The invention discloses an automatic driving vehicle wading risk monitoring method, system and device and a medium, and relates to the technical field of environment perception for assisting safe driving. The method comprises the following steps: acquiring image data of a front-view camera of a vehicle, point cloud data of a vehicle gauge level laser radar and current vehicle information; performing preprocessing, target identification and region segmentation on the image data in sequence to determine a ponding region; comparing the point cloud data with the ponding area, screening out the point cloud data of the ponding area, and calculating to obtain the maximum ponding depth; and the limit water level height in the static state and the safe water depth in the current motion state are determined according to the vehicle information, and when the maximum accumulated water depth is larger than or equal to the numerical value interval of the limit water level height and the safe water depth, an early warning device is activated to conduct wading early warning. The method is helpful for the vehicle to accurately identify the water depth of the road, is combined with the self condition of the vehicle to study and judge the wading risk, and is suitable for measurement under complex weather and road surface conditions.

    本发明公开一种自动驾驶车辆涉水风险监测方法、系统、设备及介质,涉及辅助安全驾驶的环境感知技术领域。所述方法包括:获取车辆前视摄像头的图像数据、车规级激光雷达的点云数据以及当前的车辆信息;对图像数据依次进行预处理、目标识别和区域分割,确定积水区域;根据点云数据和积水区域进行对比,筛选出积水区域的点云数据,并计算得出最大积水深度;根据车辆信息分别确定静止状态下的极限水位高度和当前运动状态下的安全水深,并当最大积水深度大于或等于极限水位高度及安全水深的数值区间时,激活预警装置进行涉水预警。本发明有助于车辆精确识别道路积水深度,以及结合车辆自身情况研判涉水的风险,适用于复杂天气与路面状况下的测量。


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    Title :

    Automatic driving vehicle wading risk monitoring method, system, equipment and medium


    Additional title:

    一种自动驾驶车辆涉水风险监测方法、系统、设备及介质


    Contributors:
    HE SHANGLU (author) / DU DEHENG (author) / LI JUN (author) / PU LYURU (author) / LIU LUTENG (author) / ZHANG NAN (author) / HUANG ZHEN (author) / LI YUTONG (author) / ZHANG WEIBIN (author) / YE MAO (author)

    Publication date :

    2024-12-20


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01F Messen des Volumens, des Durchflussvolumens, des Massendurchflusses oder des Füllstandes , MEASURING VOLUME, VOLUME FLOW, MASS FLOW, OR LIQUID LEVEL / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06V



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