CN113008804B - Information processing method, sensor and control method for detecting road surface morphology - Google Patents
Information processing method, sensor and control method for detecting road surface morphologyDownload PDFInfo
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Abstract
Description
Technical Field
The disclosure relates to the technical field of data processing, and in particular relates to an information processing method, a sensor and a control method for detecting road surface morphology.
Background
Road surface morphology, including icy road surfaces, snow covered road surfaces, water covered road surfaces, asphalt road surfaces, and the like.
In the related technology, the road surface shape is detected by adopting the infrared laser of the infrared laser road surface icing sensor as a light source to carry out optical remote sensing detection on the road surface, the wavelength of the infrared laser is about 800nm-1500nm, and the infrared light of the wave band widely exists in sunlight, street lamp light, car light and other environmental lights, so that serious light interference can be formed on the detection function of the sensor, the detection accuracy is influenced, and even the function fails. Meanwhile, in order to reduce the influence of ambient light interference in the related art, the intensity of the light source is increased, and a plurality of shading measures are added, so that the power, the volume and the cost are increased.
Disclosure of Invention
The main purpose of the present disclosure is to provide an information processing method, a sensor and a control method for detecting a road surface shape, so as to solve the technical problems of low road surface shape detection precision and failure detection function caused by interference of other infrared light signals in the related art.
In order to achieve the above object, according to a first aspect of the present disclosure, there is provided an information processing method for detecting a road surface morphology, comprising: after the transmitting unit transmits deep ultraviolet light to the road surface to be detected for many times, the receiving unit receives the deep ultraviolet reflected light reflected by the road surface to be detected each time and converts the received deep ultraviolet reflected light into a voltage signal to obtain a measured value set of the voltage signal; determining different preset voltage ranges defined by maximum voltage thresholds and minimum voltage thresholds corresponding to different road surfaces; and judging different times that the measured values of the voltage signals in the voltage signal set fall into different preset voltage ranges, so as to determine the road surface shape of the road surface to be detected based on the different times.
Optionally, after converting the deep ultraviolet reflected light received each time into a voltage signal to obtain a measured value set of the voltage signal, the method further includes: determining the voltage correction value under the visibility measurement value based on the received visibility measurement value of the surrounding environment of the pavement; after the deep ultraviolet emission light received each time is converted into a voltage signal, a voltage correction measured value is determined based on the voltage signal and the voltage correction value, and a correction measured value set of the voltage signal is obtained.
Optionally, the method further comprises: if the determined road surface shape of the road surface to be detected is multiple shapes, receiving the road surface temperature measured by the temperature measuring unit; and determining one of a plurality of road surface forms of the road surface to be detected based on the road surface temperature.
Optionally, determining the voltage correction value under the visibility measurement based on the received visibility measurement of the road surface surroundings comprises: determining voltage correction values corresponding to different visibility levels; determining a visibility level corresponding to the visibility measurement value; and determining a voltage correction value corresponding to the visibility level.
According to a second aspect of the present disclosure there is provided a sensor device for detecting a road surface morphology, comprising: an emission unit configured to emit deep ultraviolet light to a road surface to be detected a plurality of times; the receiving unit is configured to receive the reflected deep ultraviolet light reflected by the pavement to be detected each time, and convert the received deep ultraviolet reflected light into a voltage signal to obtain a measured value set of the voltage signal; the control unit comprises a first control module and a second control module, wherein the first control module is configured to determine different preset voltage ranges which correspond to different road surfaces and are defined by a maximum voltage threshold value and a minimum voltage threshold value; the control unit further comprises a second control module configured to judge different times that the measured value of the voltage signal in the voltage signal set falls into different preset voltage ranges, so as to determine the road surface shape of the road surface to be detected based on the different times.
Optionally, the sensor further comprises: the visibility measuring unit is configured to measure the visibility of the surrounding environment of the road surface in real time to obtain a visibility measuring value; the control unit further comprises a third control module configured to determine the voltage correction value at the visibility measurement based on the received visibility measurement of the surrounding environment of the road surface; after the deep ultraviolet emission light received each time is converted into a voltage signal, a voltage correction measured value is determined based on the voltage signal and the voltage correction value, and a correction measured value set of the voltage signal is obtained.
Optionally, the sensor further comprises: a temperature measuring unit configured to measure a road surface temperature of a road surface to be detected; the control unit comprises a fourth control module which is configured to receive the road surface temperature measured by the temperature measuring unit if the determined road surface shape of the road surface to be detected is a plurality of shapes; and determining one of a plurality of road surface forms to which the road surface to be detected belongs based on the road surface temperature.
Optionally, the third control module is further configured to: determining voltage correction values corresponding to different visibility levels; determining a visibility level corresponding to the visibility measurement value; and determining a voltage correction value corresponding to the visibility level.
According to a third aspect of the present disclosure, there is provided a control method for detecting a road surface morphology, characterized by comprising: acquiring a measured value set of voltage signals corresponding to deep ultraviolet light reflected by a road surface; determining different preset voltage ranges defined by maximum voltage thresholds and minimum voltage thresholds corresponding to different road surfaces; and judging different times that the measured values of the voltage signals in the voltage signal set fall into different preset voltage ranges, so as to determine the road surface shape of the road surface to be detected based on the different times.
Optionally, the method further comprises: determining the voltage correction value under the visibility measurement value based on the received visibility measurement value of the surrounding environment of the pavement; after the deep ultraviolet emission light received each time is converted into a voltage signal, a voltage correction measured value is determined based on the voltage signal and the voltage correction value, and a correction measured value set of the voltage signal is obtained.
In the embodiment of the disclosure, the form of the road surface to be detected is determined based on the voltage signal by emitting the deep ultraviolet light to the road surface to be detected and converting the deep ultraviolet reflected light emitted by the road surface to be detected into the voltage signal, and the form of the road surface can be distinguished by utilizing the relatively pure deep ultraviolet light of the background noise to detect the form of the road surface and analyzing and processing the reflected light, so that the road surface icing sensor based on the infrared laser is avoided, the interference of the background noise is easily received in an outdoor application environment, the detection precision is further improved, and the detection cost is reduced.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the prior art, the drawings that are required in the detailed description or the prior art will be briefly described, it will be apparent that the drawings in the following description are some embodiments of the present disclosure, and other drawings may be obtained according to the drawings without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a flow chart of an information processing method for detecting a road surface morphology according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a sensor structure for detecting road surface morphology according to an embodiment of the present disclosure;
FIG. 3 is a sensor application scenario diagram for detecting road surface morphology according to an embodiment of the present disclosure;
fig. 4 is a flowchart of a control method for detecting a road surface morphology according to an embodiment of the present disclosure.
Detailed Description
In order that those skilled in the art will better understand the present disclosure, a technical solution in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure, shall fall within the scope of the present disclosure.
It should be noted that the terms "first," "second," and the like in the description and claims of the present disclosure and in the foregoing figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the disclosure herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be noted that, without conflict, the embodiments of the present disclosure and features of the embodiments may be combined with each other. The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
According to an embodiment of the present disclosure, there is provided an information processing method for detecting a road surface morphology, as shown in fig. 1, themethod including steps 101 to 103 as follows:
step 101: after the transmitting unit transmits deep ultraviolet light to the road surface to be detected for many times, the receiving unit receives the deep ultraviolet reflected light reflected by the road surface to be detected each time and converts the received deep ultraviolet reflected light into a voltage signal to obtain a measured value set of the voltage signal.
In this embodiment, the emission unit may be a deep ultraviolet light (UVC, wavelength 200nm to 280 nm) emission circuit; the receiving unit may be a receiving circuit for receiving the deep ultraviolet emission light reflected by the road surface to be detected; the transmitting circuit transmits multiple times of deep ultraviolet light to the road surface to be detected, the receiving unit receives the deep ultraviolet reflected light after each time of deep ultraviolet light is transmitted by the road surface to be detected, the received deep ultraviolet reflected light is converted into a voltage signal, the size of the voltage signal is in direct proportion to the light intensity of the deep ultraviolet reflected light, and the measured value set of the voltage signal can be obtained after the multiple times of deep ultraviolet transmitted light is subjected to signal conversion.
Because the wavelength of deep Ultraviolet (UVC) is 200nm-280nm, sunlight in the wave band is absorbed by an ozone layer when entering an atmosphere, so that no UVC exists on a road surface to be detected, and no UVC exists in road lights and car lights, and therefore, in a road surface light environment, the background noise in the UVC wave band is relatively pure, and the embodiment detects the road surface based on the deep ultraviolet reflected light, thereby avoiding light interference and improving the road surface state detection precision.
Step 102: different preset voltage ranges defined by a maximum voltage threshold and a minimum voltage threshold corresponding to different road surfaces are determined.
In this embodiment, the road surface morphology may include an icy road surface, a snow covered road surface, a water covered road surface, an asphalt road surface, and the like, and the voltage threshold value determined based on deep ultraviolet light under the road surface morphology may be predetermined for different road surface morphologies. For example, regarding the ice road surface, the deep ultraviolet light may be emitted to the ice road surface 1, the ice road surface 2, the ice road surface n a plurality of times by the emission unit, the ice road surface 2, the ice road surface n, and the deep ultraviolet emitted light signal reflected by each ice road surface is converted into a voltage signal, so that a voltage signal measurement value set corresponding to each ice road surface, such as the ice road surface 1, the ice road surface 2, the ice road surface n, the voltage signal measurement value corresponding to the ice road surface n is 2.5 to 5.1,1.3 to 4.4, and the minimum threshold value and the maximum threshold value of the preset voltage range may be determined based on the minimum threshold value and the maximum threshold value in each set. For example, the maximum threshold value at which the value on each frozen road surface is maximum may be determined as the maximum threshold value of the preset voltage range, e.g., if 5.5 is the maximum value among the maximum threshold values on a large number of frozen road surfaces, 5.5 may be determined as the maximum voltage threshold value of the preset voltage range. Similarly, the minimum threshold value at which the value on each of the icy roads is minimum may be determined as the minimum threshold value of the preset voltage range, for example, if 1.3 is the minimum value among the minimum threshold values on a large number of icy roads, 1.3 may be determined as the minimum voltage threshold value of the preset voltage range, and the preset voltage range is (1.3 to 5.5). It will be appreciated that the above values are exemplary, and that the values in an actual scenario will vary from one pavement environment to another.
The minimum threshold and the maximum threshold of the preset voltage range may also be determined based on the average of the minimum threshold and the maximum threshold in each set, for example, (2.5+1.3+ & gt 2.6)/n is taken as the minimum threshold of the preset voltage; taking (5.1+4.4+. 5.5)/n as the maximum threshold value of the preset voltage, the preset voltage range may be (1.8-5.3).
It will be appreciated that for different road surface morphologies, asphalt, cement, ice, snow, water accumulation, etc., is determined by a maximum threshold value VH And VL The defined ranges are not identical and may overlap in part, but not completely overlap.
Step 103: and judging different times that the measured values of the voltage signals in the voltage signal set fall into different preset voltage ranges, so as to determine the road surface shape of the road surface to be detected based on the different times.
In this embodiment, after emitting deep ultraviolet light on a road surface to be detected each time, signal conversion is performed on the reflected light of the deep ultraviolet light, and a corresponding preset voltage range of which road surface form the converted voltage falls into is determined, so that the number of times of falling into each road surface form after M times of detection can be determined, and the road surface form with the largest number of times of falling into is determined as the road surface form of the road surface to be detected. For example, the method includes performing 100 times of deep ultraviolet detection on a road surface to be detected, performing voltage conversion on each time of deep ultraviolet emitted light, for example, converting the deep ultraviolet emitted light into 4.8V,4.5V,4.3V, and 5.0V, wherein the 1 st measured value 4.8V falls into a preset range corresponding to an iced road surface, the 2 nd measured value 4.3V falls into a preset range corresponding to an iced road surface and a preset range corresponding to a water accumulation road surface, the 100 th measured value 5.0V falls into a preset range corresponding to an asphalt road surface and a preset range corresponding to a water accumulation road surface, and if the number of times of falling into the iced road surface is the largest in the 100 measured values, the road surface of the road surface to be detected is the iced road surface.
According to the embodiment, the form of the road surface to be detected is determined based on the voltage signal by emitting deep ultraviolet light to the road surface to be detected and converting the deep ultraviolet reflected light emitted by the road surface to be detected into the voltage signal, and the form of the road surface can be distinguished by utilizing the deep ultraviolet light with relatively pure background noise to detect the form of the road surface and analyzing and processing the reflected light, so that the road surface icing sensor based on infrared laser is prevented from being easily interfered by the background noise in an outdoor application environment, the detection precision is further improved, and the detection cost is reduced.
As an optional implementation manner of this embodiment, after converting the deep ultraviolet emission light received each time into a voltage signal to obtain a measured value set of the voltage signal, the method further includes: determining the voltage correction value under the visibility measurement value based on the received visibility measurement value of the surrounding environment of the pavement; after the deep ultraviolet emission light received each time is converted into a voltage signal, a voltage correction measured value is determined based on the voltage signal and the voltage correction value, and a correction measured value set of the voltage signal is obtained.
In this alternative implementation, since UVC propagation is affected by atmospheric visibility, the voltage signal of the converted deep ultraviolet reflected light may be corrected and compensated, so that the detection accuracy is higher.
After receiving the visibility measurement value of the surrounding environment of the road surface, the voltage correction value Δv under the visibility measurement value can be determined, the voltage value V0 corresponding to the deep ultraviolet reflected light is smaller than the actual value V1 due to low visibility, after each received deep ultraviolet reflected light is converted into a voltage signal, the voltage correction measurement value v1=v0+Δv is determined based on the voltage signal and the voltage correction value, and after multiple detection, a correction measurement value set of the voltage signal can be obtained. .
The process of determining the voltage correction value may include: the actual visibility level corresponding to the visibility measurement value is determined first, and then the voltage correction value corresponding to the actual visibility level is determined based on the voltage correction values pre-corresponding to different levels.
As an optional implementation manner of this embodiment, voltage correction values corresponding to different visibility levels are determined; determining a visibility level corresponding to the visibility measurement value; and determining a voltage correction value corresponding to the visibility level.
In this alternative implementation manner, the purpose of correcting the compensation voltage signal is to enable the voltage signal converted by the reflected deep ultraviolet light to be close to the voltage signal converted by the deep ultraviolet light reflected by the road surface when the visibility is higher, and by this correction compensation manner, the final detection accuracy of detecting the road surface morphology can be higher.
Specifically, when determining the voltage correction values corresponding to different visibility levels, determining the reference voltage signal corresponding to the reflected deep ultraviolet light of the road surface when the visibility level is highest (the higher the visibility level is, the better the visibility is, and the smaller the reflected deep ultraviolet light attenuation is); then under different visibility, determining a voltage correction value based on a voltage signal corresponding to deep ultraviolet light emitted by a road surface, wherein for example, when the visibility is highest in class III (100-150), the reference voltage signal is 5.5V; when the visibility is of class II (the measured value of the visibility is 50-100), the voltage signal corresponding to the deep ultraviolet light reflected by the pavement is 4.5V, and then the corrected value of the voltage can be 0-1. In this way, the voltage correction values corresponding to the different visibility levels can be determined separately.
As an optional implementation manner of this embodiment, the method further includes: if the determined road surface shape of the road surface to be detected is multiple shapes, receiving the road surface temperature measured by the temperature measuring unit; and determining one of a plurality of road surface forms of the road surface to be detected based on the road surface temperature.
In the alternative implementation manner, the road surface morphology of the road surface to be detected, which is determined based on different times, may simultaneously comprise two road surface morphologies, and for this case, the road surface morphology can be determined with the aid of temperature, so that the result is more accurate, and the defects of inaccurate road surface morphology determination and high cost due to the use of the temperature sensor are overcome.
Specifically, if the determined road surface morphology of the road surface to be detected is a plurality of morphologies, the road surface temperature measured by the temperature measuring unit is received, and the final road surface morphology is determined based on the road surface temperature. For example, if the determined road surface morphology to be detected is an icy road surface and a water accumulation road surface, it may be determined that the road surface morphology is an icy road surface if the measured road surface temperature to be detected at this time is lower than 0 ℃. The correspondence between the temperature and the road surface morphology may be preset and stored.
From the above description, it can be seen that the present disclosure achieves the following technical effects: the detection of the road surface shape can be more accurate, the power consumption is reduced, and the cost is reduced.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
There is also provided, in accordance with an embodiment of the present disclosure, a sensor for detecting a road surface morphology, as shown in fig. 2, the apparatus including: anemission unit 201 configured to emit deep ultraviolet light to a road surface to be detected a plurality of times; a receivingunit 202 configured to receive the reflected deep ultraviolet light reflected by the road surface to be detected each time, and convert the received deep ultraviolet light into a voltage signal, so as to obtain a measured value set of the voltage signal; thecontrol unit 203 comprises a first control module configured to determine different preset voltage ranges defined by a maximum voltage threshold and a minimum voltage threshold corresponding to different road surfaces; the control unit further comprises a second control module configured to judge different times that the measured value of the voltage signal in the voltage signal set falls into different preset voltage ranges, so as to determine the road surface shape of the road surface to be detected based on the different times.
As an optional implementation manner of this implementation, the sensor further includes: the visibility measuring unit is configured to measure the visibility of the surrounding environment of the road surface in real time to obtain a visibility measuring value; thecontrol unit 203 further comprises a third control module configured to determine the voltage correction value at the visibility measurement based on the received visibility measurement of the road surface surroundings; after the deep ultraviolet emission light received each time is converted into a voltage signal, a voltage correction measured value is determined based on the voltage signal and the voltage correction value, and a correction measured value set of the voltage signal is obtained.
As an optional implementation manner of this implementation, the sensor further includes: a temperature measuring unit configured to measure a road surface temperature of a road surface to be detected; thecontrol unit 203 includes a fourth control module configured to receive the road surface temperature measured by the temperature measurement unit if the determined road surface morphology of the road surface to be detected is a plurality of morphologies; and determining one of a plurality of road surface forms to which the road surface to be detected belongs based on the road surface temperature.
As an optional implementation manner of this implementation manner, the third control module is further configured to: determining voltage correction values corresponding to different visibility levels; determining a visibility level corresponding to the visibility measurement value; and determining a voltage correction value corresponding to the visibility level.
The sensor for detecting the road surface morphology, provided by the embodiment of the disclosure, overcomes the defects that the traditional road surface icing sensor based on infrared laser is easy to be interfered by background light noise in an outdoor application environment, increases the intensity of a light source and increases a plurality of shading measures in order to reduce the influence of interference, so that the problems of difficulty in controlling power, volume and cost and the like are caused.
As shown in fig. 3, the sensor application scene graph for detecting the road surface morphology can be as shown in fig. 3, and the road surface morphology can be detected under the interaction of a visibility unit, a control processing unit, a temperature measuring unit, a transmitting unit and a receiving unit.
According to an embodiment of the present disclosure, there is also provided a control method for detecting a road surface morphology, as shown in fig. 4, including:
step 401: acquiring a measured value set of voltage signals corresponding to deep ultraviolet light reflected by a road surface;
in this embodiment, deep ultraviolet light (UVC, wavelength between 200nm and 280 nm) may be emitted by the emission unit; the receiving unit receives deep ultraviolet emitted light reflected by the road surface to be detected; the transmitting unit transmits multiple times of deep ultraviolet light to the road surface to be detected, the receiving unit receives the deep ultraviolet reflected light after each time of deep ultraviolet light is transmitted by the road surface to be detected, the received deep ultraviolet reflected light is converted into a voltage signal, and the measured value set of the voltage signal can be obtained after the multiple times of deep ultraviolet transmitted light are subjected to signal conversion.
Step 402: different preset voltage ranges defined by a maximum voltage threshold and a minimum voltage threshold corresponding to different road surfaces are determined.
The implementation manner ofstep 102 is the same as that of the first embodiment, and will not be described in detail here.
Step 403: and judging different times that the measured values of the voltage signals in the voltage signal set fall into different preset voltage ranges, so as to determine the road surface shape of the road surface to be detected based on the different times.
The implementation ofstep 103 is the same as that of the first embodiment, and will not be described in detail here.
As an optional implementation manner of this embodiment, the method further includes: determining the voltage correction value under the visibility measurement value based on the received visibility measurement value of the surrounding environment of the pavement; after the deep ultraviolet emission light received each time is converted into a voltage signal, a voltage correction measured value is determined based on the voltage signal and the voltage correction value, and a correction measured value set of the voltage signal is obtained.
As an optional implementation manner of this embodiment, the method further includes: if the determined road surface shape of the road surface to be detected is multiple shapes, receiving the road surface temperature measured by the temperature measuring unit; and determining one of a plurality of road surface forms of the road surface to be detected based on the road surface temperature.
As an optional implementation manner of this embodiment, the determining, based on the received visibility measurement value of the surrounding environment of the road surface, the voltage correction value under the visibility measurement value includes: determining voltage correction values corresponding to different visibility levels; determining a visibility level corresponding to the visibility measurement value; and determining a voltage correction value corresponding to the visibility level.
It will be appreciated by those skilled in the art that the whole or part of the flow of the method of the above embodiment may be implemented by a computer program for instructing relevant hardware, and the program may be stored in a computer readable storage medium, and the program may include the flow of the embodiment of the method of controlling a motor as described above when executed. The storage medium may be a magnetic disk, an optical disc, a Read-only memory (ROM), a random access memory (RandomAccessMemory, RAM), a flash memory (flash memory), a hard disk (HDD), or a Solid State Drive (SSD); the storage medium may also comprise a combination of memories of the kind described above.
Although embodiments of the present disclosure have been described with reference to the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the disclosure, and such modifications and variations fall within the scope as defined by the appended claims.
Claims (5)
1. An information processing method for detecting a road surface morphology, comprising:
after the transmitting unit transmits deep ultraviolet light to the road surface to be detected for many times, the receiving unit receives the deep ultraviolet reflected light reflected by the road surface to be detected each time and converts the received deep ultraviolet reflected light into a voltage signal to obtain a measured value set of the voltage signal; determining a voltage correction value under the visibility measurement based on the received visibility measurement of the surrounding environment of the road surface; after the deep ultraviolet reflected light received each time is converted into a voltage signal, determining a voltage correction measured value based on the voltage signal and the voltage correction value to obtain a correction measured value set of the voltage signal; wherein determining a voltage correction value at the visibility measurement comprises: determining voltage correction values corresponding to different visibility levels; determining a visibility level corresponding to the visibility measurement value; determining a voltage correction value corresponding to the visibility level;
determining different preset voltage ranges defined by maximum voltage thresholds and minimum voltage thresholds corresponding to different road surfaces;
and judging different times that the measured values of the voltage signals in the voltage signal set fall into different preset voltage ranges, so as to determine the road surface shape of the road surface to be detected based on the different times.
2. The information processing method for detecting a road surface morphology according to claim 1, characterized in that the method further comprises:
if the determined road surface shape of the road surface to be detected is multiple shapes, receiving the road surface temperature measured by the temperature measuring unit;
and determining one of a plurality of road surface forms of the road surface to be detected based on the road surface temperature.
3. A sensor for detecting the morphology of a road surface, comprising:
an emission unit configured to emit deep ultraviolet light to a road surface to be detected a plurality of times;
the receiving unit is configured to receive the deep ultraviolet reflected light reflected by the road surface to be detected each time, and convert the received deep ultraviolet reflected light into a voltage signal to obtain a measured value set of the voltage signal;
the control unit comprises a first control module and a second control module, wherein the first control module is configured to determine different preset voltage ranges which correspond to different road surfaces and are defined by a maximum voltage threshold value and a minimum voltage threshold value;
the control unit further comprises a second control module configured to judge different times that measured values of voltage signals in the voltage signal set fall into different preset voltage ranges, so as to determine the road surface shape of the road surface to be detected based on the different times;
wherein the sensor further comprises: the visibility measuring unit is configured to measure the visibility of the surrounding environment of the road surface in real time to obtain a visibility measuring value; the control unit further comprises a third control module configured to determine a voltage correction value at a received visibility measurement of the surroundings of the road surface based on the visibility measurement; after the deep ultraviolet reflected light received each time is converted into a voltage signal, determining a voltage correction measured value based on the voltage signal and the voltage correction value to obtain a correction measured value set of the voltage signal; wherein the third control module is further configured to: determining voltage correction values corresponding to different visibility levels; determining a visibility level corresponding to the visibility measurement value; and determining a voltage correction value corresponding to the visibility level.
4. A sensor for detecting the morphology of a road surface according to claim 3, further comprising:
a temperature measuring unit configured to measure a road surface temperature of a road surface to be detected;
the control unit comprises a fourth control module which is configured to receive the road surface temperature measured by the temperature measuring unit if the determined road surface shape of the road surface to be detected is a plurality of shapes; and determining one of a plurality of road surface forms to which the road surface to be detected belongs based on the road surface temperature.
5. A control method for detecting a road surface morphology, comprising:
acquiring a measured value set of voltage signals corresponding to deep ultraviolet light reflected by a road surface to be detected;
determining different preset voltage ranges defined by maximum voltage thresholds and minimum voltage thresholds corresponding to different road surfaces;
judging different times that measured values of voltage signals in the voltage signal set fall into different preset voltage ranges, so as to determine the road surface shape of the road surface to be detected based on the different times;
the method further comprises the steps of: determining a voltage correction value under the visibility measurement based on the received visibility measurement of the surrounding environment of the road surface; after the received deep ultraviolet reflected light is converted into a voltage signal, determining a voltage correction measured value based on the voltage signal and the voltage correction value, and obtaining a correction measured value set of the voltage signal.
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