).
  • the update frequency of the above-mentioned target road accumulation information is the frequency at which the first device updates the content of various information attributes included in the target road accumulation information.
  • the above-mentioned first time is the time when the first device generates the information about the accumulated objects on the target road.
  • the second time is a certain time before the first time
  • the second surface location information is surface location information detected by the first device at the second time that can be used to indicate the storage range and area of the target storage area.
  • the surface position information may specifically be the world coordinates of the geometrical points of the target storage area or the coordinates of these geometrical points relative to the first device.
  • the above-mentioned first accumulation depth is the depth of the accumulation on the lowest point of the road surface in the target accumulation area detected by the first device at the second moment.
  • the above-mentioned first risk level is quantified and obtained by the first device based on the first accumulation depth, and indicates the degree of risk corresponding to the target accumulation area at the second moment.
  • the update frequency of the above-mentioned target road accumulation information may be a fixed frequency preconfigured by the first device, or may be dynamically adjusted by the first device according to the real-time weather state of the region where the first device is located.
  • the first device can obtain the real-time weather state of the area where it is located, and then finds the corresponding update frequency from the preset update frequency indication set according to the real-time weather state, and determines the update frequency as the target road accumulation Information update frequency. Then, the first device can update the content of the information attribute included in the target road accumulation information according to the update frequency.
  • the above-mentioned update frequency indication set includes at least one real-time weather state and an update frequency corresponding to each real-time weather state.
  • Table 1-1 is an update frequency indication set provided by this embodiment of the present application.
  • the update frequency indication set includes four real-time weather states: heavy to heavy rain, moderate rain, light rain and no rain, and corresponding 30 seconds/time, 3 minutes/time, 3 hours/time Times and 24 hours / times these four update frequencies.
  • the real-time weather state obtained by the first device in the region where it is located is from heavy to heavy rain, it can be determined that the update frequency of the accumulated object information on the target road is 30 seconds/time.
  • the location information of the first surface may be detected by the first device at the second moment.
  • the first device may collect a road image including the target storage area through a camera at the second moment.
  • the first device may process the acquired road image by using a preset image processing algorithm to determine the boundary position between the road surface and the surface of the accumulation object in the target accumulation area from the road image, and determine the boundary position between the road surface and the surface of the accumulation object in the target accumulation area according to the boundary position and the camera.
  • the shooting angle of determines the boundary of the target accumulation area.
  • the first device may acquire the position information of the geometrical point bounded by the target storage area, and determine the acquired positional information of the geometrical point as the above-mentioned first surface position information.
  • the above-mentioned first depth may also be detected by the first device at the above-mentioned second moment.
  • the present application provides various specific implementation manners for detecting the first accumulation depth by the first device, and the various specific implementation manners will be described below respectively.
  • the first implementation method of detecting the first accumulation depth :
  • FIG. 3 is a schematic diagram of a depth detection scene provided by an embodiment of the present application.
  • the first device can obtain the distance between the preset detection point and the lowest point of the road surface in the target accumulation area in the preset direction at the second moment (for the convenience of distinction, the following description will be replaced by the fifth distance H5 ) and the distance between the preset detection point and the accumulation surface of the road accumulation in the target accumulation area in the above-mentioned preset direction (for convenience of distinction, the description will be replaced by the sixth distance H6 below).
  • the above-mentioned preset detection point is on the second device, such as where the camera on the second device is located.
  • the above-mentioned preset direction is the vertical line direction of the surface of the accumulated object.
  • the first device can obtain an image including the lowest point of the road through the camera on the preset detection point at the second moment, and process the image to obtain the straight-line distance between the preset detection point and the lowest point of the road, and The angle formed by the straight line connecting the preset detection point and the lowest point of the road surface and the vertical line of the surface of the deposit (it is assumed to be the first angle here). Then, the first device can obtain the fifth distance H5 by processing 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.
  • the first device can also acquire an image containing the surface of the above-mentioned accumulated object through the camera on the preset detection point at the second moment, and then perform image processing on the image to obtain the preset detection point and the surface of the above-mentioned accumulated object.
  • the straight line distance of any one of the above surface detection points and the angle formed by the line formed by the connection between the preset detection point and the surface detection point and the vertical line of the surface of the deposit (this is assumed to be the second angle).
  • 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 the triangular relationship to obtain the sixth distance H6.
  • the first storage depth may be quantified based on a preset quantification rule to obtain the first risk level. For example, it is assumed that the first device is preset with a hazard level A1, a hazard level A2, and a hazard level A3. Wherein, the danger level A1 corresponds to the first stagnant water range, the hazard level A2 corresponds to the second stagnant water range, and the hazard level A3 corresponds to the third stagnant water range. After acquiring the first accumulation depth, the first device can determine which one of the first accumulation depth, the second accumulation area and the third accumulation area is included in the first accumulation depth.
  • the first device determines that the first accumulation depth is included in the first accumulation range, it can determine that the first danger level is the danger level A1. If the first device determines that the first accumulation depth is included in the second water accumulation range, it can determine that the first danger level is the danger level A2. If the first device determines that the first accumulation depth is included in the third water accumulation range, the first danger level may be determined to be the danger level A3. Of course, the first device may also use other quantification methods to quantify the first accumulation depth to obtain the first danger level, which is not specifically limited in this application. It should also be noted here that since the above-mentioned first hazard level is obtained by quantifying the first ponding depth, the target road accumulation information may include only one of the first ponding depth and the first hazard level, so that the Avoid redundant content.
  • 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 road accumulation in the preset detection point and the target accumulation area can be obtained at the second time.
  • the above-mentioned second accumulation depth is determined by the distance of the accumulation surface of the material in the above-mentioned preset direction, the method is simple and easy to implement, and the data processing amount of the first device can be reduced.
  • N there may be N preset relatively stationary reference objects around the target storage area.
  • the reference objects may specifically be curbs, guardrails, light poles, etc. around the target storage area, which are not specifically limited in this application.
  • N is a positive integer greater than or equal to 1.
  • a total of N fixed depth reference points are set on the N preset reference objects, wherein one depth reference point is set on one reference object.
  • the first device may acquire N first distances in a preset direction between the lowest point of the road surface in the target storage area and the above-mentioned N depth reference points at the second moment.
  • a first distance corresponds to the lowest point of the road surface and each depth reference point.
  • the preset direction is the direction of the vertical line of the surface of the accumulation object in the target accumulation area.
  • the process for the first device to acquire the N first distances is the same as the principle for the first device to acquire the fifth distance H5 described in the above implementation manner, and the description is not repeated here.
  • the first device may also acquire N second distances in the preset direction between the surface of the accumulated object and the N depth reference points at the second moment.
  • a second distance corresponds to the surface of the deposit and each depth reference point.
  • the process for the first device to acquire the N second distances is the same as the principle for the first device to acquire the sixth distance H6 described in the first implementation manner, and the description is not repeated here.
  • the first device can further determine the first storage depth according to the N first distances and the N second distances. For example, the first device may separately calculate the 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 the average value of the N distance differences as the above second depth.
  • 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 accumulation in the preset direction, which can improve the acquisition accuracy of the first accumulation depth, thereby improving the target road accumulation. Accuracy and validity of information.
  • FIG. 4 is a schematic diagram of another depth detection scene provided by an embodiment of the present application.
  • a reference object 1 and a reference object 2 exist around the target area
  • a depth reference point 1 is set on the reference object 1
  • a depth reference point 2 is set on the reference object 2 .
  • the first device can obtain the first distance H1a between the depth reference point 1 and the lowest point of the road in the preset direction and the first distance H1b between the depth reference point 2 and the lowest point of the road in the preset direction at the second time. .
  • the average value of the distance differences 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 is determined as the above-mentioned first accumulation depth.
  • the method is simple and easy to implement, and the first accumulation depth can be improved. acquisition efficiency.
  • the first device can detect and generate the first surface position information at least including the update frequency, the first time, the target accumulation area at the preset second time, and the lowest point of the road surface in the target accumulation area
  • the target road accumulation information of the information attributes such as the first accumulation depth or the first danger level corresponding to the above-mentioned second time.
  • the richness of the content of the accumulated object information on the target road is improved, and the second device can more accurately determine the state of the accumulated objects on the road based on the accumulated object information on the target road, thereby enabling the second device to be more reasonable and efficient. It can effectively realize functions such as path planning or urban emergency management.
  • the above-mentioned target road accumulation information may also include the depth change speed corresponding to the target accumulation area at the second moment (For the convenience of distinction, the description will be replaced by the first depth change speed below), the depth change acceleration corresponding to the target accumulation area at the second moment (for the convenience of distinction, the description will be replaced by the first depth change acceleration below), the target accumulation area corresponds to One or more items of the initial accumulation time of , and the position information of the lowest point of the road.
  • the first device may continue to acquire the above-mentioned first depth change speed, first depth change acceleration, and corresponding to the target storage area.
  • One or more items of the initial accumulation time and the position information of the lowest point of the road surface and then generate the above-mentioned target road accumulation information according to the various information attributes obtained.
  • the first depth change speed corresponding to the target storage area at the second moment may be determined by the first device according to the first storage depth, the historical storage depth obtained by the first device, and the storage period. For example, assuming that the second time is t2, the first accumulation depth is Dt2, and the historical accumulation depth of the lowest point of the road detected by the first device at a certain time t1 before the second time is Dt1, the first device can The time t2, the time t1, the first accumulation depth Dt2 and the historical accumulation depth are calculated as Dt1 to obtain the above-mentioned first depth change speed.
  • the first depth change speed V2 satisfies the following relational expression (1):
  • the first depth change acceleration corresponding to the target accumulation area at the second moment may be determined by the first device according to the first depth change speed, the historical depth change speed obtained by the first device, and the accumulation period.
  • the first depth change speed is V2
  • the historical depth change speed detected by the first device at a certain time t1 before the second time is V1
  • the first device can be based on the above time t2
  • the first depth change speed is V2
  • the historical depth change speed V1 is calculated to obtain the above-mentioned first depth change acceleration speed.
  • the first depth change acceleration a2 satisfies the following relational expression (2):
  • one or more items 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,
  • the content richness of the accumulated object information on the target road can be further improved.
  • the preset detection area of the first device is divided into a plurality of grid areas based on a preset area division rule (it is assumed that there are M1 grid areas, and M1 is greater than or equal to 1 positive integer).
  • the above-mentioned preset area division rule may specifically be division based on a preset area or a preset area shape, and this application does not specifically limit the area division rule.
  • Each of the above-mentioned M1 grid areas contains a preset grid point.
  • the grid point may be the lowest point of the road surface in the grid area, the center point of the grid area, or a point determined from the grid area based on the preset grid point setting rules. This application does not specifically limit this.
  • the above-mentioned target road accumulation information may further include the position information of each of the M2 first target grid areas, and/or the information contained in each of the first target grid areas.
  • the first target grid area is a grid area in which there are accumulated objects at the second time among the above-mentioned M1 grid areas
  • the first target grid point is a grid point included in the first target grid area.
  • the above-mentioned M2 is a positive integer less than or equal to M1.
  • the first device may continue to acquire the location of each first target grid area information, and/or the accumulation depth of each first target grid point at the second moment, and then further generate the above-mentioned target road accumulation information.
  • the first device may first determine the M2 first target grid areas included in the M1 grid areas at the second moment. For example, the first device may acquire a road image including the target accumulation area at the second moment. Then, the road image is processed to determine the range of the target storage area at the second moment, and the grid area that overlaps with the range of the target storage area at the second moment is further determined as the first target grid area, Thus, the above-mentioned M2 first target grid areas are obtained. Then, the first device may acquire the position information of each of the first target grid areas in the M2 first target grid areas.
  • the location information of the first target grid area may specifically be location information of multiple geometric points in the first target grid area.
  • the first device may also determine the first target grid points included in each of the first target grid areas, and detect and obtain the accumulation depth corresponding to each of the first target grid points at the second moment.
  • the first device detects and obtains the accumulation depth corresponding to any first target grid point at the second moment please refer to the process of obtaining the corresponding accumulation depth of the lowest point of the road surface at the second moment by the first device described in the first implementation manner. The process of the first accumulation depth will not be repeated here.
  • FIG. 5 is a schematic diagram of a grid division scene provided by the present application.
  • the preset detection area is divided into a plurality of grid areas, and some grid areas are distributed on the road surface. where each grid area is square in shape.
  • the first device may acquire a road image including the target storage area at the second moment. Then, the first device may further determine the range of the target accumulation area at the second moment according to the road image. Then, the first device may assign grid area 1, grid area 2, grid area 3, grid area 4, grid area 5, grid area 6, The grid area 7 , the grid area 8 and the grid area 9 are all determined as the first target grid area, so that 9 first target grid areas are obtained.
  • the first device may acquire the position information corresponding to each of the first target grid areas in the above-mentioned nine first target grid areas. Specifically, the first device may use the positions of the four vertices corresponding to each first target grid area as the position information of each first target grid area. Further, the first device can also determine the diagonal intersection of each first target grid area as the first target grid point of each first target grid area, and detect that each first target grid point is at The corresponding accumulation depth at the second moment.
  • the location information of each grid area is fixed for the second device, because each The location information of each grid area may be used as information preconfigured by the second device. Therefore, in this case, the first device does not need to repeatedly send the position information of each first target grid area to the second device, that is, the above-mentioned target road accumulation information may not include each of the above-mentioned M2 first target grid areas. Location information of the first target grid area.
  • the location information of each first target grid area is further added to the target road accumulation information, and/or the corresponding accumulation depth of each first target grid point at the second moment, so that the above target road
  • the accumulation information can more comprehensively indicate the accumulation depth of each different position in the target accumulation area at the second time, so that the subsequent second device can more comprehensively judge the accumulation in the target accumulation area based on the accumulation information of the target road. state, so that the second device can more reasonably and effectively implement functions such as path planning or urban emergency management.
  • the above-mentioned target road accumulated object information may further include a third time after the first time, the position information of the second surface corresponding to the target accumulation area at the third time, and the location information of the target accumulation area at the third time.
  • the above-mentioned third time is a certain time to be predicted by the first device, and the above-mentioned second surface position information, the second storage depth and the second risk level are all predicted by the first device.
  • the first device after acquiring the various information attributes involved in the first optional implementation manner, the second optional implementation manner, or the third optional implementation manner, the first device also One or more items of the second surface position information, the second accumulation depth, and the second danger level can be predicted and obtained, and further information on the accumulation of objects on the target road with richer content can be generated.
  • the second accumulation depth may be determined by the first device according to the first depth change speed, the first depth change acceleration, and the time difference between the second moment and the third moment.
  • the first depth change speed is V2
  • the first depth change acceleration is a2
  • the second time is t2
  • the third time is t3
  • the second storage depth Dt3 can be determined by the first device according to the following formula (3 ) is sure to get:
  • the second storage depth may also be quantified through a preset quantization rule to obtain the second risk level.
  • the process that the first device quantifies the second accumulation depth to obtain the above-mentioned second risk level is similar to the process that the first device quantifies the first accumulation depth to obtain the first risk level described above. The foregoing will not be repeated here.
  • the first device may acquire a third distance in a preset direction between a grid point in each grid area of the M1 grid areas and a preset detection point of the first device.
  • the definition of the preset direction is as described above, and details are not repeated here.
  • the first device may further determine, according to the second accumulation depth, a fourth distance in a preset direction between the surface of the accumulated object in the target accumulation area and the preset detection point at the third moment.
  • the first device can determine which grid areas of the M1 grid areas are at the third moment according to the third distance between the grid points in each grid area and the preset detection point in the preset direction and the above-mentioned fourth distance There are accumulations at time 3, and these grid areas with accumulations at the third time are determined as the second target grid areas, and then M3 second target grid areas are determined from the above M1 grid areas .
  • M3 is a positive integer less than or equal to M1.
  • the third distance between the grid point in a grid area and the preset detection point of the first device in the preset direction is equal to or greater than the above-mentioned fourth distance, it means that the grid area is not at the third moment. There will be accumulations, then the grid area is not the second target grid area.
  • FIG. 6 is a schematic diagram of a scene for determining a second target grid area provided by an embodiment of the present application.
  • the first device can first determine the position of the grid point 11 corresponding to the grid area 1, and then detect the third distance between the grid point 11 and the preset detection point in the preset direction.
  • the process that the first device detects the above-mentioned third distance is similar to the process that the first device detects and obtains the fifth distance H5 between the lowest point of the road surface and the preset detection point in the preset direction, which is not repeated here. describe.
  • the first device can obtain the second accumulation depth, and then determine the difference between the distance between the lowest point of the road surface and the preset detection point in the preset direction and the second accumulation depth as the surface of the accumulated object and the preset reference point in the first The fourth distance corresponding to the three moments. Then, if the first device determines that the third distance between the grid point 11 and the preset detection point in the preset direction is smaller than the above-mentioned fourth distance, it can be determined that there will be no accumulated objects in the grid area 1 at the third time. Then the grid area 1 is not the second target grid area.
  • the first device determines that the third distance between the grid point 11 and the preset detection point in the preset direction is equal to or greater than the above-mentioned fourth distance, it can be determined that there are accumulated objects in the grid area 1 at the third time, then the Grid area 1 is the second target grid area.
  • the shape and size of the target storage area at the third moment can be predicted according to the M3 second target grid areas.
  • the first device may directly splicing the above-mentioned M3 second target grid areas, and determine the spliced area as the target accumulation area at the third moment. Then, the first device may acquire the boundary of the target storage area at the third moment, and further determine the position information of the second surface according to the boundary. For example, the first device may determine the position information of the geometrical point of the boundary of the target storage area at the third time instant as the above-mentioned second surface position information.
  • 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 further The improved richness of the target road accumulation information, so that the second device can obtain the accumulation state of the target accumulation area at the third time in the future based on the target road accumulation information, so that the second device can be more reasonable and effective. Realize functions such as route planning or urban emergency management.
  • the above-mentioned target road accumulated object information may further include the position information of each second target grid area in the above-mentioned M3 second target grid areas, and/or, each of the first The storage depth of each second target grid point included in the two target grid regions at the third time instant. That is to say, when the first device obtains the first optional implementation manner, the second optional implementation manner, the third optional implementation manner, or the fourth optional implementation manner, many of the described After the information attributes, the position information of each second target grid area can also be obtained, and/or the storage depth of each second target grid point included in each second target grid area at the third moment, And further generate richer target road accumulation information.
  • the process of acquiring the position information of each second target grid area in the above-mentioned M3 second grid areas by the first device please refer to the above-mentioned first device acquiring each first target grid area in the M2 first grid areas.
  • the process of the location information of the target grid area will not be repeated here.
  • the process of obtaining the accumulation depth of each second target grid point at the third moment by the first device please refer to the above-mentioned process of obtaining the second accumulation depth of the lowest point of the road by the first device, which will not be discussed here. Repeat.
  • the location information corresponding to the duplicate grid areas or the information contained therein may also be The storage depths of the grid points at the third time instant are combined, so that the data resources occupied by the target road storage information can be saved, and the redundancy of the content of the target road storage information can be avoided.
  • the position information of each of the M3 second target grid areas in the above-mentioned M3 second target grid areas is further added to the target road accumulation information, and/or, the information contained in each of the second target grid areas
  • the accumulation depth of each second target grid point at the third moment further improves the richness of the target road accumulation information, so that the subsequent second device can more reasonably and effectively realize the path based on the target road accumulation information Planning or urban emergency management and other functions.
  • the first device sends the information on the accumulated objects on the target road to the second device.
  • the first device may send the target road accumulation information to the second device through a wireless network.
  • the second device performs route planning or urban emergency management according to the target road accumulation information.
  • the second device may receive the target road accumulation information from the first device through the network, and further perform route planning or urban emergency management according to various information attributes contained in the target road accumulation information .
  • the first device can combine the first surface position information and the acquired high-precision point cloud map to determine its own position information relative to the target accumulation area. Then, if the second device determines that the target accumulation area is located on its predetermined travel route and is about to pass through the target accumulation area, the second device can combine the first accumulation depth and its own allowable accumulation depth to determine whether it can Safely pass through this target stump area. If the second device determines that it cannot safely pass through the target storage area, it can pause and wait or re-plan a new path.
  • the first device may combine the above-mentioned first depth change rate and its estimated arrival The time of the target storage area is used to estimate the storage depth corresponding to the target storage area when it reaches the target storage area. 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 may determine to detour in advance.
  • the second device may also generate a hazard level dynamic layer according to the first hazard level included in the target road accumulation information at different times, and further transmit the hazard level dynamic layer to the server of the city emergency management department, thereby This enables the urban emergency management department to carry out effective urban emergency management according to the dynamic layer of the hazard level.
  • the second device can also implement functions such as route planning or urban emergency management from other aspects based on other contents in the above-mentioned target road accumulation information, which will not be listed one by one in this application.
  • the first device may detect and generate the first surface position information at least including the update frequency, the first time, the target accumulation area at the preset second time, and the lowest road surface in the target accumulation area. Click the target road accumulation information with information attributes such as the first accumulation depth or the first danger level corresponding to the second time, and send the target road accumulation information to the second device.
  • the content of the accumulated object information on the target road is enriched, so that the second device can more accurately determine the accumulation state of the accumulated objects on the road based on the accumulated object information on the target road, so that the second device can be more reasonable and effective. Realize functions such as route planning or urban emergency management.
  • FIG. 7 is a schematic structural diagram of an apparatus provided by an embodiment of the present application.
  • the apparatus may be the first device described in Embodiment 1.
  • the device includes:
  • the processing unit 701 is configured to determine target road accumulation object information corresponding to the target accumulation area.
  • the target road accumulation information at least includes the update frequency of the target road accumulation information, the first time when the target road accumulation information was generated, and the first surface of the target accumulation area at the second time. position information, and the first accumulation depth of the lowest point of the road surface in the target accumulation area at the second time or the first danger level of the target accumulation area at the second time.
  • the first surface location information is used to indicate the area and location of the target accumulation area at the second moment, the first danger level is determined from the first accumulation depth, and the second moment is before said first moment.
  • the transceiver unit 702 is configured to send the information about the accumulated objects on the target road to the second device.
  • the target road accumulation information is used for the second device to perform path planning or urban emergency management.
  • the processing unit 701 is further configured to: acquire N first distances in a preset direction between the lowest point of the road surface and N depth reference points at the second moment.
  • the preset direction is the vertical line direction of the surface of the accumulation object in the target accumulation area
  • the N depth reference points are located on N preset reference objects around the target accumulation area
  • the A first distance corresponds to the lowest point of the road surface and each depth reference point
  • N is a positive integer greater than or equal to 1.
  • the first storage depth is determined according to the N first distances and the N second distances.
  • the processing unit 701 is specifically configured to: determine, according to the N first distances and the N second distances, corresponding to the N depth reference points at the second moment N distance differences. An average value of the N distance differences is determined as the first accumulation depth.
  • the target road accumulation information further includes a first depth change speed of the target accumulation area at the second moment, a first depth change rate of the target accumulation area at the second moment One or more items of the 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.
  • the preset detection area of the first device is divided into M1 grid areas based on a preset area division rule, and each grid area includes one grid point.
  • the M1 is a positive integer.
  • the target road accumulation information further includes: position information of each first target grid area in the M2 first target grid areas, and/or each first target included in each first target grid area The accumulation depth of grid points at the second moment, wherein the first target grid area is the grid area in which there is accumulation at the second moment among the M1 grid areas, and the M2 is less than Or a positive integer equal to M1.
  • the target road accumulation information includes: a third time after the first time, second surface position information corresponding to the target accumulation area at the third time, the One or more items of the second accumulation depth of the lowest point of the road surface in the target accumulation area at the third moment, and the second danger level of the target accumulation area at the third moment.
  • the second danger level is determined by the second accumulation depth.
  • the second accumulation depth is determined by the first depth change speed, the first depth change acceleration, and the time difference between the second time instant and the third time instant.
  • the processing unit 701 is further configured to: acquire the grid points in each grid area of the M1 grid areas and the preset detection point of the first device in the preset direction the third distance.
  • a fourth distance in the preset direction between the surface of the accumulation object in the target accumulation area at the third moment and the preset detection point is determined according to the second accumulation depth.
  • M3 second distances are determined from the M1 grid areas Target grid area.
  • the second target grid area is a grid area with accumulated objects at the third moment
  • the M3 is a positive integer less than or equal to M1.
  • the second surface position information is determined according to the M3 second target grid areas.
  • the target road accumulation information further includes: position information of each second target grid area in the M3 second target grid areas, and/or, each second target grid area The storage depth of each second target grid point included in the target grid area at the third time instant.
  • the update frequency of the target road accumulation information is determined by the real-time weather state of the area where the first device is located.
  • the process of implementing the steps in the various possible implementation manners by the processing unit 701 and the transceiver unit 702 may refer to the process performed by the first device in the foregoing embodiment 1, which will not be repeated here.
  • Embodiments of the present application further provide a computer-readable medium on which a computer program is stored, and when the computer program is executed by a computer, implements the method or step performed by the first device in the above-mentioned first embodiment.
  • An embodiment of the present application further provides a computer program product, which implements the method or step performed by the first device in the first embodiment above when the computer program product is executed by a computer.
  • Embodiments of the present application further provide a processor, which is configured to be coupled to a memory, and the memory stores instructions.
  • the processor executes the instructions, the processor causes the processor to execute the method or the method executed by the processor 701 in the foregoing implementation. Function.
  • the apparatus may also be the second device described in the first embodiment. in this case:
  • the transceiver unit 701 is used to receive the target road accumulation information corresponding to the target accumulation area from the first device.
  • the target road accumulation information at least includes the update frequency of the target road accumulation information
  • the first A device generates the first time of the target road accumulation information and the first surface position information of the target accumulation area at the second time, and the lowest point of the road surface in the target accumulation area is at the second time
  • the first accumulation depth of , or the first danger level of the target accumulation area at the second moment is used to indicate the area area and area position of the target accumulation area at the second moment, the first danger level is determined from the first accumulation depth, and the second moment is at the second moment. before said first moment.
  • the processing unit 702 is configured to perform path planning or urban emergency management according to the target road accumulation information.
  • the target road accumulation information further includes a first depth change speed of the target accumulation area at the second moment, a first depth change rate of the target accumulation area at the second moment One or more items of the 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.
  • the preset detection area of the first device is divided into M1 grid areas based on a preset area division rule, and each grid area includes one grid point.
  • the M1 is a positive integer.
  • the target road accumulation information further includes: position information of each first target grid area in the M2 first target grid areas, and/or each first target included in each first target grid area The accumulation depth of grid points at the second moment, wherein the first target grid area is the grid area in which there is accumulation at the second moment among the M1 grid areas, and the M2 is less than Or a positive integer equal to M1.
  • the target road accumulation information further includes: a third time after the first time, the second surface position information corresponding to the target accumulation area at the third time, the One or more items of the second accumulation depth of the lowest point of the road surface in the target accumulation area at the third moment, and the second danger level of the target accumulation area at the third moment, wherein the second The hazard level is determined by the second accumulation depth.
  • the second accumulation depth is determined by the first depth change speed, the first depth change acceleration, and the time difference between the second time instant and the third time instant.
  • the target road accumulation information further includes: position information of each second target grid area in the M3 second target grid areas, and/or, each second target grid area Accumulation depth of each second target grid point included in the grid area at the third moment, wherein the second target grid area is a grid area with accumulated objects at the third moment.
  • Embodiments of the present application further provide a computer-readable medium on which a computer program is stored, and when the computer program is executed by a computer, implements the method or step performed by the second device in the above-mentioned first embodiment.
  • An embodiment of the present application further provides a computer program product, which implements the method or step performed by the second device in the first embodiment above when the computer program product is executed by a computer.
  • FIG. 8 is another schematic structural diagram of an apparatus provided by an embodiment of the present application.
  • the first device may be implemented in the form of the apparatus.
  • the apparatus mainly 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 and complete communication with each other. In the case where the device shown in FIG.
  • the above-mentioned processor 801 and the memory 802 can be a specific implementation form of the above-mentioned processing unit 701
  • the above-mentioned wireless communication module 803 can be a specific implementation form of the above-mentioned transceiver module 701 . That is to say, the processor 801 and the memory 802 can be used to implement various functions of the first device that can be implemented by the processing unit 701
  • the wireless communication module 803 can be used to implement various functions of the first device that can be implemented by the transceiver unit 702 . .
  • the memory 802 is used for storing the program code for executing the method for determining road accumulation information implemented by the first device in the first embodiment
  • the processor 801 is used for executing the program code stored in the memory 802 In order to realize the steps of the method for determining road accumulation information executed by the first device in the first embodiment.
  • the wireless communication module 803 is used to send or receive messages to other devices (eg, the second device) other than the device.
  • the processor 801 may be configured to target the target road accumulation information and send it to the wireless communication communication module 803 .
  • the wireless communication module 803 can send the target road accumulation information to the second device.
  • FIG. 9 is another schematic structural diagram of an apparatus provided by an embodiment of the present application.
  • the above-mentioned apparatus may further include a sensing module 804 .
  • the sensing module 804 may specifically include various sensing devices, such as laser rangefinders, cameras, etc., which are not specifically limited here.
  • the sensing module 804 is connected with the processor 801 , the memory 802 and the wireless communication module 803 through a communication bus or a communication interface and completes mutual communication.
  • the sensing module 804 can acquire images of some roads and transmit them to the processor 801, so that the processor 801 can further obtain information such as the first distance and the second distance in the first embodiment through image processing.
  • the above-mentioned processor 801 , the memory 802 and the sensing module 804 are the specific implementation forms of the above-mentioned processing unit 701 .
  • FIG. 10 is a schematic structural diagram of a chip provided by an embodiment of the present application.
  • the first device may also be implemented in the form of the chip.
  • the chip may mainly include a processor 1001 and one or more interface circuits 1002 coupled to the processor 1001 .
  • processor 1001 may be used to read and execute computer readable instructions.
  • the processor 1001 may mainly include a controller, an arithmetic unit, and a register.
  • the controller is mainly responsible for instruction decoding, and sends control signals for operations corresponding to the instructions.
  • the arithmetic unit is mainly responsible for performing fixed-point or floating-point arithmetic operations, shift operations, and logical operations, and can also perform address operations and conversions.
  • Registers are mainly responsible for saving register operands and intermediate operation results temporarily stored during instruction execution.
  • the hardware architecture of the processor 1001 may be an application specific integrated circuits (ASIC) architecture, a microprocessor without interlocked piped stages architecture (MIPS) architecture, an advanced simplification Instruction set machine (advanced RISC machines, ARM) architecture or NP architecture and so on.
  • ASIC application specific integrated circuits
  • MIPS microprocessor without interlocked piped stages architecture
  • ARM advanced simplification Instruction set machine
  • NP neuronal neural network
  • the interface circuit 1002 can be used to input the data to be processed to the processor 1001, and can output the processing result of the processor 1001 to the outside.
  • the interface circuit 1002 may be a general purpose input output (GPIO) interface, which may be connected to multiple peripheral devices (such as wireless communication modules, sensing modules, etc.).
  • the interface circuit 1002 is connected to the processor 1001 through the bus 1003 .
  • the above-mentioned processor 1001 and one or more interface circuits 1002 coupled to the processor 1001 can be a specific implementation form of the above-mentioned processing unit 701, and the wireless communication module external to the chip can be the above-mentioned transceiver module.
  • the processor 1001 may be configured to call the code of the method for determining the road accumulation information implemented by the first device in the first embodiment from the memory, so that the chip can implement the road implemented by the first device in the first embodiment.
  • Each step of the method for determining the information on the stockpiles For example, the processor 1001 can determine to obtain the target road accumulation information, and then transmit the target road accumulation information to the wireless communication module through the bus 1003 and the interface circuit 1002 . Then, the wireless communication module can transmit the target road accumulation information to the second device.
  • the specific implementation process of these functions can be the corresponding content described in the foregoing Embodiment 1, which will not be repeated here.
  • processor 1001 and the interface circuit 1002 can be implemented by hardware design, software design, or a combination of software and hardware, which is not limited here.
  • FIG. 11 is another schematic structural diagram of a chip provided by an embodiment of the present application.
  • the chip also includes a sensing module.
  • the sensing module can acquire some road images, and transmit these road images to the processor 1001 through the interface circuit 1002 and the bus 1003, so that the processor 1001 can further obtain the first image in the first embodiment through image processing. First distance, second distance and other information.
  • First distance, second distance and other information For the specific process, reference may be made to the process performed by the first device in Embodiment 1, which will not be repeated here.
  • FIG. 12 is another schematic structural diagram of an apparatus provided by an embodiment of the present application.
  • the apparatus may be a smart car, and the second device may be implemented in the form of the apparatus.
  • the apparatus includes various systems, such as a traveling system 1202 , a control system 1203 , one or more peripheral devices 1204 , a computer system 1201 , and the like.
  • the apparatus may include more or fewer systems, and each system may include multiple elements.
  • each system of the apparatus can be interconnected by wire or wirelessly.
  • the travel system 1202 may include components that provide powered motion for the device.
  • the travel system 1202 may include an engine, transmission, wheels/tires, and the like.
  • the 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, an accelerator, a braking unit, and the like.
  • the device may also interact with other devices, other computer systems, or users through peripherals 1204 .
  • Peripherals 1204 may include wireless communication systems, microphones and/or speakers, and the like.
  • the computer control system includes a processor 12012 and a memory 12011.
  • Processor 12012 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor may also be a dedicated device such as an ASIC or other hardware-based processor.
  • FIG. 12 functionally illustrates a processor, memory, and other elements of a computer system in the same block, one of ordinary skill in the art would understand that the processor, computer, or memory may actually include storage that may or may not be Multiple processors, computers, or memories within the same physical enclosure.
  • memory 12011 may contain instructions (eg, program logic) executable by 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 peripherals.
  • instructions eg, program logic
  • 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 peripherals.
  • FIG. 12 should not be construed as a limitation on the embodiments of the present invention.
  • processing unit 701 described 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.
  • the above-mentioned memory 12011 may store the information from the method for determining the target road accumulation information executed by the second device in the above-mentioned first embodiment. corresponding code.
  • the above-mentioned processor 12012 can execute the code, so as to implement each step in the method for determining the target road accumulation information executed by the second device in the above-mentioned first embodiment.
  • the process of executing the code by the processor 12012 to implement each step in the method for determining the target road accumulation information executed by the second device can be referred to the processes described in the foregoing Embodiments 1 and 2, and will not be repeated here.
  • the second device can also be implemented in the form of the device.
  • the memory 802 is used to store the program code for executing the method for determining the target road accumulation information implemented by the second device in the first embodiment
  • the processor 801 is used to execute the program code in the memory 802
  • the stored program code is used to implement the steps of the method for determining the accumulated object information on the target road executed by the second device in the first embodiment.
  • the wireless communication module 803 is used to send or receive messages to other apparatuses (eg, service equipment or other terminal equipment) other than the apparatus. In the case where the device shown in FIG.
  • the processor 801 and the memory 802 can be the specific implementation form of the processing unit 701
  • the wireless communication module 803 can be the specific implementation form of the transceiver unit 701 . That is to say, the processor 801 and the memory 802 can 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 can be used to implement various functions of the second device that can be implemented by the transceiver unit 702 . .
  • the wireless communication module 803 may be configured to receive the target road accumulation 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 accumulation information.
  • route planning or urban emergency management may be performed according to the target road accumulation information.
  • the terminal device can also exist in the form of this chip.
  • the processor 1001 may be configured to call the code of the method for determining the target road accumulation information implemented by the second device in the first embodiment from the memory, so that the chip can implement the code implemented by the second device in the first embodiment. Each step of the method for determining the target road accumulation information.
  • the memory can be integrated with the processor 1001, or can be coupled with the chip through the interface circuit 1002, that is, the memory can be a part of the chip, or can be independent of the chip.
  • the interface circuit 1002 can be used to output the execution result of the processor 1001 .
  • the above-mentioned processor 1001 and one or more interface circuits 1002 coupled to the processor 1001 can be a specific implementation form of the above-mentioned processing unit 701, and the wireless communication module external to the chip can be the above-mentioned transceiver module.
  • the processor may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more processors for controlling the execution of the above program programs. integrated circuit.
  • CPU central processing unit
  • ASIC application-specific integrated circuit
  • the memory can be read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory (RAM) or other types of storage devices that can store information and instructions
  • the dynamic storage device can also be an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical disk storage, optical disk storage (including compact discs, laser discs, compact discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or capable of carrying or storing desired program code in the form of instructions or data structures and capable of being stored by a computer any other medium taken, but not limited to this.
  • the memory can exist independently and be connected to the processor through a bus.
  • the memory can also be integrated with the processor.
  • the wireless communication module or wireless communication system may be a device or module capable of communicating with other devices or a communication network, such as a radio frequency module.
  • the foregoing method embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof.
  • software When implemented in software, it can be implemented in whole or in part in the form of a computer program product.
  • the computer program product described above includes one or more computer instructions. When the above-mentioned computer instructions are loaded and executed on the computer, all or part of the above-mentioned processes or functions according to the embodiments of the present application are generated.
  • the aforementioned computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable devices.
  • the above-mentioned computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the above-mentioned computer instructions may be transmitted from a website site, computer, server or data center via wired communication. (e.g. coaxial cable, fiber optic, digital subscriber Line (DSL) or wireless (e.g. infrared, wireless, microwave, etc.) to another website site, computer, server or data center.
  • the above computer readable storage The medium can be any available medium that can be accessed by a computer or a data storage device that contains one or more of the available media integration servers, data centers, etc.
  • the aforementioned available media can be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (For example, a high-density digital video disc (DVD), or a semiconductor medium (for example, a solid state disk (SSD), etc.).
  • magnetic media eg, floppy disks, hard disks, magnetic tapes
  • optical media For example, a high-density digital video disc (DVD), or a semiconductor medium (for example, a solid state disk (SSD), etc.
  • SSD solid state disk
  • system and “network” in the embodiments of the present application can often be used interchangeably.
  • the term “and/or” in this embodiment is only an association relationship to describe associated objects, indicating that there can be three kinds of relationships, for example, A and/or B, it can mean that A exists alone, A and B exist at the same time, There are three cases of B alone.
  • the character "/" in this document generally indicates that the related objects are an "or” relationship.
  • the disclosed systems, devices and methods may be implemented in other manners.
  • the apparatus described above is only illustrative.
  • the division of units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or integrated into another A system, or some feature, can be ignored, or not implemented.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may also be electrical, mechanical or other forms of connection.
  • each functional unit in the embodiments of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

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Abstract

The present application relates to the field of intelligent cars, and relates in particular to a method and apparatus for determining road accumulation information. The method is suitable for scenarios such as the Internet of Vehicles, connected vehicles and autonomous driving. The method comprises: determining target road accumulation information corresponding to a target accumulation area, the target road accumulation information comprising the update frequency of the target road accumulation information, a first moment and first surface position information of the target accumulation area at a second moment, and a first accumulation depth of the lowest point of the road surface within the target accumulation area at the second moment or a first danger level of the target accumulation area at the second moment; and sending the target road accumulation information to a second device, wherein, the target road accumulation information may be used for the second device to perform route planning or urban emergency management. By using the method provided in the present application, the richness of the content of road accumulation information may be improved, and a second device may more effectively implement functions such as the route planning.

Description

一种道路积存物信息的确定方法和装置A method and device for determining road accumulation information
本申请要求于2021年01月22日提交中国国家知识产权局、申请号为202110091228.6、申请名称为“一种道路积存物信息的确定方法和装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。This application claims the priority of the Chinese patent application filed on January 22, 2021 with the State Intellectual Property Office of China, the application number is 202110091228.6, and the application name is "A method and device for determining information on road deposits", the entire content of which is approved by Reference is incorporated in this application.
技术领域technical field
本申请涉及智能汽车领域，尤其涉及一种道路积存物信息的确定方法和装置。The present application relates to the field of smart cars, and in particular, to a method and device for determining information on road deposits.
背景技术Background technique
随着互联网技术和制造技术的不断发展，智能驾驶汽车逐渐进入人们的生活。在实际应用中，与交通相关的动态信息是智能驾驶驾驶技术的重要输入信息，尤其是一些用于描述道路上存在的积存物的状态的道路积存物信息(如道路积水信息、道路积雪信息等)。例如，在大雨或者暴雨天气下，如果智能汽车能够提前获取到某一路段所对应的道路积水信息，其即可根据该道路积水信息确定该路段是否能够完全通过，进而规避一些可能存在的风险。With the continuous development of Internet technology and manufacturing technology, intelligent driving vehicles have gradually entered people's lives. In practical applications, dynamic information related to traffic is an important input information for intelligent driving technology, especially some road accumulation information (such as road water information, road snow accumulation) used to describe the state of accumulations existing on the road. information, etc.). For example, in heavy rain or rainstorm weather, if the smart car can obtain the road water information corresponding to a certain road section in advance, it can determine whether the road section can pass completely according to the road water information, thereby avoiding some possible existing problems. risk.
但是，现有技术中，推送给智能汽车的道路积存物信息中包含的内容较少，例如道路积水信息中仅包含有积水范围信息和积水区域的大致深度。因此，智能汽车也无法通过现有的道路积存物信息获取到更多的对其有利用价值的内容，从而导致智能汽车无法基于现有的道路积存物信息进行合理且有效的路径规划等功能。However, in the prior art, the road accumulation information pushed to the smart car contains less content, for example, the road accumulation information only includes the accumulation range information and the approximate depth of the accumulation area. Therefore, the smart car cannot obtain more useful content through the existing road accumulation information, so that the smart car cannot perform reasonable and effective path planning and other functions based on the existing road accumulation information.
发明内容SUMMARY OF THE INVENTION
为了解决上述问题，本申请提供了一种道路积存物信息的确定方法和装置，可提升道路积存物信息的内容丰富度，可使得接收到道路积存物信息第二设备能够更加有效且合理的实现路径规划等功能。In order to solve the above problems, the present application provides a method and device for determining road accumulation information, which can improve the content richness of road accumulation information, and enable the second device that receives the road accumulation information to be more effectively and reasonably realized. path planning and other functions.
需要说明的是，本申请实施例中所提出的方法可以由支持无线通信功能的计算设备执行。其中，所谓的计算设备是指能够被抽象为计算机***的设备。在本申请实施例中，一方面，该计算设备可以是第一设备的整机，或者，该第一设备中的部分器件，如该第一设备中具有无线通信功能的芯片***、逻辑电路(如现场可编程逻辑门阵列(field programmable gate array，FPGA))等。这里，上述第一设备具体为固定在道路两侧并且具备环境参量(如天气、环境图像等)的检测和无线通信功能的设备。例如，路边单元(road side unit，RSU)或者路边建筑物的监控设备等。第一设备中的部分器件具体可以是RSU或者路边建筑物的监控设备中的It should be noted that, the methods proposed in the embodiments of the present application may be executed by a computing device supporting a wireless communication function. Among them, the so-called computing device refers to a device that can be abstracted into a computer system. In the embodiments of the present application, on the one hand, the computing device may be the entire machine of the first device, or a part of the device in the first device, such as a chip system with a wireless communication function in the first device, a logic circuit ( Such as field programmable gate array (field programmable gate array, FPGA)) and so on. Here, the above-mentioned first device is specifically a device that is fixed on both sides of the road and has functions of detecting environmental parameters (such as weather, environmental images, etc.) and wireless communication. For example, roadside unit (RSU) or monitoring equipment of roadside buildings, etc. Some of the devices in the first device may specifically be in the RSU or the monitoring device of the roadside building.
的***芯片以及为该***芯片服务的无线通信模块(如包括射频处理芯片和基带处理芯片的通信芯片等)等。另一方面，该计算设备还可以是第二设备的整机，或者，该第二设备中的部分器件，如第二设备中具有无线通信功能的芯片***、逻辑电路等。这里，上述第二设备具体可以是智能汽车或者智能汽车上的远程信息处理盒(telematics box，T-box)，智能汽车所使用的地图服务器(包括本地服务器和/或云端服务器)，城市管理部门所使用的管理服务器等。而第二设备中的部分器件则可以是智能汽车的车载***或者智能汽车的T-box的***芯片和通信芯片，或者，地图服务器或管理服务器中的***芯片和为该***芯片服务的无线通信模块等。这里需要理解到的是，前文针对第一设备或者第二设备的描述为示例性的， 并不作具体限制。后文为了方便理解和区别，将统一以第一设备和第二设备代替描述。The system chip and the wireless communication module (such as a communication chip including a radio frequency processing chip and a baseband processing chip, etc.) serving the system chip, etc. On the other hand, the computing device may also be the whole machine of the second device, or a part of the device in the second device, such as a chip system and a logic circuit with a wireless communication function in the second device. Here, the above-mentioned second device may specifically be a smart car or a telematics box (T-box) on a smart car, a map server (including a local server and/or a cloud server) used by the smart car, a city management department The management server used, etc. Some devices in the second device may be the on-board system of the smart car or the system chip and communication chip of the T-box of the smart car, or the system chip in the map server or the management server and the wireless communication for the system chip. modules etc. It should be understood here that, the foregoing description of the first device or the second device is exemplary, and not specifically limited. Hereinafter, for the convenience of understanding and distinction, the description will be replaced by the first device and the second device.
第一方面，本申请实施例提供了一种道路积存物信息的确定方法。该方法适用于第一设备。方法包括：第一设备确定目标积存区域对应的目标道路积存物信息。其中，所述目标道路积存物信息中至少包括所述目标道路积存物信息的更新频率、生成所述目标道路积存物信息的第一时刻和所述目标积存区域在第二时刻上的第一面位置信息，以及，所述目标积存区域内的路面最低点在所述第二时刻的第一积存深度或者所述目标积存区域在所述第二时刻的第一危险等级。所述第一面位置信息用于指示所述目标积存区域在所述第二时刻的区域面积和区域位置，所述第一危险等级由所述第一积存深度确定得到，所述第二时刻在所述第一时刻之前。第一设备向第二设备发送所述目标道路积存物信息。其中，所述目标道路积存物信息用于所述第二设备进行路径规划或者城市应急管理。In a first aspect, an embodiment of the present application provides a method for determining road accumulation information. The method is applicable to the first device. The method includes: the first device determines target road accumulation information corresponding to the target accumulation area. Wherein, the target road accumulation information at least includes the update frequency of the target road accumulation information, the first time when the target road accumulation information was generated, and the first surface of the target accumulation area at the second time. position information, and the first accumulation depth of the lowest point of the road surface in the target accumulation area at the second time or the first danger level of the target accumulation area at the second time. The first surface position information is used to indicate the area area and area position of the target accumulation area at the second moment, the first danger level is determined from the first accumulation depth, and the second moment is at the second moment. before said first moment. The first device sends the target road accumulation information to the second device. Wherein, the target road accumulation information is used for the second device to perform path planning or urban emergency management.
在本申请实施例中，第一设备确定出包含有更新频率、第一时刻、目标积存区域在预设的第二时刻的第一面位置信息，以及，目标积存区域内的路面最低点在上述第二时刻所对应的第一积存深度或者第一危险等级等信息属性的目标道路积存物信息。这样就显著的提升了目标道路积存物信息的内容丰富度，可使得第二设备能够基于该目标道路积存物信息准确的判断出道路上的积存物的积存状态，进而使得第二设备能够合理且有效的实现路径规划或者城市应急管理等功能。In the embodiment of the present application, the first device determines the first surface position information including the update frequency, the first time, and the target accumulation area at the preset second time, and the lowest point of the road surface in the target accumulation area is in the above-mentioned The target road accumulation information of information attributes such as the first accumulation depth or the first danger level corresponding to the second time. In this way, the content richness of the target road accumulation information is significantly improved, and the second device can accurately determine the accumulation state of the accumulation on the road based on the target road accumulation information, so that the second device can reasonably and It can effectively realize functions such as path planning or urban emergency management.
结合第一方面，在一种可行的实现方式中，第一设备可获取所述第二时刻上，所述路面最低点与N个深度参考点在预设方向上的N个第一距离。其中，所述预设方向为所述目标积存区域内的积存物表面的铅垂线方向，所述N个深度参考点位于所述目标积存区域周边的N个预设的参照物上，所述路面最低点与每个深度参考点之间对应一个第一距离，N为大于或者等于1的正整数。第一设备获取所述第二时刻上，所述积存物表面与所述N个深度参考点在所述预设方向上的N个第二距离。其中，所述积存物表面与每个深度参考点之间对应一个第二距离。第一设备根据所述N个第一距离和所述N个第二距离确定所述第一积存深度。在本实现方式中，基于多个参照物上的参考点与路面最低点以及积存物表面在预设方向上的距离来确定第一积存深度，可提升上述第一积存深度的获取精度，进而提升目标道路积存物信息的准确性和有效性。With reference to the first aspect, in a feasible implementation manner, the first device may acquire N first distances in preset directions between the lowest point of the road surface and N depth reference points at the second moment. Wherein, the preset direction is the vertical line direction of the surface of the accumulation object in the target accumulation area, the N depth reference points are located on N preset reference objects around the target accumulation area, the 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. The first device acquires N second distances in the preset direction between the surface of the accumulated object and the N depth reference points at the second moment. Wherein, a second distance corresponds to the surface of the accumulation object and each depth reference point. The first device determines the first accumulation depth according to 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 accumulation object in the preset direction, which can improve the acquisition accuracy of the first accumulation depth, and further improve the Accuracy and validity of target road accumulation information.
结合第一方面，在一种可行的实现方式中，所述第一设备根据所述N个第一距离和所述N个第二距离确定出所述N个深度参考点在所述第二时刻对应的N个距离差。所述第一设备将所述N个距离差的平均值确定为所述第一积存深度。这里，将多个参照物上的参考点与路面最低点以及积存物表面在预设方向上的距离差的平均值确定为上述第一积存深度，方法简单且易于实现，可提升第一积存深度的获取效率。With reference to the first aspect, in a feasible implementation manner, the first device determines that the N depth reference points are at the second moment according to the N first distances and the N second distances The corresponding N distance differences. The first device determines an average value of the N distance differences as the first accumulation depth. Here, the average value of the distance differences 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 is determined as the above-mentioned first accumulation depth. The method is simple and easy to implement, and the first accumulation depth can be improved. acquisition efficiency.
结合第一方面，在一种可行的实现方式中，所述目标道路积存物信息中还包括所述目标积存区域在所述第二时刻的第一深度变化速度、所述目标积存区域在所述第二时刻的第一深度变化加速度、所述目标积存区域对应的初始积存时刻、所述路面最低点的位置信息中的一项或者多项。这里，在目标道路积存物信息中进一步增加第一深度变化速度、第一深度变化加速度、目标积存区域对应的初始积存时刻以及路面最低点的位置信息中的一项或者多项，可进一步提升目标道路积存物信息的内容丰富度。With reference to the first aspect, in a feasible implementation manner, the target road accumulation information further includes the first depth change speed of the target accumulation area at the second moment, the target accumulation area in the One or more items of the first depth change acceleration at the second time, the initial accumulation time corresponding to the target accumulation area, and the position information of the lowest point of the road surface. Here, one or more items 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, which can further improve the target The content richness of road deposit information.
结合第一方面，在一种可行的实现方式中，所述第一设备的预设检测区域基于预设区域划分规则划分有M1个格网区域，并且每个格网区域包含一个格网点。其中，所述M1为正整数。所述目标道路积存物信息中还包括：M2个第一目标格网区域中各第一目标格网区域的位置信息，和/或，所述各第一目标格网区域包含的各第一目标格网点在所述第二时刻的积存 深度。其中，第一目标格网区域为所述M1个格网区域中在所述第二时刻时存在有积存物的格网区域，所述M2为小于或者等于M1的正整数。这里，在目标道路积存物信息中进一步增加各第一目标格网区域的位置信息，和/或，各第一目标格网点在第二时刻上对应的积存深度，使得上述目标道路积存物信息能够更加全面的指示出目标积存区域内的各个不同位置在第二时刻上的积存深度，从而使得后续第二设备能够基于该目标道路积存物信息更加全面的判断出目标积存区域的积存状态，使得第二设备能够更加合理且有效的实现路径规划或者城市应急管理等功能。With reference to the first aspect, in a feasible implementation manner, the preset detection area of the first device is divided into M1 grid areas based on a preset area division rule, and each grid area includes one grid point. Wherein, the M1 is a positive integer. The target road accumulation information further includes: position information of each first target grid area in the M2 first target grid areas, and/or each first target included in each first target grid area The storage depth of grid points at the second moment. Wherein, the first target grid area is a grid area with accumulated objects at the second moment among the M1 grid areas, and the M2 is a positive integer less than or equal to M1. Here, the position information of each first target grid area is further added to the target road accumulation information, and/or the accumulation depth corresponding to each first target grid point at the second time, so that the above target road accumulation information can be More comprehensively indicate the accumulation depth of each different position in the target accumulation area at the second moment, so that the subsequent second device can more comprehensively judge the accumulation state of the target accumulation area based on the information of the target road accumulation, so that the first The second device can more reasonably and effectively realize functions such as path planning or urban emergency management.
结合第一方面，在一种可行的实现方式中，所述目标道路积存物信息中包括：所述第一时刻之后的第三时刻、所述目标积存区域在所述第三时刻对应的第二面位置信息、所述目标积存区域内的路面最低点在所述第三时刻的第二积存深度、所述目标积存区域在所述第三时刻的第二危险等级中的一项或者多项，其中，所述第二危险等级由所述第二积存深度确定。目标道路积存物信息中进一步增加了第一设备预测的第三时刻上的第二面位置信息、第二积存深度以及第二危险等级中的一项或者多项，进一步提升的目标道路积存物信息的丰富度，从而使得第二设备能够基于该目标道路积存物信息获取到未来的第三时刻上述该目标积存区域的积存状态，使得第二设备能够更加合理且有效的实现路径规划或者城市应急管理等功能。With reference to the first aspect, in a feasible implementation manner, the target road accumulation information includes: a third time after the first time, a second time corresponding to the target accumulation area at the third time one or more of surface location information, the second accumulation depth of the lowest point of the road surface in the target accumulation area at the third moment, and the second danger level of the target accumulation area at the third moment, Wherein, the second danger level is determined by the second accumulation depth. One or more items 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 target road accumulation information is further improved. so that the second device can obtain the accumulation state of the target accumulation area at the third moment in the future based on the information of the target road accumulation, so that the second device can more reasonably and effectively implement path planning or urban emergency management and other functions.
结合第一方面，在一种可行的实现方式中，所述第二积存深度由所述第一深度变化速度、所述第一深度变化加速度以及所述第二时刻和所述第三时刻的时间差确定。With reference to the first aspect, in a feasible implementation manner, the second accumulation depth is determined by the first depth change speed, the first depth change acceleration, and the time difference between the second moment and the third moment Sure.
结合第一方面，在一种可行的实现方式中，所述第一设备获取所述M1个格网区域中各格网区域内的格网点与所述第一设备的预设探测点在所述预设方向上的第三距离。所述第一设备根据所述第二积存深度确定所述第三时刻的所述目标积存区域内的积存物表面与所述预设探测点在所述预设方向上的第四距离。所述第一设备根据所述各格网区域内的格网点与所述预设探测点在所述预设方向上的第三距离与所述第四距离从所述M1个格网区域中确定出M3个第二目标格网区域。其中，第二目标格网区域为在所述第三时刻上存在有积存物的格网区域，所述M3为小于或者等于M1的正整数。所述第一设备根据所述M3个第二目标格网区域确定出所述第二面位置信息。With reference to the first aspect, in a feasible implementation manner, the first device obtains the grid points in each grid area of the M1 grid areas and the preset detection point of the first device is in the The third distance in the preset direction. The first device determines, according to the second accumulation depth, a fourth distance in the preset direction between the surface of the accumulation object in the target accumulation area at the third moment and the preset detection point. The first device determines from the M1 grid areas according to the third distance and the fourth distance between the grid points in the grid areas and the preset detection point in the preset direction Out M3 second target grid areas. Wherein, the second target grid area is a grid area with accumulated objects at the third moment, and the M3 is a positive integer less than or equal to M1. The first device determines the second surface position information according to the M3 second target grid areas.
结合第一方面，在一种可行的实现方式中，所述目标道路积存物信息中还包括：所述M3个第二目标格网区域中各第二目标格网区域的位置信息，和/或，所述各第二目标格区域包含的各第二目标格网点在所述第三时刻上的积存深度。在目标道路积存物信息中进一步增加上述M3个第二目标格网区域中各第二目标格网区域的位置信息，和/或，所述各第二目标格区域包含的各第二目标格网点在所述第三时刻上的积存深度，进一步提升的目标道路积存物信息的丰富度，从而使得后续第二设备能够基于该目标道路积存物信息更加合理且有效的实现路径规划或者城市应急管理等功能。In combination with the first aspect, in a feasible implementation manner, the target road accumulation information further includes: 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 instant. The position information of each second target grid area in the M3 second target grid areas is further added to the target road accumulation information, and/or, each second target grid point included in each second target grid area The accumulation depth at the third moment further improves the richness of the target road accumulation information, so that the subsequent second device can more reasonably and effectively implement path planning or urban emergency management based on the target road accumulation information. Function.
结合第一方面，在一种可行的实现方式中，所述目标道路积存物信息的更新频率由所述第一设备所在的地区的实时天气状态确定。With reference to the first aspect, in a feasible implementation manner, the update frequency of the target road accumulation information is determined by the real-time weather state of the region where the first device is located.
第二方面，本申请实施例提供了一种道路积存物信息的确定方法，该方法适用于第二设备。该方法包括：第二设备接收来自于第一设备的目标积存区域对应的目标道路积存物信息。其中，所述目标道路积存物信息中至少包括所述目标道路积存物信息的更新频率、所述第一设备生成所述目标道路积存物信息的第一时刻和所述目标积存区域在第二时刻上的第一面位置信息，以及，所述目标积存区域内的路面最低点在所述第二时刻的第一积存深度或者所述目标积存区域在所述第二时刻的第一危险等级。所述第一面位置信息用于指示所述目标积存区域在所述第二时刻的区域面积和区域位置，所述第一危险等级由所述第一积存深度确定得 到，所述第二时刻在所述第一时刻之前。第二设备根据所述目标道路积存物信息进行路径规划或者城市应急管理。In a second aspect, an embodiment of the present application provides a method for determining road accumulation information, and the method is applicable to a second device. The method includes: the second device receives target road accumulation information corresponding to the target accumulation area from the first device. Wherein, the target road accumulation information at least includes the update frequency of the target road accumulation information, the first time when the first device generates the target road accumulation information, and the target accumulation area at the second time and the first accumulation depth of the lowest point of the road surface in the target accumulation area at the second moment or the first danger level of the target accumulation area at the second moment. The first surface position information is used to indicate the area area and area position of the target accumulation area at the second moment, the first danger level is determined from the first accumulation depth, and the second moment is at the second moment. before said first moment. The second device performs route planning or urban emergency management according to the target road accumulation information.
结合第二方面，在一种可行的实现方式中，所述目标道路积存物信息中还包括所述目标积存区域在所述第二时刻的第一深度变化速度、所述目标积存区域在所述第二时刻的第一深度变化加速度、所述目标积存区域对应的初始积存时刻、所述路面最低点的位置信息中的一项或者多项。With reference to the second aspect, in a feasible implementation manner, the target road accumulation information further includes the first depth change speed of the target accumulation area at the second moment, the target accumulation area at the One or more items of the first depth change acceleration at the second time, the initial accumulation time corresponding to the target accumulation area, and the position information of the lowest point of the road surface.
结合第二方面，在一种可行的实现方式中，所述第一设备的预设检测区域基于预设区域划分规则划分有M1个格网区域，并且每个格网区域包含一个格网点。其中，所述M1为正整数。所述目标道路积存物信息中还包括：M2个第一目标格网区域中各第一目标格网区域的位置信息，和/或，所述各第一目标格网区域包含的各第一目标格网点在所述第二时刻的积存深度，其中，第一目标格网区域为所述M1个格网区域中在所述第二时刻时存在有积存物的格网区域，所述M2为小于或者等于M1的正整数。With reference to the second aspect, in a feasible implementation manner, the preset detection area of the first device is divided into M1 grid areas based on a preset area division rule, and each grid area includes one grid point. Wherein, the M1 is a positive integer. The target road accumulation information further includes: position information of each first target grid area in the M2 first target grid areas, and/or each first target included in each first target grid area The accumulation depth of grid points at the second moment, wherein the first target grid area is the grid area in which there is accumulation at the second moment among the M1 grid areas, and the M2 is less than Or a positive integer equal to M1.
结合第二方面，在一种可行的实现方式中，所述目标道路积存物信息还包括：所述第一时刻之后的第三时刻、所述目标积存区域在所述第三时刻对应的第二面位置信息、所述目标积存区域内的路面最低点在所述第三时刻的第二积存深度、所述目标积存区域在所述第三时刻的第二危险等级中的一项或者多项，其中，所述第二危险等级由所述第二积存深度确定。With reference to the second aspect, in a feasible implementation manner, the target road accumulation information further includes: a third time after the first time, a second corresponding to the target accumulation area at the third time one or more of surface location information, the second accumulation depth of the lowest point of the road surface in the target accumulation area at the third moment, and the second danger level of the target accumulation area at the third moment, Wherein, the second danger level is determined by the second accumulation depth.
结合第二方面，在一种可行的实现方式中，所述第二积存深度由所述第一深度变化速度、所述第一深度变化加速度以及所述第二时刻和所述第三时刻的时间差确定。With reference to the second aspect, in a feasible implementation manner, the second accumulation depth is determined by the first depth change speed, the first depth change acceleration, and the time difference between the second moment and the third moment Sure.
结合第二方面，在一种可行的实现方式中，M3个第二目标格网区域中各第二目标格网区域的位置信息，和/或，所述各第二目标格网区域包含的各第二目标格网点在所述第三时刻上的积存深度，其中，第二目标格网区域为在所述第三时刻上存在有积存物的格网区域。In combination with the second aspect, in a feasible implementation manner, the position information of each second target grid area in the M3 second target grid areas, and/or, each second target grid area included in the The accumulation depth of the second target grid point at the third moment, wherein the second target grid area is a grid area where accumulations exist at the third moment.
第三方面，本申请实施例提供的一种装置。该装置可为第一设备本身，也可为第一设备内部的如芯片等元件或者模块。该装置包括用于执行上述第一方面的任意一种可能的实现方式所提供的道路积存物信息的确定方法的单元，因此也能是实现第一方面提供的道路积存物信息的确定方法所具备的有益效果(或者优点)。In a third aspect, an apparatus is provided by an embodiment of the present application. The device may be the first device itself, or may be an element or module such as a chip inside the first device. The device includes a unit for executing the method for determining road accumulation information provided by any one of the possible implementations of the first aspect, so it can also be provided for implementing the method for determining road accumulation information provided by the first aspect. beneficial effects (or advantages).
第四方面，本申请实施例提供的一种装置。该装置可为第二设备本身，也可为第二设备内部的如芯片等元件或者模块。该装置包括用于执行上述第二方面的任意一种可能的实现方式所提供的道路积存物信息的确定方法的单元，因此也能是实现第二方面提供的道路积存物信息的确定方法所具备的有益效果(或者优点)。In a fourth aspect, an apparatus is provided by an embodiment of the present application. The device may be the second device itself, or may be an element or module such as a chip inside the second device. The device includes a unit for executing the method for determining road accumulation information provided by any one of the possible implementations of the second aspect, so it can also be provided for implementing the method for determining road accumulation information provided by the second aspect. beneficial effects (or advantages).
第五方面，本申请实施例提供了一种装置，该装置可为第一设备。该装置包括至少一个存储器以及处理器。其中，该处理器用于调用存储器存储的代码执行上述第一方面中任意一种可能的实施方式所提供的道路积存物信息的确定方法。In a fifth aspect, an embodiment of the present application provides an apparatus, and the apparatus may be a first device. The apparatus includes at least one memory and a processor. Wherein, the processor is configured to call the code stored in the memory to execute the method for determining road accumulation information provided by any possible implementation manner of the first aspect.
第六方面，本申请实施例提供了一种装置，该装置可为第二设备。该装置包括至少一个存储器以及处理器。其中，该处理器用于调用存储器存储的代码执行上述第二方面中任意一种可能的实施方式所提供的道路积存物信息的确定方法。In a sixth aspect, an embodiment of the present application provides an apparatus, and the apparatus may be a second device. The apparatus includes at least one memory and a processor. Wherein, the processor is configured to call the code stored in the memory to execute the method for determining road accumulation information provided by any possible implementation manner of the second aspect.
第七方面，本申请实施例提供了一种芯片。该芯片包括：至少一个处理器和接口电路。该接口电路用于接收代码指令并传输至该处理器。该处理器用于运行上述代码指令以实现上述第一方面或者第二方面中任一可能的实施方式所提供的道路积存物信息的确定方法，也能实现上述第一方面或者第二方面的任一可能的实施方式提供的道路积存物信息的确定方法所具备的有益效果(或者优点)。In a seventh aspect, an embodiment of the present application provides a chip. The chip includes: at least one processor and an interface circuit. The interface circuit is used to receive code instructions and transmit them to the processor. The processor is configured to run the above code instructions to implement the method for determining road accumulation information provided by any possible implementation manner of the above first aspect or the second aspect, and can also implement any one of the above first aspect or the second aspect. The beneficial effects (or advantages) of the method for determining road accumulation information provided by possible embodiments.
第八方面，本申请实施例提供了一种计算机可读存储介质，该计算机可读存储介质中存 储有指令，当该指令在计算机上运行时，实现上述第一方面或者第二方面中任一可能的实施方式所提供的道路积存物信息的确定方法，也能实现上述第一方面或者第二方面的任一可能的实施方式提供的道路积存物信息的确定方法所具备的有益效果(或者优点)。In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, where an instruction is stored in the computer-readable storage medium, and when the instruction is executed on a computer, any one of the above-mentioned first aspect or the second aspect is implemented The method for determining road accumulation information provided by the possible embodiments can also achieve the beneficial effects (or advantages) provided by the method for determining road accumulation information provided by any possible implementation of the first aspect or the second aspect. ).
第九方面，本申请实施例提供了一种包含指令的计算机程序产品，当该计算机程序产品在计算机上运行时，使得计算机执行上述第一方面或者第二方面中任一可能的实施方式所提供的道路积存物信息的确定方法，也能实现上述第一方面或者第二方面的任一可能的实施方式提供的道路积存物信息的确定方法所具备的有益效果(或者优点)。In a ninth aspect, an embodiment of the present application provides a computer program product containing instructions, when the computer program product is run on a computer, the computer program product enables the computer to execute any one of the possible implementations of the first aspect or the second aspect. The method for determining road accumulation information can also achieve the beneficial effects (or advantages) provided by the method for determining road accumulation information provided by any possible implementation manner of the first aspect or the second aspect.
第十方面，本申请实施例提供了一种通信***，该通信***包括上述第一设备和第二设备。In a tenth aspect, an embodiment of the present application provides a communication system, where the communication system includes the above-mentioned first device and the second device.
在本申请实施例提供的方法中，第一设备可检测并生成至少包含有更新频率、第一时刻、目标积存区域在预设的第二时刻的第一面位置信息，以及，目标积存区域内的路面最低点在上述第二时刻所对应的第一积存深度或者第一危险等级等信息属性的目标道路积存物信息，并将该目标道路积存物信息发送给第二设备。这样就丰富了目标道路积存物信息的内容，可使得第二设备能够基于该目标道路积存物信息更加准确的判断出道路上的积存物的积存状态，进而使得第二设备能够更加合理且有效的实现路径规划或者城市应急管理等功能。In the method provided by this embodiment of the present application, the first device may detect and generate the first surface position information at least including the update frequency, the first moment, the target storage area at a preset second moment, and the target storage area The target road accumulation information of the information attribute such as the first accumulation depth or the first danger level corresponding to the lowest point of the road surface at the above-mentioned second time, and the target road accumulation information is sent to the second device. In this way, the content of the accumulated object information on the target road is enriched, so that the second device can more accurately determine the accumulation state of the accumulated objects on the road based on the accumulated object information on the target road, so that the second device can be more reasonable and effective. Realize functions such as route planning or urban emergency management.
附图说明Description of drawings
图1是本申请实施例提供的一种通信***的结构示意图；1 is a schematic structural diagram of a communication system provided by an embodiment of the present application;
图2是本申请实施例提供的一种道路积存物信息的确定方法一流程示意图；FIG. 2 is a schematic flowchart of a method for determining road accumulation information provided by an embodiment of the present application;
图3是本申请实施例提供的一种深度检测场景示意图；3 is a schematic diagram of a depth detection scene provided by an embodiment of the present application;
图4是本申请实施例提供的又一种深度检测场景示意图；FIG. 4 is a schematic diagram of another depth detection scene provided by an embodiment of the present application;
图5是本申请提供的一种格网划分场景示意图；5 is a schematic diagram of a grid division scene provided by the present application;
图6是本申请实施例提供的一种第二目标格网区域确定场景示意图；6 is a schematic diagram of a scene for determining a second target grid area provided by an embodiment of the present application;
图7是本申请实施例提供的一种装置一结构示意图；7 is a schematic structural diagram of a device provided by an embodiment of the present application;
图8是本申请实施例提供的一种装置又一结构示意图；FIG. 8 is another schematic structural diagram of a device provided by an embodiment of the present application;
图9是本申请实施例提供的一种装置又一结构示意图；9 is another schematic structural diagram of a device provided by an embodiment of the present application;
图10是本申请实施例提供的一种芯片一结构示意图；FIG. 10 is a schematic structural diagram of a chip according to an embodiment of the present application;
图11是本申请实施例提供的一种芯片又一结构示意图；FIG. 11 is another schematic structural diagram of a chip provided by an embodiment of the present application;
图12是本申请实施例提供的一种装置又一结构示意图。FIG. 12 is another schematic structural diagram of an apparatus provided by an embodiment of the present application.
具体实施方式Detailed ways
下面将结合本申请实施例提供的附图，对本申请实施例中的技术方案进行清楚、完整地描述。The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings provided in the embodiments of the present application.
请参见图1，图1是本申请实施例提供的一种通信***的结构示意图，本申请实施例所提供的道路积存物信息的确定方法即适用于该通信***。由图1可知，该通信***中可包括第一设备和第二设备。第一设备与第二设备之间可通过网络进行通信。该网络可以是基于长期演进(long term evolution，LTE)***、通用移动通信***(universal mobile telecommunication system，UMTS)、全球互联微波接入(worldwide interoperability for microwave access，WiMAX)通信***、第五代(5th generation，5G)***或新无线(new radio，NR)***等构建的，本申请不作具体限制。上述第一设备可以是固定在道路两侧并且具备环境参量(如天气、环境图 像等)的检测和通信功能的设备。例如，上述第一设备具体可以是路边单元(road side unit，RSU)等设备。上述第二设备为可接收并使用道路积存物信息的设备。例如，上述第二设备具体可以是智能汽车、智能汽车上的车载***、智能汽车所使用的地图服务器、城市管理部门所使用的管理服务器等。这里，上述智能汽车包括各种类型的车辆。智能汽车的车载***可包括车载软件(即计算平台)和硬件(如摄像头、雷达、处理芯片等)。Referring to FIG. 1 , FIG. 1 is a schematic structural diagram of a communication system provided by an embodiment of the present application, and the method for determining road accumulation information provided by an embodiment of the present application is applicable to the communication system. It can be known from FIG. 1 that the communication system may include a first device and a second device. Communication between the first device and the second device is possible through a network. The network may be based on a long term evolution (LTE) system, a universal mobile telecommunication system (UMTS), a worldwide interoperability for microwave access (WiMAX) communication system, a fifth generation ( 5th generation, 5G) system or new radio (new radio, NR) system, etc., this application does not make specific limitations. The above-mentioned first device may be a device that is fixed on both sides of the road and has functions of detection and communication of environmental parameters (such as weather, environmental images, etc.). For example, the above-mentioned first device may specifically be a roadside unit (road side unit, RSU) and other devices. The above-mentioned second device is a device that can receive and use road accumulation information. For example, the above-mentioned second device may specifically be a smart car, an in-vehicle system on a 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 in-vehicle system of a smart car may include in-vehicle software (ie, a computing platform) and hardware (such as cameras, radars, processing chips, etc.).
现有技术中，推送给智能汽车的道路积存物信息中包含的内容较少，例如道路积水信息中仅包含有积水范围信息和积水区域的大致深度。因此，智能汽车也无法通过现有的道路积存物信息获取到更多的对其有利用价值的内容，从而导致智能汽车无法基于现有的道路积存物信息进行合理且有效的路径规划等功能。In the prior art, the road accumulation information pushed to the smart car contains less content, for example, the road accumulation information only includes the accumulation area information and the approximate depth of the accumulation area. Therefore, the smart car cannot obtain more useful content through the existing road accumulation information, so that the smart car cannot perform reasonable and effective path planning and other functions based on the existing road accumulation information.
因此，本申请要解决的技术问题：如何提升道路积存物信息的内容的丰富度，进而使得道路积存物信息的使用方(如智能汽车等)能够更加有效且合理的实现路径规划等功能。Therefore, the technical problem to be solved by this application is: how to improve the richness of the content of the road accumulation information, so that the user of the road accumulation information (such as smart cars, etc.) can more effectively and reasonably realize functions such as path planning.
实施例一Example 1
请参见图2，图2是本申请实施例提供的一种道路积存物信息的确定方法一流程示意图。该方法适用于图1所示的通信***，该方法具体可由图1所示的第一设备和第二设备来执行。如图2所示，该通信方法包括步骤：Please refer to FIG. 2 . FIG. 2 is a schematic flowchart of a method for determining road accumulation information provided by an embodiment of the present application. 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 Figure 2, the communication method includes the steps:
S210，第一设备确定目标积存区域对应的目标道路积存物信息。S210: The first device determines target road accumulation information corresponding to the target accumulation area.
在一些可行的实现方式中，第一设备在确定需要向第二通信发送目标道路寄存物信息后，其可获取到该目标道路积存物信息中所要包含的内容并根据该内容确定出该目标道路积存物信息。这里需要说明的是，上述目标道路积存物信息中包括多个用于描述目标积存区域以及内部的道路积存物(如积水或者积雪等)的状态的信息属性。该目标积存区域为在第一设备预设的检测区域内的路面上某个存在有道路积存物的区域。该目标积存区域的面积和范围会随着其内部的积存物的增多或者减少而发生变化。In some feasible implementation manners, after the first device determines that it needs to send the target road storage information to the second communication, it can obtain the content to be included in the target road storage information and determine the target road according to the content. Stockpiling information. It should be noted here that the above-mentioned target road accumulation information includes a plurality of information attributes for describing the state of the target accumulation area and the road accumulations (such as accumulated water or snow) in the target accumulation area. The target accumulation area is an area where road accumulations exist on the road surface within the detection area preset by the first device. The area and range of the target accumulation area will change with the increase or decrease of accumulations in the target accumulation area.
在第一种可选的实现方式中，上述目标道路积存物信息中包括的信息属性可以有目标道路积存物信息的更新频率、生成该目标道路积存物信息的时刻(为方便区别，下文将以第一时刻代替描述)、目标积存区域在预设的第二时刻的面位置信息(为方便区别，下文将以第一面位置信息代替描述)，以及，上述目标积存区域内的路面最低点在上述第二时刻所对应的积存深度(为方便区别，下文将以第一积存深度代替描述)或者该目标积存区域在所述第二时刻所对应的危险等级(为方便区别，下文将以第一危险等级代替描述)。In a first optional implementation manner, the information attributes included in the above-mentioned target road accumulation information may include the update frequency of the target road accumulation information, the time at which the target road accumulation information is generated (for the convenience of distinction, the following will be referred to as The first moment replaces the description), the surface position information of the target storage area at the preset second moment (for the convenience of distinction, the description will be replaced by the first surface position information below), and the lowest point of the road surface in the above-mentioned target storage area is The accumulation depth corresponding to the second moment (for the convenience of distinction, the description will be replaced by the first accumulation depth below) or the danger level corresponding to the target accumulation area at the second moment (for the convenience of distinction, the following will be the first accumulation depth) Hazard class instead of description).
这里需要说明的，上述目标道路积存物信息的更新频率就是第一设备更新该目标道路积存物信息中所包含的各种信息属性的内容的频率。上述第一时刻为第一设备生成该目标道路积存物信息的时刻。上述第二时刻为第一时刻之前的某个时刻，上述第二面位置信息为第一设备在第二时刻上检测到的能够用于指示该目标积存区域的积存范围和面积的面位置信息。可选的，在实际应用中，该面位置信息具体可以是目标积存区域的几何形点的世界坐标或者这些几何形点相对于第一设备的坐标。上述第一积存深度就是第一设备在第二时刻检测到的该目标积存区域内的路面最低点上的积存物的深度。上述第一危险等级由第一设备基于第一积存深度量化得到，指示了该目标积存区域在第二时刻对应的危险程度。It should be noted here that the update frequency of the above-mentioned target road accumulation information is the frequency at which the first device updates the content of various information attributes included in the target road accumulation information. The above-mentioned first time is the time when the first device generates the information about the accumulated objects on the target road. The second time is a certain time before the first time, and the second surface location information is surface location information detected by the first device at the second time that can be used to indicate the storage range and area of the target storage area. Optionally, in practical applications, the surface position information may specifically be the world coordinates of the geometrical points of the target storage area or the coordinates of these geometrical points relative to the first device. The above-mentioned first accumulation depth is the depth of the accumulation on the lowest point of the road surface in the target accumulation area detected by the first device at the second moment. The above-mentioned first risk level is quantified and obtained by the first device based on the first accumulation depth, and indicates the degree of risk corresponding to the target accumulation area at the second moment.
可选的，具体实现中，上述目标道路积存物信息的更新频率可以是第一设备预配置的一个固定的频率，也可以是第一设备根据其所在地区的实时天气状态动态调整的。具体的，第一设备可获取到其所在地区的实时天气状态，然后根据该实时天气状态从预设的更新频率指示集合中查找到对应的更新频率，并将该更新频率确定为目标道路积存物信息更新频率。然后，第一设备即可按照该更新频率来更新该目标道路积存物信息中所包含的信息属性的内容。 这里，上述更新频率指示集合包括有至少一种实时天气状态以及每种实时天气状态所对应的更新频率。例如，请参见表1-1，表1-1是本申请实施例提供的一种更新频率指示集合。这里假设道路积存物为积水。如表1-1所示，该更新频率指示集合中包括大到暴雨、中雨、小雨和无雨这四种实时天气状态以及与之对应的30秒/次、3分钟/次、3小时/次以及24小时/次这四种更新频率。假设第一设备获取到其所在地区的实时天气状态为大到暴雨，则可确定目标道路积存物信息的更新频率即为30秒/次。Optionally, in specific implementation, the update frequency of the above-mentioned target road accumulation information may be a fixed frequency preconfigured by the first device, or may be dynamically adjusted by the first device according to the real-time weather state of the region where the first device is located. Specifically, the first device can obtain the real-time weather state of the area where it is located, and then finds the corresponding update frequency from the preset update frequency indication set according to the real-time weather state, and determines the update frequency as the target road accumulation Information update frequency. Then, the first device can update the content of the information attribute included in the target road accumulation information according to the update frequency. Here, the above-mentioned 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, see Table 1-1. Table 1-1 is an update frequency indication set provided by this embodiment of the present application. Here, it is assumed that the road deposits are stagnant water. As shown in Table 1-1, the update frequency indication set includes four real-time weather states: heavy to heavy rain, moderate rain, light rain and no rain, and corresponding 30 seconds/time, 3 minutes/time, 3 hours/time Times and 24 hours / times these four update frequencies. Assuming that the real-time weather state obtained by the first device in the region where it is located is from heavy to heavy rain, it can be determined that the update frequency of the accumulated object information on the target road is 30 seconds/time.
表1-1更新频率指示集合Table 1-1 Update frequency indication set
实时天气状态real-time weather status 大到暴雨heavy rain 中雨moderate rain 小雨light rain 无雨no rain
更新频率Update frequency 30秒/次30 seconds/time 3分钟/次3 minutes/time 3小时/次3 hours/time 24小时/次24 hours/time
可选的，上述第一面位置信息可以是由第一设备在上述第二时刻检测得到的，具体的，第一设备可在第二时刻通过摄像头采集包含有上述目标积存区域的道路图像。然后，第一设备可通过预设的图像处理算法对获取到的道路图像进行处理以从该道路图像中确定出路面与目标积存区域内的积存物表面的边界位置，并根据该边界位置和摄像头的拍摄角度确定出目标积存区域边界。然后，第一设备可获取目标积存区域边界出的几何形点的位置信息，并将获取得到的几何形点的位置信息确定为上述第一面位置信息。Optionally, the location information of the first surface may be detected by the first device at the second moment. Specifically, the first device may collect a road image including the target storage area through a camera at the second moment. Then, the first device may process the acquired road image by using a preset image processing algorithm to determine the boundary position between the road surface and the surface of the accumulation object in the target accumulation area from the road image, and determine the boundary position between the road surface and the surface of the accumulation object in the target accumulation area according to the boundary position and the camera. The shooting angle of , determines the boundary of the target accumulation area. Then, the first device may acquire the position information of the geometrical point bounded by the target storage area, and determine the acquired positional information of the geometrical point as the above-mentioned first surface position information.
可选的，上述第一深度也可是由第一设备在上述第二时刻检测得到的。本申请提供了多种第一设备检测得到第一积存深度的具体实现方式，下面将分别对这多种具体实现方式进行描述。Optionally, the above-mentioned first depth may also be detected by the first device at the above-mentioned second moment. The present application provides various specific implementation manners for detecting the first accumulation depth by the first device, and the various specific implementation manners will be described below respectively.
检测得到第一积存深度的实现方式一：The first implementation method of detecting the first accumulation depth:
具体的，请参见图3，图3是本申请实施例提供的一种深度检测场景示意图。如图3所示，第一设备可在第二时刻获取到预设检测点与目标积存区域内的路面最低点在预设方向上的距离(为方便区别，下文将以第五距离H5代替描述)以及该预设检测点与目标积存区域内的道路积存物的积存物表面在上述预设方向上的距离(为方便区别，下文将以第六距离H6代替描述)。这里，上述预设检测点在第二设备上，如第二设备上的摄像头所在的位置。上述预设方向为积存物表面的铅垂线方向。具体的，第一设备可在第二时刻通过预设检测点上的摄像头获取到包含有上述道路最低点的图像，并对该图像进行处理以得到预设检测点和路面最低点的直线距离以及预设检测点和路面最低点连接而成的直线与积存物表面的铅垂线所形成的夹角(这里假设为第一夹角)。然后，第一设备即可通过根据三角关系对预设检测点和路面最低点的直线距离以及上述第一夹角进行处理以得到上述第五距离H5。同理，第一设备也可在第二时刻通过预设检测点上的摄像头获取到包含有上述积存物表面的图像，然后对该图像进行图像处理，以得到预设检测点和上述积存物表面上任意一个表面检测点的直线距离以及预设检测点和该表面检测点连接而成的直线与积存物表面的铅垂线所形成的夹角(这里假设为第二夹角)。然后，第一设备可根据三角关系对预设检测点和表面检测点的直线距离以及上述第二夹角进行处理以得到上述第六距离H6。之后，第一设备可计算得到上述第五距离H5与第六距离H6的差值d1，其中，d1＝(H6-H5)，并将该差值d1确定为上述第二积存深度。Specifically, please refer to FIG. 3 , which is a schematic diagram of a depth detection scene provided by an embodiment of the present application. As shown in FIG. 3 , the first device can obtain the distance between the preset detection point and the lowest point of the road surface in the target accumulation area in the preset direction at the second moment (for the convenience of distinction, the following description will be replaced by the fifth distance H5 ) and the distance between the preset detection point and the accumulation surface of the road accumulation in the target accumulation area in the above-mentioned preset direction (for convenience of distinction, the description will be replaced by the sixth distance H6 below). Here, the above-mentioned preset detection point is on the second device, such as where the camera on the second device is located. The above-mentioned preset direction is the vertical line direction of the surface of the accumulated object. Specifically, the first device can obtain an image including the lowest point of the road through the camera on the preset detection point at the second moment, and process the image to obtain the straight-line distance between the preset detection point and the lowest point of the road, and The angle formed by the straight line connecting the preset detection point and the lowest point of the road surface and the vertical line of the surface of the deposit (it is assumed to be the first angle here). Then, the first device can obtain the fifth distance H5 by processing 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. Similarly, the first device can also acquire an image containing the surface of the above-mentioned accumulated object through the camera on the preset detection point at the second moment, and then perform image processing on the image to obtain the preset detection point and the surface of the above-mentioned accumulated object. The straight line distance of any one of the above surface detection points and the angle formed by the line formed by the connection between the preset detection point and the surface detection point and the vertical line of the surface of the deposit (this is assumed to be the second angle). 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 the triangular relationship to obtain the sixth distance H6. Afterwards, the first device can calculate the difference d1 between the fifth distance H5 and the sixth distance H6, where d1=(H6-H5), and determine the difference d1 as the second accumulation depth.
进一步的，在第一设备确定出上述第一积存深度后，还可基于预设的量化规则对上述第一积存深度进行量化，以得到上述第一危险等级。例如，假设第一设备预设有危险等级A1、危险等级A2和危险等级A3。其中，危险等级A1对应第一积水范围，危险等级A2对应第二积水范围，危险等级A3对应第三积水范围。第一设备在获取到上述第一积存深度后，即可 确定上述第一积存深度包含于上述第一积水范围、第二积水范围和第三积水范围中的哪一个。若第一设备确定第一积存深度包含于上述第一积水范围，则可确定上述第一危险等级为危险等级A1。若第一设备确定第一积存深度包含于上述第二积水范围，则可确定上述第一危险等级为危险等级A2。若第一设备确定第一积存深度包含于上述第三积水范围，则可确定上述第一危险等级为危险等级A3。当然，第一设备也可采用其他量化方法对第一积存深度进行量化以得到第一危险等级，本申请对此不作具体限制。这里还需要说明的是，由于上述第一危险等级是由第一积水深度量化得到，因此目标道路积存物信息中可仅包括第一积水深度和第一危险等级中的某一个，这样可避免出现冗余内容。Further, after the first storage depth is determined by the first device, the first storage depth may be quantified based on a preset quantification rule to obtain the first risk level. For example, it is assumed that the first device is preset with a hazard level A1, a hazard level A2, and a hazard level A3. Wherein, the danger level A1 corresponds to the first stagnant water range, the hazard level A2 corresponds to the second stagnant water range, and the hazard level A3 corresponds to the third stagnant water range. After acquiring the first accumulation depth, the first device can determine which one of the first accumulation depth, the second accumulation area and the third accumulation area is included in the first accumulation depth. If the first device determines that the first accumulation depth is included in the first accumulation range, it can determine that the first danger level is the danger level A1. If the first device determines that the first accumulation depth is included in the second water accumulation range, it can determine that the first danger level is the danger level A2. If the first device determines that the first accumulation depth is included in the third water accumulation range, the first danger level may be determined to be the danger level A3. Of course, the first device may also use other quantification methods to quantify the first accumulation depth to obtain the first danger level, which is not specifically limited in this application. It should also be noted here that since the above-mentioned first hazard level is obtained by quantifying the first ponding depth, the target road accumulation information may include only one of the first ponding depth and the first hazard level, so that the Avoid redundant content.
在本实现方式中，根据第一设备可在第二时刻获取到预测检测点与目标积存区域内的路面最低点在预设方向上的距离以及该预设检测点与目标积存区域内的道路积存物的积存物表面在上述预设方向上的距离来确定上述第二积存深度，方法简单且易于实现，可降低第一设备的数据处理量。In this implementation manner, according to the first device, 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 road accumulation in the preset detection point and the target accumulation area can be obtained at the second time. The above-mentioned second accumulation depth is determined by the distance of the accumulation surface of the material in the above-mentioned preset direction, the method is simple and easy to implement, and the data processing amount of the first device can be reduced.
检测得到第一积存深度的实现方式二：The second implementation method of detecting the first accumulation depth:
需要说明的是，在目标积存区域周围可存在有N个预设的相对静止的参照物。这里，该参照物具体可以是目标积存区域周围的路牙、护栏、灯杆等，本申请对此不作具体限制。N为大于或者等于1的正整数。在这N个预设的参照物上共设定有N个固定的深度参考点，其中，一个参照物上设定一个深度参考点。具体实现中，第一设备可在第二时刻获取目标积存区域内的路面最低点与上述N个深度参考点在预设方向上的N个第一距离。这里，路面最低点与每个深度参考点之间都会对应一个第一距离。和上述实现方式一相同，该预设方向为目标积存区域内的积存物表面的铅垂线方向。这里，第一设备获取上述N个第一距离的过程和上述实现方式以中所描述的第一设备获取第五距离H5的原理相同，此处便不再重复描述。同时，第一设备还可在第二时刻获取到上述积存物表面与上述N个深度参考点在预设方向上的N个第二距离。这里，积存物表面与每个深度参考点之间都会对应一个第二距离。第一设备获取上述N个第二距离的过程和上述实现方式一中所描述的第一设备获取第六距离H6的原理相同，此处便不再重复描述。然后，第一设备即可根据上述N个第一距离和N个第二距离进一步确定上述第一积存深度。例如，第一设备可分别计算每个深度参考点所对应的第一距离和第二距离的差值以得到N个距离差，然后第一设备可将该N个距离差的平均值确定为上述第二深度。这里，基于多个参照物上的参考点与路面最低点以及积存物表面在预设方向上的距离来确定第一积存深度，可提升上述第一积存深度的获取精度，进而提升目标道路积存物信息的准确性和有效性。It should be noted that, there may be N preset relatively stationary reference objects around the target storage area. Here, the reference objects may specifically be curbs, guardrails, light poles, etc. around the target storage area, which are not specifically limited in this application. N is a positive integer greater than or equal to 1. A total of 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 acquire N first distances in a preset direction between the lowest point of the road surface in the target storage area and the above-mentioned N depth reference points at the second moment. Here, a first distance corresponds to the lowest point of the road surface and each depth reference point. Similar to the first implementation manner above, the preset direction is the direction of the vertical line of the surface of the accumulation object in the target accumulation area. Here, the process for the first device to acquire the N first distances is the same as the principle for the first device to acquire the fifth distance H5 described in the above implementation manner, and the description is not repeated here. At the same time, the first device may also acquire N second distances in the preset direction between the surface of the accumulated object and the N depth reference points at the second moment. Here, a second distance corresponds to the surface of the deposit and each depth reference point. The process for the first device to acquire the N second distances is the same as the principle for the first device to acquire the sixth distance H6 described in the first implementation manner, and the description is not repeated here. Then, the first device can further determine the first storage depth according to the N first distances and the N second distances. For example, the first device may separately calculate the 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 the average value of the N distance differences as the above second depth. Here, 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 accumulation in the preset direction, which can improve the acquisition accuracy of the first accumulation depth, thereby improving the target road accumulation. Accuracy and validity of information.
下面请参见图4，图4是本申请实施例提供的又一种深度检测场景示意图。如图4所示，目标区域周围存在参照物1和参照物2，参照物1上设定有深度参考点1，参照物2上设定有深度参考点2。第一设备在第二时刻上可获取到上述深度参考点1与路面最低点在预设方向上的第一距离H1a以及上述深度参考点2与路面最低点在预设方向上的第一距离H1b。然后，第一设备还可在第二时刻上可获取到上述深度参考点1与积存物表面在预设方向上的第二距离H2a以及上述深度参考点2与积存物表面在预设方向的第二距离H2b。然后，第一设备可计算出上述深度参考点1所对应的距离差d2，d2＝(H1b-H1a)，以及，上述深度参考点2所对应的距离差d3，d3＝(H2b-H2a)。然后，第一设备可将上述d2与d3的平均值(d2+d3)/2确定为上述第一积存深度。这里，将多个参照物上的参考点与路面最低点以及积存物表面在预设方向上的距离差的平均值确定为上述第一积存深度，方法简单且易于实现，可提升第一积存深度的获取效率。Referring to FIG. 4 below, FIG. 4 is a schematic diagram of another depth detection scene provided by an embodiment of the present application. As shown in FIG. 4 , a reference object 1 and a reference object 2 exist 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 can obtain the first distance H1a between the depth reference point 1 and the lowest point of the road in the preset direction and the first distance H1b between the depth reference point 2 and the lowest point of the road in the preset direction at the second time. . Then, the first device can also obtain the second distance H2a between the depth reference point 1 and the deposit surface in the preset direction and the first distance H2a between the depth reference point 2 and the deposit surface in the preset direction at the second time. Two distances H2b. Then, the first device can calculate the distance difference d2 corresponding to the depth reference point 1, d2=(H1b-H1a), and the distance difference d3 corresponding to the depth reference point 2, d3=(H2b-H2a). Then, the first device may determine the above-mentioned average value of d2 and d3 (d2+d3)/2 as the above-mentioned first accumulation depth. Here, the average value of the distance differences 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 is determined as the above-mentioned first accumulation depth. The method is simple and easy to implement, and the first accumulation depth can be improved. acquisition efficiency.
在本实现方式中，第一设备可检测并生成至少包含有更新频率、第一时刻、目标积存区域在预设的第二时刻的第一面位置信息，以及，目标积存区域内的路面最低点在上述第二时刻所对应的第一积存深度或者第一危险等级等信息属性的目标道路积存物信息。这样就提升了目标道路积存物信息的内容的丰富度，可使得第二设备能够基于该目标道路积存物信息更准确的确定出道路上的积存物的状态，进而使得第二设备能够更加合理且有效的实现路径规划或者城市应急管理等功能。In this implementation manner, the first device can detect and generate the first surface position information at least including the update frequency, the first time, the target accumulation area at the preset second time, and the lowest point of the road surface in the target accumulation area The target road accumulation information of the information attributes such as the first accumulation depth or the first danger level corresponding to the above-mentioned second time. In this way, the richness of the content of the accumulated object information on the target road is improved, and the second device can more accurately determine the state of the accumulated objects on the road based on the accumulated object information on the target road, thereby enabling the second device to be more reasonable and efficient. It can effectively realize functions such as path planning or urban emergency management.
在第二种可选的实现方式中，上述目标道路积存物信息中除了包含上述第一种实现方式所提供的多种信息属性外，还可包括目标积存区域在第二时刻对应的深度变化速度(为方便区别，下文将以第一深度变化速度代替描述)、目标积存区域在第二时刻对应的深度变化加速度(为方便区别，下文将以第一深度变化加速度代替描述)、目标积存区域对应的初始积存时刻以及路面最低点的位置信息中的一项或者多项。也就是说，第一设备在获取到上述第一种可选的实现方式中所描述的各种信息属性之后，还可继续获取上述第一深度变化速度、第一深度变化加速度、目标积存区域对应的初始积存时刻以及路面最低点的位置信息中的一项或者多项，然后再根据其获取到的多种信息属性生成上述目标道路积存物信息。In a second optional implementation manner, in addition to the various information attributes provided by the first implementation manner, the above-mentioned target road accumulation information may also include the depth change speed corresponding to the target accumulation area at the second moment (For the convenience of distinction, the description will be replaced by the first depth change speed below), the depth change acceleration corresponding to the target accumulation area at the second moment (for the convenience of distinction, the description will be replaced by the first depth change acceleration below), the target accumulation area corresponds to One or more items of the initial accumulation time of , and the position information of the lowest point of the road. That is to say, after acquiring the various information attributes described in the above-mentioned first optional implementation manner, the first device may continue to acquire the above-mentioned first depth change speed, first depth change acceleration, and corresponding to the target storage area. One or more items of the initial accumulation time and the position information of the lowest point of the road surface, and then generate the above-mentioned target road accumulation information according to the various information attributes obtained.
可选的，上述目标积存区域在第二时刻对应的第一深度变化速度可以由第一设备根据上述第一积存深度、第一设备获取到的历史积存深度以及积存时段确定得到。例如，假设上述第二时刻为t2，第一积存深度为Dt2，第二时刻之前的某个时刻t1上第一设备检测得到的路面最低点的历史积存深度为Dt1，则第一设备可根据上述时刻t2、时刻t1、第一积存深度Dt2和历史积存深度为Dt1计算得到上述第一深度变化速度。这里，第一深度变化速度V2满足如下关系式(1)：Optionally, the first depth change speed corresponding to the target storage area at the second moment may be determined by the first device according to the first storage depth, the historical storage depth obtained by the first device, and the storage period. For example, assuming that the second time is t2, the first accumulation depth is Dt2, and the historical accumulation depth of the lowest point of the road detected by the first device at a certain time t1 before the second time is Dt1, the first device can The time t2, the time t1, the first accumulation depth Dt2 and the historical accumulation depth are calculated as Dt1 to obtain the above-mentioned first depth change speed. Here, the first depth change speed V2 satisfies the following relational expression (1):
Figure PCTCN2021131567-appb-000001
Figure PCTCN2021131567-appb-000001
可选的，上述目标积存区域在第二时刻对应的第一深度变化加速度可以由第一设备根据上述第一深度变化速度、第一设备获取到的历史深度变化速度以及积存时段确定得到。例如，假设第二时刻为t2，第一深度变化速度为V2，第二时刻之前的某个时刻t1上第一设备检测得到的历史深度变化速度为V1，则第一设备可根据上述时刻t2、时刻t1、第一深度变化速度为V2和历史深度变化速度V1计算得到上述第一深度变化加速速度。这里，第一深度变化加速度a2满足如下关系式(2)：Optionally, the first depth change acceleration corresponding to the target accumulation area at the second moment may be determined by the first device according to the first depth change speed, the historical depth change speed obtained 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 certain time t1 before the second time is V1, the first device can be based on the above time t2, At time t1, the first depth change speed is V2 and the historical depth change speed V1 is calculated to obtain the above-mentioned first depth change acceleration speed. Here, the first depth change acceleration a2 satisfies the following relational expression (2):
Figure PCTCN2021131567-appb-000002
Figure PCTCN2021131567-appb-000002
在本实现方式中，在目标道路积存物信息中进一步增加第一深度变化速度、第一深度变化加速度、目标积存区域对应的初始积存时刻以及路面最低点的位置信息中的一项或者多项，可进一步提升目标道路积存物信息的内容丰富度。In this implementation, one or more items 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, The content richness of the accumulated object information on the target road can be further improved.
在第三种可选的实现方式中，第一设备的预设检测区域会基于预设的区域划分规则划分成多个格网区域(现假设为M1个格网区域，M1为大于或者等于1的正整数)。这里，上述预设的区域划分规则具体可以为基于预设的面积或者预设的区域形状进行划分，本申请对该区域划分规则不作具体限制。上述M1个格网区域中的每个格网区域内都含有一个预设的格网点。实际应用中，格网点可是就是格网区域内的路面最低点，也可以是格网区域的中心点，还可以是基于预设的格网点设定规则从格网区域中确定出的一个点，本申请对此不作具体限制。在这种情况下，上述目标道路积存物信息中还可包括有M2个第一目标格网区域中各第一目标格网区域的位置信息，和/或，各第一目标格网区域包含的各第一目标格网点在第二时刻的积存深度。这里，第一目标格网区域为上述M1个格网区域中在第二时刻时存在有积存 物的格网区域，第一目标格网点为第一目标格网区域所包含的格网点。上述M2为小于或者等于M1的正整数。也就是说，第一设备在获取到上述第一种可选的实现方式或者第二种可选的实现方式所涉及的多种信息属性之后，还可继续获取各第一目标格网区域的位置信息，和/或，各第一目标格网点在第二时刻的积存深度，然后再进一步生成上述目标道路积存物信息。In a third optional implementation manner, the preset detection area of the first device is divided into a plurality of grid areas based on a preset area division rule (it is assumed that there are M1 grid areas, and M1 is greater than or equal to 1 positive integer). Here, the above-mentioned preset area division rule may specifically be division based on a preset area or a preset area shape, and this application does not specifically limit the area division rule. Each of the above-mentioned M1 grid areas contains a preset grid point. In practical applications, the grid point may be the lowest point of the road surface in the grid area, the center point of the grid area, or a point determined from the grid area based on the preset grid point setting rules. This application does not specifically limit this. In this case, the above-mentioned target road accumulation information may further include the position information of each of the M2 first target grid areas, and/or the information contained in each of the first target grid areas. The storage depth of each first target grid point at the second moment. Here, the first target grid area is a grid area in which there are accumulated objects at the second time among the above-mentioned M1 grid areas, and the first target grid point is a grid point included in the first target grid area. The above-mentioned M2 is a positive integer less than or equal to M1. That is to say, after acquiring the various information attributes involved in the first optional implementation manner or the second optional implementation manner, the first device may continue to acquire the location of each first target grid area information, and/or the accumulation depth of each first target grid point at the second moment, and then further generate the above-mentioned target road accumulation information.
可选的，第一设备可先确定出第二时刻上该M1个格网区域中所包括M2个第一目标格网区域。例如，第一设备可在第二时刻获取到包含有目标积存区域的道路图像。然后再对该道路图像进行处理以确定出第二时刻上该目标积存区域的范围，并进一步将与第二时刻的目标积存区域的范围存在重叠的格网区域确定为第一目标格网区域，从而得到上述M2个第一目标格网区域。然后，第一设备可获取到上述M2个第一目标格网区域中各第一目标格网区域的位置信息。可选的，第一目标格网区域的位置信息具体可以是第一目标格网区域的多个几何形点的位置信息。进一步的，第一设备还可确定各第一目标格网区域内所包含的第一目标格网点，并检测得到各第一目标格网点在第二时刻上对应的积存深度。这里，第一设备检测得到任一第一目标格网点在第二时刻上对应的积存深度的过程可参见前文实现方式一中所描述的第一设备检测得到路面最低点在第二时刻的对应的第一积存深度的过程，此处便不再赘述。Optionally, the first device may first determine the M2 first target grid areas included in the M1 grid areas at the second moment. For example, the first device may acquire a road image including the target accumulation area at the second moment. Then, the road image is processed to determine the range of the target storage area at the second moment, and the grid area that overlaps with the range of the target storage area at the second moment is further determined as the first target grid area, Thus, the above-mentioned M2 first target grid areas are obtained. Then, the first device may acquire the position information of each of the first target grid areas in the M2 first target grid areas. Optionally, the location information of the first target grid area may specifically be location information of multiple geometric points in the first target grid area. Further, the first device may also determine the first target grid points included in each of the first target grid areas, and detect and obtain the accumulation depth corresponding to each of the first target grid points at the second moment. Here, for the process that the first device detects and obtains the accumulation depth corresponding to any first target grid point at the second moment, please refer to the process of obtaining the corresponding accumulation depth of the lowest point of the road surface at the second moment by the first device described in the first implementation manner. The process of the first accumulation depth will not be repeated here.
例如，请参见图5，图5是本申请提供的一种格网划分场景示意图。如图5所示，预设检测区域被划分成多个格网区域，一部分格网区域分布在路面上。其中，每个格网区域的形状为正方形。第一设备在第二时刻上可获取到包含有目标积存区域的道路图像。然后，第一设备可进一步根据该道路图像确定出第二时刻上目标积存区域的范围。然后，第一设备可将与第二时刻的目标积存区域的范围存在重叠的格网区域1、格网区域2、格网区域3、格网区域4、格网区域5、格网区域6、格网区域7、格网区域8和格网区域9均确定为第一目标格网区域，从而得到9个第一目标格网区域。然后，第一设备可获取到上述9个第一目标格网区域中各第一目标格网区域对应的位置信息。具体的，第一设备可将每个第一目标格网区域所对应的四个顶点的位置作为每个第一目标格网区域的位置信息。进一步的，第一设备还可将每个第一目标格网区域的对角线交点确定为每个第一目标格网区域的第一目标格网点，并检测得到每个第一目标格网点在第二时刻上对应的积存深度。For example, please refer to FIG. 5 , which is a schematic diagram of a grid division scene provided by the present application. As shown in FIG. 5 , the preset detection area is divided into a plurality of grid areas, and some grid areas are distributed on the road surface. where each grid area is square in shape. The first device may acquire a road image including the target storage area at the second moment. Then, the first device may further determine the range of the target accumulation area at the second moment according to the road image. Then, the first device may assign grid area 1, grid area 2, grid area 3, grid area 4, grid area 5, grid area 6, The grid area 7 , the grid area 8 and the grid area 9 are all determined as the first target grid area, so that 9 first target grid areas are obtained. Then, the first device may acquire the position information corresponding to each of the first target grid areas in the above-mentioned nine first target grid areas. Specifically, the first device may use the positions of the four vertices corresponding to each first target grid area as the position information of each first target grid area. Further, the first device can also determine the diagonal intersection of each first target grid area as the first target grid point of each first target grid area, and detect that each first target grid point is at The corresponding accumulation depth at the second moment.
这里还需要说明的是，在所有的第一设备通采用通的格网区域划分规则的情况下，则对于第二设备来说每个格网区域的位置信息都是固定不变的，因为每个格网区域的位置信息可以作为第二设备预配置的信息。所以这种情况下，第一设备无需重复的给第二设备发送每个第一目标格网区域的位置信息，即上述目标道路积存物信息中可不包括上述M2个第一目标格网区域中各第一目标格网区域的位置信息。It should also be noted here that in the case that all the first devices generally use the common grid area division rules, the location information of each grid area is fixed for the second device, because each The location information of each grid area may be used as information preconfigured by the second device. Therefore, in this case, the first device does not need to repeatedly send the position information of each first target grid area to the second device, that is, the above-mentioned target road accumulation information may not include each of the above-mentioned M2 first target grid areas. Location information of the first target grid area.
在本实现方式中，在目标道路积存物信息中进一步增加各第一目标格网区域的位置信息，和/或，各第一目标格网点在第二时刻上对应的积存深度，使得上述目标道路积存物信息能够更加全面的指示出目标积存区域内的各个不同位置在第二时刻上的积存深度，从而使得后续第二设备能够基于该目标道路积存物信息更加全面的判断出目标积存区域的积存状态，使得第二设备能够更加合理且有效的实现路径规划或者城市应急管理等功能。In this implementation manner, the location information of each first target grid area is further added to the target road accumulation information, and/or the corresponding accumulation depth of each first target grid point at the second moment, so that the above target road The accumulation information can more comprehensively indicate the accumulation depth of each different position in the target accumulation area at the second time, so that the subsequent second device can more comprehensively judge the accumulation in the target accumulation area based on the accumulation information of the target road. state, so that the second device can more reasonably and effectively implement functions such as path planning or urban emergency management.
在第四种可选的实现方式中，上述目标道路积存物信息进一步还可包括第一时刻之后的第三时刻、目标积存区域在第三时刻对应的第二面位置信息、目标积存区域内的路面最低点在上述第三时刻的第二积存深度、目标积存区域在第三时刻的第二危险等级中的一项或者多项。这里，上述第三时刻是第一设备将要预测的某个时刻，上述第二面位置信息、第二积存 深度以及第二危险等级都是第一设备预测得到的。也就是说，第一设备在获取到上述第一种可选的实现方式、上述第二种可选的实现方式或者上述第三种可选的实现方式中所涉及的多种信息属性之后，还可预测得到上述第二面位置信息、第二积存深度以及第二危险等级中的一项或者多项，并进一步生成内容更为丰富的目标道路积存物信息。In a fourth optional implementation manner, the above-mentioned target road accumulated object information may further include a third time after the first time, the position information of the second surface corresponding to the target accumulation area at the third time, and the location information of the target accumulation area at the third time. One or more items of the second accumulation depth of the lowest point of the road surface at the third moment, and the second danger level of the target accumulation area at the third moment. Here, the above-mentioned third time is a certain time to be predicted by the first device, and the above-mentioned second surface position information, the second storage depth and the second risk level are all predicted by the first device. That is to say, after acquiring the various information attributes involved in the first optional implementation manner, the second optional implementation manner, or the third optional implementation manner, the first device also One or more items of the second surface position information, the second accumulation depth, and the second danger level can be predicted and obtained, and further information on the accumulation of objects on the target road with richer content can be generated.
可选的，具体实现中，第二积存深度可以由第一设备根据上述第一深度变化速度、上述第一深度变化加速度以及上述第二时刻和第三时刻的时间差确定。例如，假设上述第一深度变化速度为V2，上述第一深度变化加速度为a2，上述第二时刻为t2，第三时刻为t3，则第二积存深度Dt3可由第一设备根据下述公式(3)确定得到：Optionally, in 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 the time difference between the second moment and the third moment. 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 storage depth Dt3 can be determined by the first device according to the following formula (3 ) is sure to get:
Figure PCTCN2021131567-appb-000003
Figure PCTCN2021131567-appb-000003
进一步的，在第一设备确定出上述第二积存深度后，还可通过预设的量化规则对上述第二积存深度进行量化以得到上述第二危险等级。这里，第一设备对第二积存深度进行量化以得到上述第二危险等级的过程和前文叙述的第一设备对第一积存深度进行量化以得到第一危险等级的过程类似，因此可一并参见前文，此处便不再赘述。Further, after the second storage depth is determined by the first device, the second storage depth may also be quantified through a preset quantization rule to obtain the second risk level. Here, the process that the first device quantifies the second accumulation depth to obtain the above-mentioned second risk level is similar to the process that the first device quantifies the first accumulation depth to obtain the first risk level described above. The foregoing will not be repeated here.
可选的，具体实现中，第一设备可获取上述M1个格网区域中各格网区域内的格网点与第一设备的预设探测点在预设方向上的第三距离。这里，预设方向的定义如前文，此处便不再赘述。然后，第一设备还可根据上述第二积存深度确定第三时刻上目标积存区域内的积存物表面与上述预设探测点在预设方向上的第四距离。然后，第一设备可根据各格网区域内的格网点与预设探测点在预设方向上的第三距离与上述第四距离出M1个格网区域哪个几个格网区域在第三时刻时存在有积存物，并将这些在第三时刻时存在有积存物的格网区域确定为第二目标格网区域，进而从上述M1个格网区域中确定出M3个第二目标格网区域。其中，M3为小于或者等于M1的正整数。当某个格网区域的内的格网点与第一设备的预设探测点在预设方向上的第三距离小于上述第四距离时，则说明该格网区域在第三时刻会存在有积存物，则该格网区域即为第二目标格网区域。而当某个格网区域的内的格网点与第一设备的预设探测点在预设方向上的第三距离等于或者大于上述第四距离时，则说明该格网区域在第三时刻不会存在有积存物，则该格网区域就不是第二目标格网区域。Optionally, in a specific implementation, the first device may acquire a third distance in a preset direction between a grid point in each grid area of the M1 grid areas and a preset detection point of the first device. Here, the definition of the preset direction is as described above, and details are not repeated here. Then, the first device may further determine, according to the second accumulation depth, a fourth distance in a preset direction between the surface of the accumulated object in the target accumulation area and the preset detection point at the third moment. Then, the first device can determine which grid areas of the M1 grid areas are at the third moment according to the third distance between the grid points in each grid area and the preset detection point in the preset direction and the above-mentioned fourth distance There are accumulations at time 3, and these grid areas with accumulations at the third time are determined as the second target grid areas, and then M3 second target grid areas are determined from the above M1 grid areas . Wherein, M3 is a positive integer less than or equal to M1. When the third distance between the grid point in a grid area and the preset detection point of the first device in the preset direction is smaller than the above-mentioned fourth distance, it means that there will be accumulation in the grid area at the third moment object, the grid area is the second target grid area. When the third distance between the grid point in a grid area and the preset detection point of the first device in the preset direction is equal to or greater than the above-mentioned fourth distance, it means that the grid area is not at the third moment. There will be accumulations, then the grid area is not the second target grid area.
下面以M1个格网区域中的格网区域1为例，对第一设备确定第二目标格网区域的过程进行举例描述。可一并参见图6，图6是本申请实施例提供的一种第二目标格网区域确定场景示意图。如图6所示，第一设备可先确定出上述格网区域1中所对应的格网点11的位置，然后再检测得到上述格网点11与预设检测点在预设方向的第三距离。这里，第一设备检测得到上述第三距离的过程与前文描述的第一设备检测得到路面最低点与预设检测点在预设方向上的第五距离H5的过程类似，此处便不再重复描述。然后，第一设备可获取上述第二积存深度，再将路面最低点与预设检测点在预设方向的距离与上述第二积存深度的差值确定为积存物表面与预设参考点在第三时刻对应的第四距离。然后，若第一设备确定格网点11与预设检测点在预设方向的第三距离要小于上述第四距离，则可确定该格网区域1在第三时刻时不会存有积存物，则该格网区域1就不是第二目标格网区域。若第一设备确定格网点11与预设检测点在预设方向的第三距离要等于或者大于上述第四距离，则可确定该格网区域1在第三时刻时存有积存物，则该格网区域1就是第二目标格网区域。The process of determining the second target grid area by the first device is described below by taking grid area 1 of the M1 grid areas as an example. Referring to FIG. 6 together, FIG. 6 is a schematic diagram of a scene for determining a second target grid area provided by an embodiment of the present application. As shown in FIG. 6 , the first device can first determine the position of the grid point 11 corresponding to the grid area 1, and then detect the third distance between the grid point 11 and the preset detection point in the preset direction. Here, the process that the first device detects the above-mentioned third distance is similar to the process that the first device detects and obtains the fifth distance H5 between the lowest point of the road surface and the preset detection point in the preset direction, which is not repeated here. describe. Then, the first device can obtain the second accumulation depth, and then determine the difference between the distance between the lowest point of the road surface and the preset detection point in the preset direction and the second accumulation depth as the surface of the accumulated object and the preset reference point in the first The fourth distance corresponding to the three moments. Then, if the first device determines that the third distance between the grid point 11 and the preset detection point in the preset direction is smaller than the above-mentioned fourth distance, it can be determined that there will be no accumulated objects in the grid area 1 at the third time. Then the grid area 1 is not the second target grid area. If the first device determines that the third distance between the grid point 11 and the preset detection point in the preset direction is equal to or greater than the above-mentioned fourth distance, it can be determined that there are accumulated objects in the grid area 1 at the third time, then the Grid area 1 is the second target grid area.
进一步的，在第一设备确定出上述M3个第二目标格网区域后，可根据上述M3个第二目标格网区域预测出目标积存区域在第三时刻上的形状和大小。例如，第一设备可直接将上述M3个第二目标格网区域拼接起来，并将拼接到的区域确定为第三时刻上的目标积存区域。 然后，第一设备可获取第三时刻上的目标积存区域的边界，并根据该边界进一步确定出上述第二面位置信息。例如，第一设备可将第三时刻上的目标积存区域的边界的几何形点的位置信息确定为上述第二面位置信息。Further, after the first device determines the M3 second target grid areas, the shape and size of the target storage area at the third moment can be predicted according to the M3 second target grid areas. For example, the first device may directly splicing the above-mentioned M3 second target grid areas, and determine the spliced area as the target accumulation area at the third moment. Then, the first device may acquire the boundary of the target storage area at the third moment, and further determine the position information of the second surface according to the boundary. For example, the first device may determine the position information of the geometrical point of the boundary of the target storage area at the third time instant as the above-mentioned second surface position information.
在本实现方式中，在目标道路积存物信息中进一步增加了第一设备预测的第三时刻上的第二面位置信息、第二积存深度以及第二危险等级中的一项或者多项，进一步提升的目标道路积存物信息的丰富度，从而使得第二设备能够基于该目标道路积存物信息获取到未来的第三时刻上述该目标积存区域的积存状态，使得第二设备能够更加合理且有效的实现路径规划或者城市应急管理等功能。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 further The improved richness of the target road accumulation information, so that the second device can obtain the accumulation state of the target accumulation area at the third time in the future based on the target road accumulation information, so that the second device can be more reasonable and effective. Realize functions such as route planning or urban emergency management.
在第五种可选的实现方式中，上述目标道路积存物信息进一步还可包括上述M3个第二目标格网区域中各第二目标格网区域的位置信息，和/或，所述各第二目标格区域包含的各第二目标格网点在所述第三时刻上的积存深度。也就是说，第一设备在获取到第一种可选的实现方式、第二种可选的实现方式、第三种可选的实现方式或者第四种可选的实现方式中所描述的多种信息属性之后，还可获取各第二目标格网区域的位置信息，和/或，所述各第二目标格区域包含的各第二目标格网点在所述第三时刻上的积存深度，并进一步生成内容更为丰富的目标道路积存物信息。In a fifth optional implementation manner, the above-mentioned target road accumulated object information may further include the position information of each second target grid area in the above-mentioned M3 second target grid areas, and/or, each of the first The storage depth of each second target grid point included in the two target grid regions at the third time instant. That is to say, when the first device obtains the first optional implementation manner, the second optional implementation manner, the third optional implementation manner, or the fourth optional implementation manner, many of the described After the information attributes, the position information of each second target grid area can also be obtained, and/or the storage depth of each second target grid point included in each second target grid area at the third moment, And further generate richer target road accumulation information.
具体实现中，第一设备获取上述M3个第二格网区域中各第二目标格网区域的位置信息的过程可参见前文叙述的第一设备获取M2个第一目标格网区域中各第一目标格网区域的位置信息的过程，此处便不再赘述。同时，第一设备获取到各第二目标格网点在所述第三时刻上的积存深度的过程可参见前文叙述的第一设备获取到道路最低点的第二积存深度的过程，此处便不再赘述。In the specific implementation, for the process of acquiring the position information of each second target grid area in the above-mentioned M3 second grid areas by the first device, please refer to the above-mentioned first device acquiring each first target grid area in the M2 first grid areas. The process of the location information of the target grid area will not be repeated here. At the same time, for the process of obtaining the accumulation depth of each second target grid point at the third moment by the first device, please refer to the above-mentioned process of obtaining the second accumulation depth of the lowest point of the road by the first device, which will not be discussed here. Repeat.
这里需要说明的是，当上述M3个第二格网区域与上述M2个第一目标格网区域存在重复的格网区域时，还可将重复的格网区域所对应的位置信息或者其包含的格网点在所述第三时刻上的积存深度进行合并，这样可节省目标道路积存物信息所占用的数据资源，避免目标道路积存物信息的内容的冗余。It should be noted here that when there are duplicate grid areas between the M3 second grid areas and the M2 first target grid areas, the location information corresponding to the duplicate grid areas or the information contained therein may also be The storage depths of the grid points at the third time instant are combined, so that the data resources occupied by the target road storage information can be saved, and the redundancy of the content of the target road storage information can be avoided.
在本实现方式中，在目标道路积存物信息中进一步增加上述M3个第二目标格网区域中各第二目标格网区域的位置信息，和/或，所述各第二目标格区域包含的各第二目标格网点在所述第三时刻上的积存深度，进一步提升的目标道路积存物信息的丰富度，从而使得后续第二设备能够基于该目标道路积存物信息更加合理且有效的实现路径规划或者城市应急管理等功能。In this implementation manner, the position information of each of the M3 second target grid areas in the above-mentioned M3 second target grid areas is further added to the target road accumulation information, and/or, the information contained in each of the second target grid areas The accumulation depth of each second target grid point at the third moment further improves the richness of the target road accumulation information, so that the subsequent second device can more reasonably and effectively realize the path based on the target road accumulation information Planning or urban emergency management and other functions.
S220，第一设备将该目标道路积存物信息发送给第二设备。S220, the first device sends the information on the accumulated objects on the target road to the second device.
在一些可行的实现方式中，第一设备在确定出上述目标道路积存物信息之后，即可通过无线网络将该目标道路积存物信息发送给第二设备。In some feasible implementation manners, after determining the above-mentioned target road accumulation information, the first device may send the target road accumulation information to the second device through a wireless network.
S230，第二设备根据目标道路积存物信息进行路径规划或者城市应急管理。S230, the second device performs route planning or urban emergency management according to the target road accumulation information.
在一些可行的实现方式中，第二设备可通过网络接收来自于第一设备的目标道路积存物信息，并进一步根据该目标道路积存物信息所包含的各种信息属性进行路径规划或者城市应急管理。In some feasible implementation manners, the second device may receive the target road accumulation information from the first device through the network, and further perform route planning or urban emergency management according to various information attributes contained in the target road accumulation information .
例如，第一设备获取到上述目标道路积存物信息后，可结合第一面位置信息以及其获取到的高精度点云地图来判断其自身相对于目标积存区域的位置信息。然后，若第二设备确定目标积存区域位于其既定的行驶线路上，且其即将通过该目标积存区域，则第二设备可结合第一积存深度以及其自身允许的积存物深度来判断其是否可以安全通过该目标积存区域。若第二设备确定其无法安全通过该目标积存区域，则可以暂停等待或者重新规划一条新的路径。 或者，若第二设备确定目标积存区域位于其既定的行驶线路上，且其与目标积存区域之间存在有一定的距离，则第一设备可结合上述第一深度变化速率以及其预估的到达该目标积存区域的时间来推测其到达该目标积存区域时该目标积存区域所对应的积存深度。然后，若第二设备确定其到达该目标积存区域时该目标积存区域的积存深度已经超过其自身允许的积存深度，则可以确定提前绕行。For example, after acquiring the above-mentioned target road accumulation information, the first device can combine the first surface position information and the acquired high-precision point cloud map to determine its own position information relative to the target accumulation area. Then, if the second device determines that the target accumulation area is located on its predetermined travel route and is about to pass through the target accumulation area, the second device can combine the first accumulation depth and its own allowable accumulation depth to determine whether it can Safely pass through this target stump area. If the second device determines that it cannot safely pass through the target storage area, it can pause and wait or re-plan a new path. Alternatively, if the second device determines that the target accumulation area is located on its predetermined travel route, and there is a certain distance between it and the target accumulation area, the first device may combine the above-mentioned first depth change rate and its estimated arrival The time of the target storage area is used to estimate the storage depth corresponding to the target storage area when it reaches the target storage area. 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 may determine to detour in advance.
又例如，第二设备还可根据不同时刻的目标道路积存物信息中包括的第一危险等级生成危险等级动态图层，并将该危险等级动态图层进一步传递给城市应急管理部门的服务器，从而使得城市应急管理部门可以根据该危险等级动态图层进行有效的城市应急管理等。For another example, the second device may also generate a hazard level dynamic layer according to the first hazard level included in the target road accumulation information at different times, and further transmit the hazard level dynamic layer to the server of the city emergency management department, thereby This enables the urban emergency management department to carry out effective urban emergency management according to the dynamic layer of the hazard level.
这里可以理解到的是，第二设备还可基于上述目标道路积存物信息中的其他内容从其他方面来实现路径规划或者城市应急管理等功能，本申请对此便不再一一列举。It can be understood here that the second device can also implement functions such as route planning or urban emergency management from other aspects based on other contents in the above-mentioned target road accumulation information, which will not be listed one by one in this application.
在本申请实施例中，第一设备可检测并生成至少包含有更新频率、第一时刻、目标积存区域在预设的第二时刻的第一面位置信息，以及，目标积存区域内的路面最低点在上述第二时刻所对应的第一积存深度或者第一危险等级等信息属性的目标道路积存物信息，并将该目标道路积存物信息发送给第二设备。这样就丰富了目标道路积存物信息的内容，可使得第二设备能够基于该目标道路积存物信息更加准确的判断出道路上的积存物的积存状态，进而使得第二设备能够更加合理且有效的实现路径规划或者城市应急管理等功能。In the embodiment of the present application, the first device may detect and generate the first surface position information at least including the update frequency, the first time, the target accumulation area at the preset second time, and the lowest road surface in the target accumulation area. Click the target road accumulation information with information attributes such as the first accumulation depth or the first danger level corresponding to the second time, and send the target road accumulation information to the second device. In this way, the content of the accumulated object information on the target road is enriched, so that the second device can more accurately determine the accumulation state of the accumulated objects on the road based on the accumulated object information on the target road, so that the second device can be more reasonable and effective. Realize functions such as route planning or urban emergency management.
请参见图7，图7是本申请实施例提供的一种装置一结构示意图。该装置可以是实施例一中描述的第一设备。如图7所示，该装置包括：Referring to FIG. 7 , FIG. 7 is a schematic structural diagram of an apparatus provided by an embodiment of the present application. The apparatus may be the first device described in Embodiment 1. As shown in Figure 7, the device includes:
处理单元701，用于确定目标积存区域对应的目标道路积存物信息。其中，所述目标道路积存物信息中至少包括所述目标道路积存物信息的更新频率、生成所述目标道路积存物信息的第一时刻和所述目标积存区域在第二时刻上的第一面位置信息，以及，所述目标积存区域内的路面最低点在所述第二时刻的第一积存深度或者所述目标积存区域在所述第二时刻的第一危险等级。所述第一面位置信息用于指示所述目标积存区域在所述第二时刻的区域面积和区域位置，所述第一危险等级由所述第一积存深度确定得到，所述第二时刻在所述第一时刻之前。The processing unit 701 is configured to determine target road accumulation object information corresponding to the target accumulation area. Wherein, the target road accumulation information at least includes the update frequency of the target road accumulation information, the first time when the target road accumulation information was generated, and the first surface of the target accumulation area at the second time. position information, and the first accumulation depth of the lowest point of the road surface in the target accumulation area at the second time or the first danger level of the target accumulation area at the second time. The first surface location information is used to indicate the area and location of the target accumulation area at the second moment, the first danger level is determined from the first accumulation depth, and the second moment is before said first moment.
收发单元702，用于向第二设备发送所述目标道路积存物信息。其中，所述目标道路积存物信息用于所述第二设备进行路径规划或者城市应急管理。The transceiver unit 702 is configured to send the information about the accumulated objects on the target road to the second device. Wherein, the target road accumulation information is used for the second device to perform path planning or urban emergency management.
在一些可能的实施方式中，所述处理单元701还用于：获取所述第二时刻上，所述路面最低点与N个深度参考点在预设方向上的N个第一距离。其中，所述预设方向为所述目标积存区域内的积存物表面的铅垂线方向，所述N个深度参考点位于所述目标积存区域周边的N个预设的参照物上，所述路面最低点与每个深度参考点之间对应一个第一距离，N为大于或者等于1的正整数。获取所述第二时刻上，所述积存物表面与所述N个深度参考点在所述预设方向上的N个第二距离，其中，所述积存物表面与每个深度参考点之间对应一个第二距离。根据所述N个第一距离和所述N个第二距离确定所述第一积存深度。In some possible implementation manners, the processing unit 701 is further configured to: acquire N first distances in a preset direction between the lowest point of the road surface and N depth reference points at the second moment. Wherein, the preset direction is the vertical line direction of the surface of the accumulation object in the target accumulation area, the N depth reference points are located on N preset reference objects around the target accumulation area, the 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. Acquire N second distances between the surface of the deposit and the N depth reference points in the preset direction at the second moment, wherein the distance between the surface of the deposit and each depth reference point corresponds to a second distance. The first storage depth is determined according to the N first distances and the N second distances.
在一些可能的实施方式中，所述处理单元701具体用于：根据所述N个第一距离和所述N个第二距离确定出所述N个深度参考点在所述第二时刻对应的N个距离差。将所述N个距离差的平均值确定为所述第一积存深度。In some possible implementation manners, the processing unit 701 is specifically configured to: determine, according to the N first distances and the N second distances, corresponding to the N depth reference points at the second moment N distance differences. An average value of the N distance differences is determined as the first accumulation depth.
在一些可能的实施方式中，所述目标道路积存物信息中还包括所述目标积存区域在所述第二时刻的第一深度变化速度、所述目标积存区域在所述第二时刻的第一深度变化加速度、所述目标积存区域对应的初始积存时刻、所述路面最低点的位置信息中的一项或者多项。In some possible implementations, the target road accumulation information further includes a first depth change speed of the target accumulation area at the second moment, a first depth change rate of the target accumulation area at the second moment One or more items of the 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.
在一些可能的实施方式中，所述第一设备的预设检测区域基于预设区域划分规则划分有 M1个格网区域，并且每个格网区域包含一个格网点。其中，所述M1为正整数。所述目标道路积存物信息中还包括：M2个第一目标格网区域中各第一目标格网区域的位置信息，和/或，所述各第一目标格网区域包含的各第一目标格网点在所述第二时刻的积存深度，其中，第一目标格网区域为所述M1个格网区域中在所述第二时刻时存在有积存物的格网区域，所述M2为小于或者等于M1的正整数。In some possible implementations, the preset detection area of the first device is divided into M1 grid areas based on a preset area division rule, and each grid area includes one grid point. Wherein, the M1 is a positive integer. The target road accumulation information further includes: position information of each first target grid area in the M2 first target grid areas, and/or each first target included in each first target grid area The accumulation depth of grid points at the second moment, wherein the first target grid area is the grid area in which there is accumulation at the second moment among the M1 grid areas, and the M2 is less than Or a positive integer equal to M1.
在一些可能的实施方式中，所述目标道路积存物信息中包括：所述第一时刻之后的第三时刻、所述目标积存区域在所述第三时刻对应的第二面位置信息、所述目标积存区域内的路面最低点在所述第三时刻的第二积存深度、所述目标积存区域在所述第三时刻的第二危险等级中的一项或者多项。其中，所述第二危险等级由所述第二积存深度确定。In some possible implementation manners, the target road accumulation information includes: a third time after the first time, second surface position information corresponding to the target accumulation area at the third time, the One or more items of the second accumulation depth of the lowest point of the road surface in the target accumulation area at the third moment, and the second danger level of the target accumulation area at the third moment. Wherein, the second danger level is determined by the second accumulation depth.
在一些可能的实施方式中，所述第二积存深度由所述第一深度变化速度、所述第一深度变化加速度以及所述第二时刻和所述第三时刻的时间差确定。In some possible implementations, the second accumulation depth is determined by the first depth change speed, the first depth change acceleration, and the time difference between the second time instant and the third time instant.
在一些可能的实施方式中，处理单元701还用于：获取所述M1个格网区域中各格网区域内的格网点与所述第一设备的预设探测点在所述预设方向上的第三距离。根据所述第二积存深度确定所述第三时刻的所述目标积存区域内的积存物表面与所述预设探测点在所述预设方向上的第四距离。根据所述各格网区域内的格网点与所述预设探测点在所述预设方向上的第三距离与所述第四距离从所述M1个格网区域中确定出M3个第二目标格网区域。其中，第二目标格网区域为在所述第三时刻上存在有积存物的格网区域，所述M3为小于或者等于M1的正整数。根据所述M3个第二目标格网区域确定出所述第二面位置信息。In some possible implementation manners, the processing unit 701 is further configured to: acquire the grid points in each grid area of the M1 grid areas and the preset detection point of the first device in the preset direction the third distance. A fourth distance in the preset direction between the surface of the accumulation object in the target accumulation area at the third moment and the preset detection point is determined according to the second accumulation depth. According to the third distance and the fourth distance between the grid point in each grid area and the preset detection point in the preset direction, M3 second distances are determined from the M1 grid areas Target grid area. Wherein, the second target grid area is a grid area with accumulated objects at the third moment, and the M3 is a positive integer less than or equal to M1. The second surface position information is determined according to the M3 second target grid areas.
在一些可能的实施方式中，所述目标道路积存物信息中还包括：所述M3个第二目标格网区域中各第二目标格网区域的位置信息，和/或，所述各第二目标格区域包含的各第二目标格网点在所述第三时刻上的积存深度。In some possible implementation manners, the target road accumulation information further includes: position information of each second target grid area in the M3 second target grid areas, and/or, each second target grid area The storage depth of each second target grid point included in the target grid area at the third time instant.
在一些可能的实施方式中，所述目标道路积存物信息的更新频率由所述第一设备所在的地区的实时天气状态确定。In some possible implementations, the update frequency of the target road accumulation information is determined by the real-time weather state of the area where the first device is located.
具体实现中，上述处理单元701以及收发单元702实现上述各种可能的实现方式中的步骤的过程具体可参见上述实施例一中的第一设备所执行的过程，此处便不再赘述。In the 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 refer to the process performed by the first device in the foregoing embodiment 1, which will not be repeated here.
本申请实施例还提供了一种计算机可读介质，其上存储有计算机程序，该计算机程序被计算机执行时实现上述实施例一中第一设备执行的方法或者步骤。Embodiments of the present application further provide a computer-readable medium on which a computer program is stored, and when the computer program is executed by a computer, implements the method or step performed by the first device in the above-mentioned first embodiment.
本申请实施例还提供了一种计算机程序产品，该计算机程序产品被计算机执行时实现上述实施例一中第一设备执行的方法或者步骤。An embodiment of the present application further provides a computer program product, which implements the method or step performed by the first device in the first embodiment above when the computer program product is executed by a computer.
本申请实施例还提供了一种处理器，用于与存储器耦合，存储器存储有指令，当处理器运行所述指令时，使得所述处理器执行上述实现中涉及处理器701所执行的方法或功能。Embodiments of the present application further provide a processor, which is configured to be coupled to a memory, and the memory stores instructions. When the processor executes the instructions, the processor causes the processor to execute the method or the method executed by the processor 701 in the foregoing implementation. Function.
请一并参见图7，该装置还可以是实施例一中描述的第二设备。在这种情况下：Please refer to FIG. 7 together, the apparatus may also be the second device described in the first embodiment. in this case:
收发单元701，用于接收来自于第一设备的目标积存区域对应的目标道路积存物信息.其中，所述目标道路积存物信息中至少包括所述目标道路积存物信息的更新频率、所述第一设备生成所述目标道路积存物信息的第一时刻和所述目标积存区域在第二时刻上的第一面位置信息，以及，所述目标积存区域内的路面最低点在所述第二时刻的第一积存深度或者所述目标积存区域在所述第二时刻的第一危险等级。所述第一面位置信息用于指示所述目标积存区域在所述第二时刻的区域面积和区域位置，所述第一危险等级由所述第一积存深度确定得到，所述第二时刻在所述第一时刻之前。处理单元702，用于根据所述目标道路积存物信息进行路径规划或者城市应急管理。The transceiver unit 701 is used to receive the target road accumulation information corresponding to the target accumulation area from the first device. Wherein, the target road accumulation information at least includes the update frequency of the target road accumulation information, the first A device generates the first time of the target road accumulation information and the first surface position information of the target accumulation area at the second time, and the lowest point of the road surface in the target accumulation area is at the second time The first accumulation depth of , or the first danger level of the target accumulation area at the second moment. The first surface position information is used to indicate the area area and area position of the target accumulation area at the second moment, the first danger level is determined from the first accumulation depth, and the second moment is at the second moment. before said first moment. The processing unit 702 is configured to perform path planning or urban emergency management according to the target road accumulation information.
在一些可能的实施方式中，所述目标道路积存物信息中还包括所述目标积存区域在所述 第二时刻的第一深度变化速度、所述目标积存区域在所述第二时刻的第一深度变化加速度、所述目标积存区域对应的初始积存时刻、所述路面最低点的位置信息中的一项或者多项。In some possible implementations, the target road accumulation information further includes a first depth change speed of the target accumulation area at the second moment, a first depth change rate of the target accumulation area at the second moment One or more items of the 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.
在一些可能的实施方式中，所述第一设备的预设检测区域基于预设区域划分规则划分有M1个格网区域，并且每个格网区域包含一个格网点。其中，所述M1为正整数。所述目标道路积存物信息中还包括：M2个第一目标格网区域中各第一目标格网区域的位置信息，和/或，所述各第一目标格网区域包含的各第一目标格网点在所述第二时刻的积存深度，其中，第一目标格网区域为所述M1个格网区域中在所述第二时刻时存在有积存物的格网区域，所述M2为小于或者等于M1的正整数。In some possible implementations, the preset detection area of the first device is divided into M1 grid areas based on a preset area division rule, and each grid area includes one grid point. Wherein, the M1 is a positive integer. The target road accumulation information further includes: position information of each first target grid area in the M2 first target grid areas, and/or each first target included in each first target grid area The accumulation depth of grid points at the second moment, wherein the first target grid area is the grid area in which there is accumulation at the second moment among the M1 grid areas, and the M2 is less than Or a positive integer equal to M1.
在一些可能的实施方式中，所述目标道路积存物信息还包括：所述第一时刻之后的第三时刻、所述目标积存区域在所述第三时刻对应的第二面位置信息、所述目标积存区域内的路面最低点在所述第三时刻的第二积存深度、所述目标积存区域在所述第三时刻的第二危险等级中的一项或者多项，其中，所述第二危险等级由所述第二积存深度确定。In some possible implementation manners, the target road accumulation information further includes: a third time after the first time, the second surface position information corresponding to the target accumulation area at the third time, the One or more items of the second accumulation depth of the lowest point of the road surface in the target accumulation area at the third moment, and the second danger level of the target accumulation area at the third moment, wherein the second The hazard level is determined by the second accumulation depth.
在一些可能的实施方式中，所述第二积存深度由所述第一深度变化速度、所述第一深度变化加速度以及所述第二时刻和所述第三时刻的时间差确定。In some possible implementations, the second accumulation depth is determined by the first depth change speed, the first depth change acceleration, and the time difference between the second time instant and the third time instant.
在一些可能的实施方式中，所述目标道路积存物信息中还包括：M3个第二目标格网区域中各第二目标格网区域的位置信息，和/或，所述各第二目标格网区域包含的各第二目标格网点在所述第三时刻上的积存深度，其中，第二目标格网区域为在所述第三时刻上存在有积存物的格网区域。In some possible implementation manners, the target road accumulation information further includes: position information of each second target grid area in the M3 second target grid areas, and/or, each second target grid area Accumulation depth of each second target grid point included in the grid area at the third moment, wherein the second target grid area is a grid area with accumulated objects at the third moment.
本申请实施例还提供了一种计算机可读介质，其上存储有计算机程序，该计算机程序被计算机执行时实现上述实施例一中第二设备执行的方法或者步骤。Embodiments of the present application further provide a computer-readable medium on which a computer program is stored, and when the computer program is executed by a computer, implements the method or step performed by the second device in the above-mentioned first embodiment.
本申请实施例还提供了一种计算机程序产品，该计算机程序产品被计算机执行时实现上述实施例一中第二设备执行的方法或者步骤。An embodiment of the present application further provides a computer program product, which implements the method or step performed by the second device in the first embodiment above when the computer program product is executed by a computer.
请参见图8，图8是本申请实施例提供的一种装置又一结构示意图，第一设备可以以该装置的形式得以实现。该装置主要包括至少一个处理器801，至少一个存储器802以及至少一个无线通信模块803。所述处理器801、所述存储器802和所述无线通信模块803通过通信总线或者通信接口连接并完成相互间的通信。在图7所示的装置为第一设备的情况下，上述处理器801以及存储器802即可为上述处理单元701的具体实现形式，上述无线通信模块803即可为上述收发模块701的具体实现形式。也就是说，处理器801以及存储器802可用于实处理单元701所能实现的第一设备的各种功能，无线通信模块803可用于实现上述收发单元702所能实现的第一设备的各种功能。Please refer to FIG. 8 . FIG. 8 is another schematic structural diagram of an apparatus provided by an embodiment of the present application. The first device may be implemented in the form of the apparatus. The apparatus mainly 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 and complete communication with each other. In the case where the device shown in FIG. 7 is the first device, the above-mentioned processor 801 and the memory 802 can be a specific implementation form of the above-mentioned processing unit 701 , and the above-mentioned wireless communication module 803 can be a specific implementation form of the above-mentioned transceiver module 701 . That is to say, the processor 801 and the memory 802 can 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 can be used to implement various functions of the first device that can be implemented by the transceiver unit 702 . .
具体的，所述存储器802用于存储执行上述实施例一中第一设备所实现的道路积存物信息的确定方法的程序代码，所述处理器801用于执行所述存储器802中存储的程序代码以实现实施例一中第一设备所执行的道路积存物信息的确定方法的步骤。所述无线通信模块803用于向除该装置以外的其他装置(如第二设备)发送或者接收消息。Specifically, the memory 802 is used for storing the program code for executing the method for determining road accumulation information implemented by the first device in the first embodiment, and the processor 801 is used for executing the program code stored in the memory 802 In order to realize the steps of the method for determining road accumulation information executed by the first device in the first embodiment. The wireless communication module 803 is used to send or receive messages to other devices (eg, the second device) other than the device.
例如，处理器801可用于目标出目标道路积存物信息并发送给无线通信通信模块803。无线通信模块803可将目标道路积存物信息发送给第二设备。具体过程可参见前文实施例一中所描述的相应内容，此处便不再赘述。For example, the processor 801 may be configured to target the target road accumulation information and send it to the wireless communication communication module 803 . The wireless communication module 803 can send the target road accumulation information to the second device. For the specific process, reference may be made to the corresponding content described in the foregoing Embodiment 1, which will not be repeated here.
进一步的，请参见图9，图9是本申请实施例提供的一种装置又一结构示意图。如图9所示，上述装置还可包括感测模块804。其中，该感测模块804具体可包括多种传感器件，如激光测距仪、相机等，此处不作具体限制。该感测模块804与所述处理器801、所述存储器802和所述无线通信模块803通过通信总线或者通信接口连接并完成相互间的通信。该感 测模块804可获取到一些道路的图像并传输给处理器801，以使得处理器801能够进一步通过图像处理得到实施例一中的第一距离、第二距离等信息。具体过程可参见实施例一中第一设备所执行的过程，此处便不再赘述。在这种情况下，上述处理器801以及存储器802以及感测模块804即为上述处理单元701的具体实现形式。Further, please refer to FIG. 9 , which is another schematic structural diagram of an apparatus provided by an embodiment of the present application. As shown in FIG. 9 , the above-mentioned apparatus may further include a sensing module 804 . Wherein, the sensing module 804 may specifically include various sensing devices, such as laser rangefinders, cameras, etc., which are not specifically limited here. The sensing module 804 is connected with the processor 801 , the memory 802 and the wireless communication module 803 through a communication bus or a communication interface and completes mutual communication. The sensing module 804 can acquire images of some roads and transmit them to the processor 801, so that the processor 801 can further obtain information such as the first distance and the second distance in the first embodiment through image processing. For the specific process, reference may be made to the process performed by the first device in Embodiment 1, which will not be repeated here. In this case, the above-mentioned processor 801 , the memory 802 and the sensing module 804 are the specific implementation forms of the above-mentioned processing unit 701 .
请参见图10，图10是本申请实施例提供的一种芯片一结构示意图。第一设备也可以以该芯片的形式得以实现。该芯片主要可包括处理器1001以及耦合于处理器1001的一个或者多个接口电路1002。Please refer to FIG. 10 . FIG. 10 is a schematic structural diagram of a chip provided by an embodiment of the present application. The first device may also be implemented in the form of the chip. The chip may mainly include a processor 1001 and one or more interface circuits 1002 coupled to the processor 1001 .
示例性的，处理器1001可用于读取和执行计算机可读指令。具体实现中，处理器1001可主要包括控制器、运算器和寄存器。示例性的，控制器主要负责指令译码，并为指令对应的操作发出控制信号。运算器主要负责执行定点或浮点算数运算操作、移位操作以及逻辑操作等，也可以执行地址运算和转换。寄存器主要负责保存指令执行过程中临时存放的寄存器操作数和中间操作结果等。具体实现中，处理器1001的硬件架构可以是专用集成电路(application specific integrated circuits，ASIC)架构、无互锁管道阶段架构的微处理器(microprocessor without interlocked piped stages architecture，MIPS)架构、进阶精简指令集机器(advanced RISC machines，ARM)架构或者NP架构等等。处理器1001可以是单核的，也可以是多核的。Illustratively, processor 1001 may be used to read and execute computer readable instructions. In a specific implementation, the processor 1001 may mainly include a controller, an arithmetic unit, and a register. Exemplarily, the controller is mainly responsible for instruction decoding, and sends control signals for operations corresponding to the instructions. The arithmetic unit is mainly responsible for performing fixed-point or floating-point arithmetic operations, shift operations, and logical operations, and can also perform address operations and conversions. Registers are mainly responsible for saving register operands and intermediate operation results temporarily stored during instruction execution. In a specific implementation, the hardware architecture of the processor 1001 may be an application specific integrated circuits (ASIC) architecture, a microprocessor without interlocked piped stages architecture (MIPS) architecture, an advanced simplification Instruction set machine (advanced RISC machines, ARM) architecture or NP architecture and so on. The processor 1001 may be single-core or multi-core.
示例性的，接口电路1002可用于输入待处理的数据至处理器1001，并且可以向外输出处理器1001的处理结果。具体实现中，接口电路1002可以是通用输入输出(general purpose input output，GPIO)接口，可以和多个***设备(如无线通信模块、传感模块等等)连接。接口电路1002通过总线1003与处理器1001相连。Exemplarily, the interface circuit 1002 can be used to input the data to be processed to the processor 1001, and can output the 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, which may be connected to multiple peripheral devices (such as wireless communication modules, sensing modules, etc.). The interface circuit 1002 is connected to the processor 1001 through the bus 1003 .
在这种情况下，上述处理器1001以及耦合于处理器1001的一个或者多个接口电路1002即可为上述处理单元701的具体实现形式，而该芯片外接的无线通信模块即可为上述收发模块701的具体实现形式。也就是说，处理器1001以及耦合于处理器1001的一个或者多个接口电路1002可用于实处理单元701所能实现的第一设备的各种功能，外接的无线通信模块可用于实现上述收发单元702所能实现的第一设备的各种功能。In this case, the above-mentioned processor 1001 and one or more interface circuits 1002 coupled to the processor 1001 can be a specific implementation form of the above-mentioned processing unit 701, and the wireless communication module external to the chip can be the above-mentioned transceiver module. The specific implementation form of 701. That is to say, the processor 1001 and one or more interface circuits 1002 coupled to the processor 1001 can be used for various functions of the first device that can be implemented by the real processing unit 701, and an external wireless communication module can be used to implement the above-mentioned transceiver unit 702 various functions of the first device that can be implemented.
具体实现中，处理器1001可用于从存储器中调用上述实施例一中第一设备所实现的道路积存物信息的确定方法的代码，使得该芯片可以实现实施例一中第一设备所实现的道路积存物信息的确定方法的各个步骤。例如，处理器1001可确定得到目标道路积存物信息，再通过总线1003、接口电路1002将该目标道路积存物信息传输给无线通信模块。然后，无线通信模块即可将该目标道路积存物信息传输给第二设备。这些功能的具体实现过程可前文实施例一所描述的相应内容，此处便不再赘述。In a specific implementation, the processor 1001 may be configured to call the code of the method for determining the road accumulation information implemented by the first device in the first embodiment from the memory, so that the chip can implement the road implemented by the first device in the first embodiment. Each step of the method for determining the information on the stockpiles. For example, the processor 1001 can determine to obtain the target road accumulation information, and then transmit the target road accumulation information to the wireless communication module through the bus 1003 and the interface circuit 1002 . Then, the wireless communication module can transmit the target road accumulation information to the second device. The specific implementation process of these functions can be the corresponding content described in the foregoing Embodiment 1, which will not be repeated here.
需要说明的，处理器1001、接口电路1002各自对应的功能既可以通过硬件设计实现，也可以通过软件设计来实现，还可以通过软硬件结合的方式来实现，这里不作限制。It should be noted that the corresponding functions of the processor 1001 and the interface circuit 1002 can be implemented by hardware design, software design, or a combination of software and hardware, which is not limited here.
进一步的，请参见图11，图11是本申请实施例提供的一种芯片又一结构示意图。如图11所示，该芯片还包括感测模块。具体实现中，该感测模块可获取到一些道路图像，并通过接口电路1002以及总线1003将这些道路图像传输给处理器1001，以使得处理器1001能够进一步通过图像处理得到实施例一中的第一距离、第二距离等信息。具体过程可参见实施例一中第一设备所执行的过程，此处便不再赘述。Further, please refer to FIG. 11 , which is another schematic structural diagram of a chip provided by an embodiment of the present application. As shown in FIG. 11 , the chip also includes a sensing module. In specific implementation, the sensing module can acquire some road images, and transmit these road images to the processor 1001 through the interface circuit 1002 and the bus 1003, so that the processor 1001 can further obtain the first image in the first embodiment through image processing. First distance, second distance and other information. For the specific process, reference may be made to the process performed by the first device in Embodiment 1, which will not be repeated here.
请参见图12，图12是本申请实施例提供的一种装置又一结构示意图。该装置可以为智能汽车，第二设备可以以该装置的形式得以实现。由图12可知，该装置包括各种***，例如行进***1202、控制***1203、一个或多个***设备1204以及计算机***1201等。可选地， 该装置可包括更多或更少的***，并且每个***可包括多个元件。另外，该装置的每个***之间可以通过有线或者无线互连。Please refer to FIG. 12. FIG. 12 is another schematic structural diagram of an apparatus provided by an embodiment of the present application. The apparatus may be a smart car, and the second device may be implemented in the form of the apparatus. As can be seen from FIG. 12 , the apparatus includes various systems, such as a traveling 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 can be interconnected by wire or wirelessly.
行进***1202可包括为该装置提供动力运动的组件。在一个实施例中，行进***1202可包括引擎、传动装置和车轮/轮胎等。The travel system 1202 may include components that provide powered motion for the device. In one embodiment, the travel system 1202 may include an engine, transmission, wheels/tires, and the like.
控制***1203可以控制该装置及其组件的操作。控制***1203可包括各种元件，例如可包括转向***、油门、制动单元等。The 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, an accelerator, a braking unit, and the like.
该装置还可通过***设备1204与其他装置、其他计算机***或用户之间进行交互。***设备1204可包括无线通信***、麦克风和/或扬声器等。The device may also interact with other devices, other computer systems, or users through peripherals 1204 . Peripherals 1204 may include wireless communication systems, microphones and/or speakers, and the like.
计算机控制***中包括处理器12012和存储器12011。处理器12012可以是任何常规的处理器，诸如商业可获得的CPU。可选地，该处理器也可以是诸如ASIC或其它基于硬件的处理器的专用设备。尽管图12功能性地图示了处理器、存储器以及在相同块中的计算机***的其它元件，但是本领域的普通技术人员应该理解该处理器、计算机、或存储器实际上可以包括可以或者可以不存储在相同的物理外壳内的多个处理器、计算机、或存储器。The computer control system includes a processor 12012 and a memory 12011. Processor 12012 may be any conventional processor, such as a commercially available CPU. Alternatively, the processor may also 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, one of ordinary skill in the art would understand that the processor, computer, or memory may actually include storage that may or may not be Multiple processors, computers, or memories within the same physical enclosure.
在一些实施例中，存储器12011中可包含指令(例如，程序逻辑)，该指令可被处理器12012执行来执行该装置的各种功能，包括以上描述的那些功能。存储器12011中也可包含额外的指令，包括向推进***、传感器***、控制***和***设备中的一个或多个发送数据、从其接收数据、与其交互和/或对其进行控制的指令。In some embodiments, memory 12011 may contain instructions (eg, program logic) executable by 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 peripherals.
可选地，上述组件只是一个示例，实际应用中，上述各个***中的组件有可能根据实际需要增添或者删除，图12不应理解为对本发明实施例的限制。Optionally, the above components are just an example. In practical applications, components in the above systems may be added or deleted according to actual needs, and FIG. 12 should not be construed as a limitation on the embodiments of the present invention.
需要说明的是，上述图7所述的处理单元701可以就是该装置中的计算机***1201，收发单元702可以就是该装置中的无线通信***。It should be noted that the processing unit 701 described 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.
具体实现中，在上述各个***之间相互协作并使得该装置处于正常工作状态下，上述存储器12011中可存储有上述实施例一中的第二设备所执行的目标道路积存物信息的确定方法所对应的代码。上述处理器12012可执行该代码，以实现上述实施例一中第二设备所执行的目标道路积存物信息的确定方法中的各个步骤。这里，处理器12012执行代码以实现第二设备所执行的目标道路积存物信息的确定方法中的各个步骤的过程可参加前文实施例一、中所描述的过程，此处便不再赘述。In a specific implementation, when the above systems cooperate with each other and the device is in a normal working state, the above-mentioned memory 12011 may store the information from the method for determining the target road accumulation information executed by the second device in the above-mentioned first embodiment. corresponding code. The above-mentioned processor 12012 can execute the code, so as to implement each step in the method for determining the target road accumulation information executed by the second device in the above-mentioned first embodiment. Here, the process of executing the code by the processor 12012 to implement each step in the method for determining the target road accumulation information executed by the second device can be referred to the processes described in the foregoing Embodiments 1 and 2, and will not be repeated here.
请一并参见图8，第二设备也可以以该装置的形式得以实现。在这种情况下，所述存储器802用于存储执行上述实施例一中第二设备所实现的目标道路积存物信息的确定方法的程序代码，所述处理器801用于执行所述存储器802中存储的程序代码以实现实施例一中第二设备所执行的目标道路积存物信息的确定方法的步骤。所述无线通信模块803用于向除该装置以外的其他装置(如服务设备或者其他终端设备)发送或者接收消息。在图7所示的装置为第二设备的情况下，上述处理器801以及存储器802即可为上述处理单元701的具体实现形式，上述无线通信模块803即可为上述收发单元701的具体实现形式。也就是说，处理器801以及存储器802可用于实处理单元701所能实现的第二设备的各种功能，无线通信模块803可用于实现上述收发单元702所能实现的第二设备的各种功能。Referring to FIG. 8 together, the second device can also be implemented in the form of the device. In this case, the memory 802 is used to store the program code for executing the method for determining the target road accumulation information implemented by the second device in the first embodiment, and the processor 801 is used to execute the program code in the memory 802 The stored program code is used to implement the steps of the method for determining the accumulated object information on the target road executed by the second device in the first embodiment. The wireless communication module 803 is used to send or receive messages to other apparatuses (eg, service equipment or other terminal equipment) other than the apparatus. In the case where the device shown in FIG. 7 is the second device, the processor 801 and the memory 802 can be the specific implementation form of the processing unit 701 , and the wireless communication module 803 can be the specific implementation form of the transceiver unit 701 . That is to say, the processor 801 and the memory 802 can 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 can be used to implement various functions of the second device that can be implemented by the transceiver unit 702 . .
例如，无线通信模块803可用于接收来自于第二设备的目标道路积存物信息并传输给处理器801。处理器801可根据该目标道路积存物信息进行路径规划或者城市应急管理。具体过程可参见前文实施例一所描述的相应内容，此处便不再赘述。For example, the wireless communication module 803 may be configured to receive the target road accumulation 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 accumulation information. For the specific process, reference may be made to the corresponding content described in the foregoing Embodiment 1, which will not be repeated here.
请一并参见图10，终端设备也可以以该芯片的形式存在。具体实现中，处理器1001可用于从存储器中调用上述实施例一中第二设备所实现的目标道路积存物信息的确定方法的代 码，使得该芯片可以实现实施例一中第二设备所实现的目标道路积存物信息的确定方法的各个步骤。存储器可以和处理器1001可以集成在一起，也可以通过接口电路1002与芯片相耦合，也就是说存储器可以是芯片的一部分，也可以独立于该芯片。接口电路1002可用于输出处理器1001的执行结果。在这种情况下，上述处理器1001以及耦合于处理器1001的一个或者多个接口电路1002即可为上述处理单元701的具体实现形式，而该芯片外接的无线通信模块即可为上述收发模块701的具体实现形式。也就是说，处理器1001以及耦合于处理器1001的一个或者多个接口电路1002即可现处理单元701所能实现的第二设备的各种功能，而该芯片外接的无线通信模块即可用于实现上述收发单元702所能实现的第二设备的各种功能。Please refer to FIG. 10 together, the terminal device can also exist in the form of this chip. In a specific implementation, the processor 1001 may be configured to call the code of the method for determining the target road accumulation information implemented by the second device in the first embodiment from the memory, so that the chip can implement the code implemented by the second device in the first embodiment. Each step of the method for determining the target road accumulation information. The memory can be integrated with the processor 1001, or can be coupled with the chip through the interface circuit 1002, that is, the memory can be a part of the chip, or can be independent of the chip. The interface circuit 1002 can be used to output the execution result of the processor 1001 . In this case, the above-mentioned processor 1001 and one or more interface circuits 1002 coupled to the processor 1001 can be a specific implementation form of the above-mentioned processing unit 701, and the wireless communication module external to the chip can be the above-mentioned transceiver module. The specific implementation form of 701. That is to say, the processor 1001 and one or more interface circuits 1002 coupled to the processor 1001 can implement various functions of the second device that can be implemented by the processing unit 701, and the wireless communication module external to the chip can be used for Various functions of the second device that can be implemented by the transceiver unit 702 are implemented.
在本申请实施例中，处理器可以是通用中央处理器(CPU)，微处理器，特定应用集成电路(application-specific integrated circuit，ASIC)，或一个或多个用于控制以上方案程序执行的集成电路。In this embodiment 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 processors for controlling the execution of the above program programs. integrated circuit.
存储器可以是只读存储器(read-only memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(random access memory，RAM)或者可存储信息和指令的其他类型的动态存储设备，也可以是电可擦可编程只读存储器(Electrically Erasable Programmable Read-Only Memory，EEPROM)、只读光盘(Compact Disc Read-Only Memory，CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器可以是独立存在，通过总线与处理器相连接。存储器也可以和处理器集成在一起。The memory can be read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory (RAM) or other types of storage devices that can store information and instructions The dynamic storage device can also be an Electrically Erasable Programmable Read-Only Memory (EEPROM), a Compact Disc Read-Only Memory (CD-ROM) or other optical disk storage, optical disk storage ( including compact discs, laser discs, compact discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or capable of carrying or storing desired program code in the form of instructions or data structures and capable of being stored by a computer any other medium taken, but not limited to this. The memory can exist independently and be connected to the processor through a bus. The memory can also be integrated with the processor.
无线通信模块或者无线通信***可以是能够实现与其他设备或者通信网络通信的装置或者模块，如射频模块等。The wireless communication module or wireless communication system may be a device or module capable of communicating with other devices or a communication network, such as a radio frequency module.
在上述方法实施例中，可以全部或部分地通过软件、硬件、固件或者其任意组合来实现。当使用软件实现时，可以全部或部分地以计算机程序产品的形式实现。上述计算机程序产品包括一个或多个计算机指令。在计算机上加载和执行上述计算机指令时，全部或部分地产生按照本申请实施例上述的流程或功能。上述计算机可以是通用计算机、专用计算机、计算机网络、或者其他可编程装置。上述计算机指令可以存储在计算机可读存储介质中，或者从一个计算机可读存储介质向另一个计算机可读存储介质传输，例如，上述计算机指令可以从一个网站站点、计算机、服务器或数据中心通过有线(例如同轴电缆、光纤、数字用户线(digital subscriber Line，DSL)或无线(例如红外、无线、微波等)方式向另一个网站站点、计算机、服务器或数据中心进行传输。上述计算机可读存储介质可以是计算机能够存取的任何可用介质或者是包含一个或多个可用介质集成的服务器、数据中心等数据存储设备。上述可用介质可以是磁性介质(例如，软盘、硬盘、磁带)、光介质(例如，高密度数字视频光盘(digital video disc，DVD)、或者半导体介质(例如，固态硬盘(solid state disk，SSD)等。The foregoing method embodiments may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented in whole or in part in the form of a computer program product. The computer program product described above includes one or more computer instructions. When the above-mentioned computer instructions are loaded and executed on the computer, all or part of the above-mentioned processes or functions according to the embodiments of the present application are generated. The aforementioned computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable devices. The above-mentioned computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the above-mentioned computer instructions may be transmitted from a website site, computer, server or data center via wired communication. (e.g. coaxial cable, fiber optic, digital subscriber Line (DSL) or wireless (e.g. infrared, wireless, microwave, etc.) to another website site, computer, server or data center. The above computer readable storage The medium can be any available medium that can be accessed by a computer or a data storage device that contains one or more of the available media integration servers, data centers, etc. The aforementioned available media can be magnetic media (eg, floppy disks, hard disks, magnetic tapes), optical media (For example, a high-density digital video disc (DVD), or a semiconductor medium (for example, a solid state disk (SSD), etc.).
应理解，本申请实施例中的术语“***”和“网络”常可被互换使用。本实施例中术语“和/或”，仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。It should be understood that the terms "system" and "network" in the embodiments of the present application can often be used interchangeably. The term "and/or" in this embodiment is only an association relationship to describe associated objects, indicating that there can be three kinds of relationships, for example, A and/or B, it can mean that A exists alone, A and B exist at the same time, There are three cases of B alone. In addition, the character "/" in this document generally indicates that the related objects are an "or" relationship.
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员 可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本申请的范围。Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. Interchangeability, the above description has generally described the components and steps of each example in terms of function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of this application.
在本申请所提供的实施例中，应该理解到，所揭露的***、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置仅仅是示意性的，例如，单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个***，或一些特征可以忽略，或不执行。另外，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口、装置或单元的间接耦合或通信连接，也可以是电的，机械的或其它的形式连接。In the embodiments provided in this application, it should be understood that the disclosed systems, devices and methods may be implemented in other manners. For example, the apparatus described above is only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another A system, or some feature, can be ignored, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may also be electrical, mechanical or other forms of connection.
另外，在本申请实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以是两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。In addition, each functional unit in the embodiments of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
总之，以上上述仅为本申请技术方案的较佳实施例而已，并非用于限定本申请的保护范围。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。In a word, the above are only preferred embodiments of the technical solutions of the present application, and are not intended to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims (34)

  1. 一种道路积存物信息的确定方法，其特征在于，所述方法包括：A method for determining road accumulation information, characterized in that the method comprises:
    确定目标积存区域对应的目标道路积存物信息，其中，所述目标道路积存物信息中至少包括所述目标道路积存物信息的更新频率、生成所述目标道路积存物信息的第一时刻和所述目标积存区域在第二时刻上的第一面位置信息，以及，所述目标积存区域内的路面最低点在所述第二时刻的第一积存深度或者所述目标积存区域在所述第二时刻的第一危险等级，所述第一面位置信息用于指示所述目标积存区域在所述第二时刻的区域面积和区域位置，所述第一危险等级由所述第一积存深度确定得到，所述第二时刻在所述第一时刻之前；Determine the target road accumulation information corresponding to the target accumulation area, wherein the target road accumulation information at least includes the update frequency of the target road accumulation information, the first moment when the target road accumulation information is generated, and the The first surface position information of the target accumulation area at the second time, and the first accumulation depth of the lowest point of the road surface in the target accumulation area at the second time or the target accumulation area at the second time The first danger level of , the first surface position information is used to indicate the area and location of the target accumulation area at the second moment, and the first danger level is determined by the first accumulation depth, the second time instant is before the first time instant;
    发送所述目标道路积存物信息，其中，所述目标道路积存物信息用于进行路径规划或者城市应急管理。Sending the target road accumulation information, wherein the target road accumulation information is used for route planning or urban emergency management.
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：The method according to claim 1, wherein the method further comprises:
    获取所述第二时刻上，所述路面最低点与N个深度参考点在预设方向上的N个第一距离，其中，所述预设方向为所述目标积存区域内的积存物表面的铅垂线方向，所述N个深度参考点位于所述目标积存区域周边的N个预设的参照物上，所述路面最低点与每个深度参考点之间对应一个第一距离，N为大于或者等于1的正整数；Acquire N first distances between the lowest point of the road surface and N depth reference points in a preset direction at the second moment, wherein the preset direction is the surface of the accumulation object in the target accumulation area. In the direction of the vertical line, the N depth reference points are located on N preset reference objects around the target storage area, and 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;
    获取所述第二时刻上，所述积存物表面与所述N个深度参考点在所述预设方向上的N个第二距离，其中，所述积存物表面与每个深度参考点之间对应一个第二距离；Acquire N second distances between the surface of the deposit and the N depth reference points in the preset direction at the second moment, wherein the distance between the surface of the deposit and each depth reference point corresponds to a second distance;
    根据所述N个第一距离和所述N个第二距离确定所述第一积存深度。The first storage depth is determined according to the N first distances and the N second distances.
  3. 根据权利要求2所述的方法，其特征在于，所述根据所述N个第一距离和所述N个第二距离确定所述路面最低点在所述第二时刻对应的积存深度包括：The method according to claim 2, wherein the determining, according to the N first distances and the N second distances, the accumulation depth corresponding to the lowest point of the road surface at the second moment comprises:
    根据所述N个第一距离和所述N个第二距离确定出所述N个深度参考点在所述第二时刻对应的N个距离差；Determine 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;
    将所述N个距离差的平均值确定为所述第一积存深度。An average value of the N distance differences is determined as the first accumulation depth.
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述目标道路积存物信息中还包括所述目标积存区域在所述第二时刻的第一深度变化速度、所述目标积存区域在所述第二时刻的第一深度变化加速度、所述目标积存区域对应的初始积存时刻、所述路面最低点的位置信息中的一项或者多项。The method according to any one of claims 1-3, wherein the target road accumulation information further includes a first depth change speed of the target accumulation area at the second moment, the target accumulation One or more items of the first depth change acceleration of the area at the second time, the initial accumulation time corresponding to the target accumulation area, and the position information of the lowest point of the road surface.
  5. 根据权利要求4所述的方法，其特征在于，预设检测区域基于预设区域划分规则划分有M1个格网区域，并且每个格网区域包含一个格网点，其中，所述M1为正整数；The method according to claim 4, wherein the preset detection area is divided into M1 grid areas based on a preset area division rule, and each grid area includes a grid point, wherein the M1 is a positive integer ;
    所述目标道路积存物信息中还包括：The target road accumulation information also includes:
    M2个第一目标格网区域中各第一目标格网区域的位置信息，和/或，所述各第一目标格网区域包含的各第一目标格网点在所述第二时刻的积存深度，其中，第一目标格网区域为所述M1个格网区域中在所述第二时刻时存在有积存物的格网区域，所述M2为小于或者等于M1的正整数。Position information of each first target grid area in the M2 first target grid areas, and/or the accumulation depth of each first target grid point included in each first target grid area at the second moment , wherein, the first target grid area is a grid area in which there are accumulated objects in the M1 grid areas at the second moment, and the M2 is a positive integer less than or equal to M1.
  6. 根据权利要求4或5所述的方法，其特征在于，所述目标道路积存物信息中包括：The method according to claim 4 or 5, wherein the information on the accumulated objects on the target road includes:
    所述第一时刻之后的第三时刻、所述目标积存区域在所述第三时刻对应的第二面位置信 息、所述目标积存区域内的路面最低点在所述第三时刻的第二积存深度、所述目标积存区域在所述第三时刻的第二危险等级中的一项或者多项，其中，所述第二危险等级由所述第二积存深度确定。The third time after the first time, the second surface position information corresponding to the target accumulation area at the third time, and the second accumulation of the lowest point of the road surface in the target accumulation area at the third time One or more of the depth and the second risk level of the target accumulation area at the third moment, wherein the second risk level is determined by the second accumulation depth.
  7. 根据权利要求6所述的方法，其特征在于，所述第二积存深度由所述第一深度变化速度、所述第一深度变化加速度以及所述第二时刻和所述第三时刻的时间差确定。The method according to claim 6, wherein the second accumulation depth is determined by the first depth change speed, the first depth change acceleration, and the time difference between the second moment and the third moment .
  8. 根据权利要求6或7所述的方法，其特征在于，所述方法还包括：The method according to claim 6 or 7, wherein the method further comprises:
    获取所述M1个格网区域中各格网区域内的格网点与预设探测点在所述预设方向上的第三距离；obtaining the third distance in the preset direction between the grid point in each grid area of the M1 grid areas and the preset detection point;
    根据所述第二积存深度确定所述第三时刻的所述目标积存区域内的积存物表面与所述预设探测点在所述预设方向上的第四距离；determining a fourth distance in the preset direction between the surface of the accumulated object in the target accumulation area at the third moment and the preset detection point according to the second accumulation depth;
    根据所述各格网区域内的格网点与所述预设探测点在所述预设方向上的第三距离与所述第四距离从所述M1个格网区域中确定出M3个第二目标格网区域，其中，第二目标格网区域为在所述第三时刻上存在有积存物的格网区域，所述M3为小于或者等于M1的正整数；According to the third distance and the fourth distance between the grid point in each grid area and the preset detection point in the preset direction, M3 second distances are determined from the M1 grid areas A target grid area, wherein the second target grid area is a grid area with accumulated objects at the third moment, and M3 is a positive integer less than or equal to M1;
    根据所述M3个第二目标格网区域确定出所述第二面位置信息。The second surface position information is determined according to the M3 second target grid areas.
  9. 根据权利要求8所述的方法，其特征在于，所述目标道路积存物信息中还包括：The method according to claim 8, wherein the information on the accumulated objects on the target road further comprises:
    所述M3个第二目标格网区域中各第二目标格网区域的位置信息，和/或，所述各第二目标格区域包含的各第二目标格网点在所述第三时刻上的积存深度。The position information of each second target grid area in the M3 second target grid areas, and/or, the position information of each second target grid point included in each second target grid area at the third time instant. accumulation depth.
  10. 根据权利要求1-9任一项所述的方法，其特征在于，所述目标道路积存物信息的更新频率由实时天气状态确定。The method according to any one of claims 1-9, characterized in that, the update frequency of the target road accumulation information is determined by real-time weather conditions.
  11. 一种道路积存物信息的确定方法，其特征在于，所述方法包括：A method for determining road accumulation information, characterized in that the method comprises:
    接收目标积存区域对应的目标道路积存物信息，其中，所述目标道路积存物信息中至少包括所述目标道路积存物信息的更新频率、生成所述目标道路积存物信息的第一时刻和所述目标积存区域在第二时刻上的第一面位置信息，以及，所述目标积存区域内的路面最低点在所述第二时刻的第一积存深度或者所述目标积存区域在所述第二时刻的第一危险等级，所述第一面位置信息用于指示所述目标积存区域在所述第二时刻的区域面积和区域位置，所述第一危险等级由所述第一积存深度确定得到，所述第二时刻在所述第一时刻之前；Receive the target road accumulation information corresponding to the target accumulation area, wherein the target road accumulation information includes at least the update frequency of the target road accumulation information, the first time at which the target road accumulation information is generated, and the The first surface position information of the target accumulation area at the second time, and the first accumulation depth of the lowest point of the road surface in the target accumulation area at the second time or the target accumulation area at the second time The first danger level of , the first surface position information is used to indicate the area and location of the target accumulation area at the second moment, and the first danger level is determined by the first accumulation depth, the second time instant is before the first time instant;
    根据所述目标道路积存物信息进行路径规划或者城市应急管理。Route planning or urban emergency management is performed according to the target road accumulation information.
  12. 根据权利要求11所述的方法，其特征在于，所述目标道路积存物信息中还包括所述目标积存区域在所述第二时刻的第一深度变化速度、所述目标积存区域在所述第二时刻的第一深度变化加速度、所述目标积存区域对应的初始积存时刻、所述路面最低点的位置信息中的一项或者多项。The method according to claim 11, wherein the target road accumulation information further includes a first depth change speed of the target accumulation area at the second moment, and the target accumulation area at the second time. One or more items of the first depth change acceleration at two times, the initial accumulation time corresponding to the target accumulation area, and the position information of the lowest point of the road surface.
  13. 根据权利要求12所述的方法，其特征在于，预设检测区域基于预设区域划分规则划分有M1个格网区域，并且每个格网区域包含一个格网点，其中，所述M1正整数；The method according to claim 12, wherein the preset detection area is divided into M1 grid areas based on a preset area division rule, and each grid area includes a grid point, wherein the M1 is a positive integer;
    所述目标道路积存物信息中还包括：The target road accumulation information also includes:
    M2个第一目标格网区域中各第一目标格网区域的位置信息，和/或，所述各第一目标格网区域包含的各第一目标格网点在所述第二时刻的积存深度，其中，第一目标格网区域为所述M1个格网区域中在所述第二时刻时存在有积存物的格网区域，所述M2为小于或者等于M1的正整数。Position information of each first target grid area in the M2 first target grid areas, and/or the accumulation depth of each first target grid point included in each first target grid area at the second moment , wherein, the first target grid area is a grid area in which there are accumulated objects in the M1 grid areas at the second moment, and the M2 is a positive integer less than or equal to M1.
  14. 根据权利要求12或13所述的方法，其特征在于，所述目标道路积存物信息还包括：The method according to claim 12 or 13, wherein the target road accumulation information further comprises:
    所述第一时刻之后的第三时刻、所述目标积存区域在所述第三时刻对应的第二面位置信息、所述目标积存区域内的路面最低点在所述第三时刻的第二积存深度、所述目标积存区域在所述第三时刻的第二危险等级中的一项或者多项，其中，所述第二危险等级由所述第二积存深度确定。The third time after the first time, the second surface position information corresponding to the target accumulation area at the third time, and the second accumulation of the lowest point of the road surface in the target accumulation area at the third time One or more of the depth and the second risk level of the target accumulation area at the third moment, wherein the second risk level is determined by the second accumulation depth.
  15. 根据权利要求14所述的方法，其特征在于，所述第二积存深度由所述第一深度变化速度、所述第一深度变化加速度以及所述第二时刻和所述第三时刻的时间差确定。The method according to claim 14, wherein the second accumulation depth is determined by the first depth change speed, the first depth change acceleration, and the time difference between the second moment and the third moment .
  16. 根据权利要求14或15所述的方法，其特征在于，所述目标道路积存物信息中还包括：The method according to claim 14 or 15, wherein the information on the accumulated objects on the target road further comprises:
    M3个第二目标格网区域中各第二目标格网区域的位置信息，和/或，所述各第二目标格网区域包含的各第二目标格网点在所述第三时刻上的积存深度，其中，第二目标格网区域为在所述第三时刻上存在有积存物的格网区域。The position information of each second target grid area in the M3 second target grid areas, and/or the accumulation of each second target grid point included in each second target grid area at the third moment Depth, wherein the second target grid area is a grid area where accumulations exist at the third moment.
  17. 一种装置，其特征在于，所述装置包括：A device, characterized in that the device comprises:
    处理单元，用于确定目标积存区域对应的目标道路积存物信息，其中，所述目标道路积存物信息中至少包括所述目标道路积存物信息的更新频率、生成所述目标道路积存物信息的第一时刻和所述目标积存区域在第二时刻上的第一面位置信息，以及，所述目标积存区域内的路面最低点在所述第二时刻的第一积存深度或者所述目标积存区域在所述第二时刻的第一危险等级，所述第一面位置信息用于指示所述目标积存区域在所述第二时刻的区域面积和区域位置，所述第一危险等级由所述第一积存深度确定得到，所述第二时刻在所述第一时刻之前；The processing unit is used to determine the target road accumulation information corresponding to the target accumulation area, wherein, the target road accumulation information at least includes the update frequency of the target road accumulation information, the number of times of generating the target road accumulation information. The first surface position information of the target storage area at a moment and the second moment, and the first storage depth of the lowest point of the road surface in the target storage area at the second moment or the target storage area at the first storage depth The first danger level at the second moment, the first surface position information is used to indicate the area area and the area position of the target storage area at the second moment, and the first danger level is determined by the first The accumulation depth is determined and obtained, and the second moment is before the first moment;
    收发单元，用于发送所述目标道路积存物信息，其中，所述目标道路积存物信息用于进行路径规划或者城市应急管理。A transceiver unit, configured to send the target road accumulation information, wherein the target road accumulation information is used for route planning or urban emergency management.
  18. 根据权利要求1所述的装置，其特征在于，所述处理单元用于：The apparatus according to claim 1, wherein the processing unit is configured to:
    获取所述第二时刻上，所述路面最低点与N个深度参考点在预设方向上的N个第一距离，其中，所述预设方向为所述目标积存区域内的积存物表面的铅垂线方向，所述N个深度参考点位于所述目标积存区域周边的N个预设的参照物上，所述路面最低点与每个深度参考点之间对应一个第一距离，N为大于或者等于1的正整数；Acquire N first distances between the lowest point of the road surface and N depth reference points in a preset direction at the second moment, wherein the preset direction is the surface of the accumulation object in the target accumulation area. In the direction of the vertical line, the N depth reference points are located on N preset reference objects around the target storage area, and 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;
    获取所述第二时刻上，所述积存物表面与所述N个深度参考点在所述预设方向上的N个第二距离，其中，所述积存物表面与每个深度参考点之间对应一个第二距离；Acquire N second distances between the surface of the deposit and the N depth reference points in the preset direction at the second moment, wherein the distance between the surface of the deposit and each depth reference point corresponds to a second distance;
    根据所述N个第一距离和所述N个第二距离确定所述第一积存深度。The first storage depth is determined according to the N first distances and the N second distances.
  19. 根据权利要求18所述的装置，其特征在于，所述处理单元具体用于：The apparatus according to claim 18, wherein the processing unit is specifically configured to:
    根据所述N个第一距离和所述N个第二距离确定出所述N个深度参考点在所述第二时 刻对应的N个距离差；According to the N first distances and the N second distances, determine the N distance differences corresponding to the N depth reference points at the second moment;
    将所述N个距离差的平均值确定为所述第一积存深度。An average value of the N distance differences is determined as the first accumulation depth.
  20. 根据权利要求17-19任一项所述的装置，其特征在于，所述目标道路积存物信息中还包括所述目标积存区域在所述第二时刻的第一深度变化速度、所述目标积存区域在所述第二时刻的第一深度变化加速度、所述目标积存区域对应的初始积存时刻、所述路面最低点的位置信息中的一项或者多项。The device according to any one of claims 17-19, wherein the target road accumulation information further includes a first depth change speed of the target accumulation area at the second moment, the target accumulation One or more items of the first depth change acceleration of the area at the second time, the initial accumulation time corresponding to the target accumulation area, and the position information of the lowest point of the road surface.
  21. 根据权利要求20所述的装置，其特征在于，预设检测区域基于预设区域划分规则划分有M1个格网区域，并且每个格网区域包含一个格网点，其中，所述M1为正整数；The device according to claim 20, wherein the preset detection area is divided into M1 grid areas based on a preset area division rule, and each grid area includes a grid point, wherein the M1 is a positive integer ;
    所述目标道路积存物信息中还包括：The target road accumulation information also includes:
    M2个第一目标格网区域中各第一目标格网区域的位置信息，和/或，所述各第一目标格网区域包含的各第一目标格网点在所述第二时刻的积存深度，其中，第一目标格网区域为所述M1个格网区域中在所述第二时刻时存在有积存物的格网区域，所述M2为小于或者等于M1的正整数。Position information of each first target grid area in the M2 first target grid areas, and/or the accumulation depth of each first target grid point included in each first target grid area at the second moment , wherein, the first target grid area is a grid area in which there are accumulated objects in the M1 grid areas at the second moment, and the M2 is a positive integer less than or equal to M1.
  22. 根据权利要求20或21所述的装置，其特征在于，所述目标道路积存物信息中包括：The device according to claim 20 or 21, wherein the information on the accumulated objects on the target road includes:
    所述第一时刻之后的第三时刻、所述目标积存区域在所述第三时刻对应的第二面位置信息、所述目标积存区域内的路面最低点在所述第三时刻的第二积存深度、所述目标积存区域在所述第三时刻的第二危险等级中的一项或者多项，其中，所述第二危险等级由所述第二积存深度确定。The third time after the first time, the second surface position information corresponding to the target accumulation area at the third time, and the second accumulation of the lowest point of the road surface in the target accumulation area at the third time One or more of the depth and the second risk level of the target accumulation area at the third moment, wherein the second risk level is determined by the second accumulation depth.
  23. 根据权利要求22所述的装置，其特征在于，所述第二积存深度由所述第一深度变化速度、所述第一深度变化加速度以及所述第二时刻和所述第三时刻的时间差确定。The device according to claim 22, wherein the second accumulation depth is determined by the first depth change speed, the first depth change acceleration, and the time difference between the second moment and the third moment .
  24. 根据权利要求22或23所述的装置，其特征在于，处理单元还用于：The device according to claim 22 or 23, wherein the processing unit is further configured to:
    获取所述M1个格网区域中各格网区域内的格网点与预设探测点在所述预设方向上的第三距离；obtaining the third distance in the preset direction between the grid point in each grid area of the M1 grid areas and the preset detection point;
    根据所述第二积存深度确定所述第三时刻的所述目标积存区域内的积存物表面与所述预设探测点在所述预设方向上的第四距离；determining a fourth distance in the preset direction between the surface of the accumulated object in the target accumulation area at the third moment and the preset detection point according to the second accumulation depth;
    根据所述各格网区域内的格网点与所述预设探测点在所述预设方向上的第三距离与所述第四距离从所述M1个格网区域中确定出M3个第二目标格网区域，其中，第二目标格网区域为在所述第三时刻上存在有积存物的格网区域，所述M3为小于或者等于M1的正整数；According to the third distance and the fourth distance between the grid point in each grid area and the preset detection point in the preset direction, M3 second distances are determined from the M1 grid areas A target grid area, wherein the second target grid area is a grid area with accumulated objects at the third moment, and M3 is a positive integer less than or equal to M1;
    根据所述M3个第二目标格网区域确定出所述第二面位置信息。The second surface position information is determined according to the M3 second target grid areas.
  25. 根据权利要求24所述的装置，其特征在于，所述目标道路积存物信息中还包括：The device according to claim 24, wherein the information on the accumulated objects on the target road further comprises:
    所述M3个第二目标格网区域中各第二目标格网区域的位置信息，和/或，所述各第二目标格区域包含的各第二目标格网点在所述第三时刻上的积存深度。The position information of each second target grid area in the M3 second target grid areas, and/or, the position information of each second target grid point included in each second target grid area at the third time instant. accumulation depth.
  26. 根据权利要求17-25任一项所述的装置，其特征在于，所述目标道路积存物信息的更新频率由实时天气状态确定。The device according to any one of claims 17-25, wherein the update frequency of the information on the accumulated objects on the target road is determined by real-time weather conditions.
  27. 一种装置，其特征在于，所述装置包括：A device, characterized in that the device comprises:
    收发单元，用于接收目标积存区域对应的目标道路积存物信息，其中，所述目标道路积存物信息中至少包括所述目标道路积存物信息的更新频率、生成所述目标道路积存物信息的第一时刻和所述目标积存区域在第二时刻上的第一面位置信息，以及，所述目标积存区域内的路面最低点在所述第二时刻的第一积存深度或者所述目标积存区域在所述第二时刻的第一危险等级，所述第一面位置信息用于指示所述目标积存区域在所述第二时刻的区域面积和区域位置，所述第一危险等级由所述第一积存深度确定得到，所述第二时刻在所述第一时刻之前；The transceiver unit is used for receiving the target road accumulation information corresponding to the target accumulation area, wherein the target road accumulation information at least includes the update frequency of the target road accumulation information, the first time for generating the target road accumulation information. A moment and the first surface position information of the target storage area at a second moment, and the first storage depth of the lowest point of the road surface in the target storage area at the second moment or the target storage area at The first danger level at the second moment, the first surface position information is used to indicate the area area and the area position of the target storage area at the second moment, and the first danger level is determined by the first The accumulation depth is determined and obtained, and the second moment is before the first moment;
    处理单元，用于根据所述目标道路积存物信息进行路径规划或者城市应急管理。The processing unit is configured to perform route planning or urban emergency management according to the target road accumulation information.
  28. 根据权利要求17所述的装置，其特征在于，所述目标道路积存物信息中还包括所述目标积存区域在所述第二时刻的第一深度变化速度、所述目标积存区域在所述第二时刻的第一深度变化加速度、所述目标积存区域对应的初始积存时刻、所述路面最低点的位置信息中的一项或者多项。The device according to claim 17, wherein the target road accumulation information further includes a first depth change speed of the target accumulation area at the second moment, and the target accumulation area at the second time. One or more items of the first depth change acceleration at two times, the initial accumulation time corresponding to the target accumulation area, and the position information of the lowest point of the road surface.
  29. 根据权利要求28所述的装置，其特征在于，预设检测区域基于预设区域划分规则划分有M1个格网区域，并且每个格网区域包含一个格网点，其中，所述M1为正整数；The device according to claim 28, wherein the preset detection area is divided into M1 grid areas based on a preset area division rule, and each grid area includes a grid point, wherein the M1 is a positive integer ;
    所述目标道路积存物信息中还包括：The target road accumulation information also includes:
    M2个第一目标格网区域中各第一目标格网区域的位置信息，和/或，所述各第一目标格网区域包含的各第一目标格网点在所述第二时刻的积存深度，其中，第一目标格网区域为所述M1个格网区域中在所述第二时刻时存在有积存物的格网区域，所述M2为小于或者等于M1的正整数。Position information of each first target grid area in the M2 first target grid areas, and/or the accumulation depth of each first target grid point included in each first target grid area at the second moment , wherein, the first target grid area is a grid area in which there are accumulated objects in the M1 grid areas at the second moment, and the M2 is a positive integer less than or equal to M1.
  30. 根据权利要求28或29所述的装置，其特征在于，所述目标道路积存物信息还包括：The device according to claim 28 or 29, wherein the target road accumulation information further comprises:
    所述第一时刻之后的第三时刻、所述目标积存区域在所述第三时刻对应的第二面位置信息、所述目标积存区域内的路面最低点在所述第三时刻的第二积存深度、所述目标积存区域在所述第三时刻的第二危险等级中的一项或者多项，其中，所述第二危险等级由所述第二积存深度确定。The third time after the first time, the second surface position information corresponding to the target accumulation area at the third time, and the second accumulation of the lowest point of the road surface in the target accumulation area at the third time One or more of the depth and the second risk level of the target accumulation area at the third moment, wherein the second risk level is determined by the second accumulation depth.
  31. 根据权利要求30所述的装置，其特征在于，所述第二积存深度由所述第一深度变化速度、所述第一深度变化加速度以及所述第二时刻和所述第三时刻的时间差确定。The device according to claim 30, wherein the second accumulation depth is determined by the first depth change speed, the first depth change acceleration, and the time difference between the second moment and the third moment .
  32. 根据权利要求30或31所述的装置，其特征在于，所述目标道路积存物信息中还包括：The device according to claim 30 or 31, wherein the information on the accumulated objects on the target road further comprises:
    M3个第二目标格网区域中各第二目标格网区域的位置信息，和/或，所述各第二目标格网区域包含的各第二目标格网点在所述第三时刻上的积存深度，其中，第二目标格网区域为在所述第三时刻上存在有积存物的格网区域。The position information of each second target grid area in the M3 second target grid areas, and/or the accumulation of each second target grid point included in each second target grid area at the third moment Depth, wherein the second target grid area is a grid area where accumulations exist at the third moment.
  33. 一种可读存储介质，用于存储指令，当所述指令被执行时，使如权利要求1-11或者权利要求1-10或者权利要求11-16中任一项所述的方法被实现。A readable storage medium for storing instructions which, when executed, cause the method of any one of claims 1-11 or 1-10 or 11-16 to be implemented.
  34. 一种装置，其特征在于，包括：处理器，存储器；A device, characterized in that it comprises: a processor and a memory;
    所述存储器，用于存储计算机程序；the memory for storing computer programs;
    所述处理器，用于执行所述存储器中存储的计算机程序，以使得所述通信装置执行如权利要求1-10或者权利要求11-16中任一项所述的方法。The processor for executing a computer program stored in the memory to cause the communication device to perform the method according to any one of claims 1-10 or 11-16.
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