A method, device and storage medium for detecting water depth

Abstract

The present application discloses a method, device and storage medium for detecting the depth of water accumulation, the method comprising: controlling a distance measuring sensor to transmit multiple test signals at a first frequency, and determining a first distance value obtained by mapping a target test signal among the multiple test signals on the road surface in front of a mobile vehicle; controlling the distance measuring sensor to transmit multiple test signals at a second frequency, and determining a second distance value obtained by mapping the target test signal on the road surface in front of the mobile vehicle; determining the difference between the first distance value and the second distance value; determining the detection angle of the target test signal; and determining the depth of water accumulation on the road surface based on the difference and the detection angle value. By adopting the above-mentioned method, device and storage medium for detecting the depth of water accumulation, the mobile vehicle can measure the depth of water accumulation in a distant water accumulation area without wading, solving the problems of short detection distance, low detection accuracy and complex calculation process.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving technology, and in particular to a method, device and storage medium for detecting water depth. Background Art

[0002] With the development of artificial intelligence and computer technology, smart cars have been used more and more widely in people's daily lives. At present, advanced driver assistance systems play a very important role in smart cars. They can use various sensors installed on the vehicle to sense the surrounding environment in real time during the driving process of the vehicle, identify and track static or moving objects, so as to let the driver know the possible dangers in advance, effectively improving the safety and comfort of vehicle driving. Road waterlogging is one of the important factors affecting driving safety. When a vehicle is driving on a low-lying road, it is very likely to cause a safety accident due to low-lying road waterlogging. Therefore, how to determine the depth of waterlogging is particularly important for smart cars.

[0003] In the prior art, image information of the flooded road on the side of the vehicle is usually obtained through a camera, and then the image information is analyzed and processed to obtain the spatial position of the edge of the water accumulation, and then the road slope angle and the water surface position corresponding to the maximum water depth of the road position corresponding to the maximum water depth of the water accumulation area are obtained through a certain strategy. Finally, the maximum water depth of the water accumulation area is determined according to the spatial position of the water accumulation edge, the road slope angle, and the water surface position corresponding to the maximum water depth of the road position corresponding to the maximum water depth.

[0004] However, in the above method for detecting the depth of water accumulation, on the one hand, since only the pictures on the side of the vehicle can be analyzed, the detection distance is short, which will lead to the problem of short warning time. On the other hand, the detection accuracy will be affected by the camera calibration accuracy and the road slope curve, and the depth of water accumulation cannot be accurately measured. At the same time, the calculation process of the depth of water accumulation is also relatively complicated. Summary of the invention

[0005] In view of this, the present application provides a method, device, electronic device and storage medium for detecting water depth, the purpose of which is to utilize the characteristics of test signals of different frequencies to perform real-time detection of the water depth of a flooded road surface at a long distance, thereby solving the problems of short detection distance, low detection accuracy and complex calculation process.

[0006] In a first aspect, an embodiment of the present application provides a method for detecting the depth of accumulated water, which is applied to a mobile vehicle, wherein a ranging sensor is provided on the mobile vehicle, and the ranging sensor transmits a test signal of a first frequency and a test signal of a second frequency, so as to map the test signal of the first frequency and the test signal of the second frequency on a road surface in front of the mobile vehicle during the driving process of the mobile vehicle;

[0007] Among them, the water depth detection method includes:

[0008] Controlling the ranging sensor to transmit a plurality of test signals at a first frequency, and determining a first distance value obtained by mapping a target test signal among the plurality of test signals on a road surface in front of the moving vehicle, wherein the first distance value refers to a distance value from the ranging sensor to a first measuring point on the road surface, and the first measuring point is a measuring point obtained by mapping the target test signal transmitted at the first frequency on the road surface;

[0009] Controlling the ranging sensor to transmit a plurality of test signals at a second frequency, and determining a second distance value obtained by mapping the target test signal on a road surface in front of the moving vehicle, wherein the second distance value refers to a distance value from the ranging sensor to a second measuring point on the road surface, and the second measuring point is a measuring point obtained by mapping the target test signal transmitted at the second frequency on the road surface;

[0010] determining a difference between the first distance value and the second distance value;

[0011] Determine the detection angle of the target test signal;

[0012] Based on the difference and the detection angle value, the water depth value of the road surface is determined.

[0013] Optionally, the first frequency is less than the second frequency, wherein the water depth detection method may further include: controlling the ranging sensor to transmit a plurality of test signals alternately at the first frequency and the second frequency.

[0014] Optionally, the target test signal can be determined in the following manner: determine whether the road surface on which the mobile vehicle is currently traveling is a sloped road surface; if it is determined that the road surface on which the mobile vehicle is currently traveling is not a sloped road surface, then determine the test signal in the direction perpendicular to the installation plane of the ranging sensor among multiple test signals as the target test signal; if it is determined that the road surface on which the mobile vehicle is currently traveling is a sloped road surface, then determine the test signal in the direction parallel to the sloped road surface among multiple test signals as the target test signal.

[0015] Optionally, a gyroscope may also be provided on the mobile vehicle, wherein the road surface on which the mobile vehicle is currently traveling is a road surface without a slope, the detection angle is the installation angle of the ranging sensor, the installation angle is the angle between the installation plane of the ranging sensor and the front surface of the mobile vehicle, and the road surface on which the mobile vehicle is currently traveling is a road surface with a slope, and the detection angle is the pitch angle value detected by the gyroscope.

[0016] Optionally, the first distance value may be determined in the following manner: determining a first propagation velocity value of a target test signal transmitted at a first frequency in the air; determining a first propagation time of a target test signal transmitted at the first frequency from a ranging sensor to a first measuring point on a road surface; determining the first distance value based on the determined first propagation velocity value and the first propagation time; and / or, the second distance value may be determined in the following manner: determining a second propagation velocity value of a target test signal transmitted at a second frequency in a liquid substance; determining a second propagation time of a target test signal transmitted at the second frequency from the ranging sensor to a second measuring point on the road surface; determining a time difference between the first propagation time and the second propagation time; and determining the second distance value based on the time difference and the second propagation velocity value.

[0017] Optionally, based on the difference and the detection angle, the step of determining the water depth on the road surface may include: calculating the sine value of the detection angle; and multiplying the difference and the sine value to determine the water depth value on the road surface.

[0018] Optionally, the step of determining the detection angle of the target test signal may include: determining the water accumulation condition of the road surface in front of the mobile vehicle based on the difference; if the water accumulation condition of the road surface in front of the mobile vehicle meets the water accumulation detection condition, determining the detection angle of the target test signal.

[0019] Optionally, the water accumulation depth detection method may further include: determining whether the water accumulation depth value meets the warning triggering condition; if the water accumulation depth value meets the warning triggering condition, issuing a warning prompt message.

[0020] In a second aspect, an embodiment of the present application provides a water depth detection device, which is applied to a mobile vehicle. A ranging sensor is provided on the mobile vehicle, and the ranging sensor transmits a test signal of a first frequency and a test signal of a second frequency, so as to map the test signal of the first frequency and the test signal of the second frequency on a road surface in front of the mobile vehicle when the mobile vehicle is traveling;

[0021] The water depth detection device includes:

[0022] a first transmission control module, used to control the ranging sensor to transmit a plurality of test signals at a first frequency, and determine a first distance value obtained by mapping a target test signal among the plurality of test signals on a road surface in front of the moving vehicle, wherein the first distance value refers to a distance value from the ranging sensor to a first measuring point on the road surface, and the first measuring point is a measuring point obtained by mapping the target test signal transmitted at the first frequency on the road surface;

[0023] a second transmission control module, used to control the ranging sensor to transmit a plurality of test signals at a second frequency, and determine a second distance value obtained by mapping the target test signal on the road surface in front of the moving vehicle, the second distance value refers to a distance value from the ranging sensor to a second measuring point on the road surface, the second measuring point being a measuring point obtained by mapping the target test signal transmitted at the second frequency on the road surface;

[0024] A detection distance determination module, used to determine a difference between a first distance value and a second distance value;

[0025] A detection angle determination module, used to determine the detection angle of the target test signal;

[0026] The water depth determination module is used to determine the water depth value of the road surface based on the difference value and the detection angle value.

[0027] In a third aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned water depth detection method are executed.

[0028] The embodiments of the present application bring the following beneficial effects:

[0029] The embodiment of the present application provides a method, device and storage medium for detecting the depth of water accumulation, including: controlling a distance measuring sensor to transmit multiple test signals at a first frequency, and determining a first distance value obtained by mapping a target test signal in the multiple test signals on the road surface in front of a mobile vehicle, the first distance value refers to the distance value from the distance measuring sensor to a first measuring point on the road surface, the first measuring point is the measuring point obtained by mapping the target test signal emitted at the first frequency on the road surface; controlling the distance measuring sensor to transmit multiple test signals at a second frequency, and determining a second distance value obtained by mapping the target test signal on the road surface in front of the mobile vehicle, the second distance value refers to the distance value from the distance measuring sensor to a second measuring point on the road surface, the second measuring point is the measuring point obtained by mapping the target test signal emitted at the second frequency on the road surface; determining the difference between the first distance value and the second distance value; determining the detection angle of the target test signal; and determining the water accumulation depth value of the road surface based on the difference and the detection angle value. The present application utilizes the characteristics of test signals of different frequencies to perform real-time detection of the depth of water accumulation on a long-distance water-accumulated road surface, solving the problems of short detection distance, low detection accuracy and complex calculation process.

[0030] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the following drawings are some implementation methods of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 A schematic diagram of a flow chart of a method for detecting water depth provided in an embodiment of the present application;

[0033] Figure 2 A schematic diagram of the emission direction of a target test signal on a non-slope road surface provided in an embodiment of the present application;

[0034] Figure 3 A schematic diagram of the emission direction of a target test signal on a sloped road provided in an embodiment of the present application;

[0035] Figure 4 A schematic diagram of the structure of a water depth detection device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution of the present application will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present application.

[0037] In the prior art, the image information of the flooded road is usually obtained through a camera, and then the image information is analyzed and processed to obtain the spatial position of the edge of the flood, and then the road slope angle and the water surface position corresponding to the maximum water depth of the road position corresponding to the maximum water depth of the flooded area are obtained through a certain strategy. Finally, the maximum water depth of the flooded area is determined according to the spatial position of the edge of the water, the road slope angle, and the water surface position corresponding to the maximum water depth of the road position corresponding to the maximum water depth. However, in the above method for detecting the depth of flooding, on the one hand, since only the image of the side of the vehicle can be analyzed, the detection distance is short, which will lead to the problem of short warning time. On the other hand, the detection accuracy will be affected by the camera calibration accuracy and the road slope curve, and the depth of flooding cannot be accurately measured. At the same time, the calculation process of the depth of flooding is also relatively complicated.

[0038] Based on this, the embodiments of the present application provide a method, device, electronic device and storage medium for detecting water depth, which utilizes the characteristics of test signals of different frequencies to perform real-time detection of the water depth of a flooded road surface at a long distance, thereby solving the problems of short detection distance, low detection accuracy and complex calculation process.

[0039] To facilitate understanding of this embodiment, a method for detecting water depth disclosed in an embodiment of the present application is first introduced in detail. Figure 1 A schematic diagram of a flow chart of a method for detecting water depth provided in an embodiment of the present application, such as Figure 1 As shown, the method comprises the following steps:

[0040] Step S101, controlling the ranging sensor to transmit a plurality of test signals at a first frequency, and determining a first distance value obtained by mapping a target test signal among the plurality of test signals on a road surface in front of the moving vehicle, wherein the first distance value refers to a distance value from the ranging sensor to a first measuring point on the road surface, and the first measuring point is a measuring point obtained by mapping the target test signal transmitted at the first frequency on the road surface;

[0041] Step S102, controlling the ranging sensor to transmit a plurality of test signals at a second frequency, and determining a second distance value obtained by mapping the target test signal on the road surface in front of the moving vehicle, wherein the second distance value refers to a distance value from the ranging sensor to a second measuring point on the road surface, and the second measuring point is a measuring point obtained by mapping the target test signal transmitted at the second frequency on the road surface;

[0042] Step S103, determining the difference between the first distance value and the second distance value;

[0043] Step S104, determining the detection angle of the target test signal;

[0044] Step S105, determining the water depth value of the road surface based on the difference value and the detection angle value.

[0045] The method for detecting the depth of accumulated water in the embodiment of the present application is applied to a mobile vehicle. A ranging sensor is provided on the mobile vehicle. The ranging sensor transmits a test signal of a first frequency and a test signal of a second frequency, so as to map the test signal of the first frequency and the test signal of the second frequency on the road surface in front of the mobile vehicle during the driving of the mobile vehicle, wherein:

[0046] A mobile vehicle refers to a movable vehicle that can be equipped with a ranging sensor. For example, the mobile vehicle includes but is not limited to: a smart car and a motorcycle.

[0047] A ranging sensor refers to a sensor that can transmit and receive a test signal of a first frequency and a test signal of a second frequency. Exemplarily, the ranging sensor includes but is not limited to: a radar. The ranging sensor can be installed in front of or on the side of a mobile vehicle. For example, if the mobile vehicle is a vehicle, the ranging sensor can be set at the front of the vehicle so that the ranging sensor can transmit a test signal to the road ahead.

[0048] In step S101 and step S102, the first frequency test signal and the second frequency test signal are both test signals that can be transmitted and received by the ranging sensor. Exemplarily, the first frequency test signal and the second frequency test signal are both electromagnetic waves, and the first frequency test signal and the second frequency test signal are test signals of different frequencies.

[0049] In a specific implementation, after the mobile carrier is started, the ranging sensor can be controlled to continuously transmit multiple test signals of the first frequency and multiple test signals of the second frequency. These test signals will be reflected after encountering a substance, and the reflected test signals will be received by the ranging sensor. In this way, the propagation time and propagation speed of the test signals can be used to determine the distance from the ranging sensor to the first measuring point and the distance from the ranging sensor to the second measuring point. Here, the timing of transmitting the test signal of the first frequency and the test signal of the second frequency by the ranging sensor can also be controlled by the control device on the mobile carrier. The control device can be a button or a touch screen electrically connected to the ranging sensor.

[0050] In an optional embodiment, the first frequency is less than the second frequency, wherein the water depth detection method further comprises: controlling the ranging sensor to transmit a plurality of test signals alternately at the first frequency and the second frequency.

[0051] Here, the first frequency may be 77 GHZ (gigahertz), and the second frequency may be a frequency between 120 GHZ and 160 GHZ, for example, 132 GHZ. The test signal transmitted at the first frequency will be reflected when encountering liquid substances, and the test signal transmitted at the second frequency can penetrate liquid substances and will be reflected when encountering solid substances. The liquid substances may refer to the accumulated water on the flooded road surface, and the solid substances may refer to the substances corresponding to the driving road surface, for example, stone or asphalt.

[0052] In the specific implementation, a test signal is first transmitted at a first frequency. The test signal of the first frequency is reflected when encountering accumulated water and is received by the ranging sensor. In this way, the distance between the ranging sensor and the first measuring point on the water surface can be measured. Then, a test signal is transmitted at a second frequency. The test signal of the second frequency will penetrate the accumulated water, be reflected when encountering the ground, and be received by the ranging sensor. In this way, the distance between the ranging sensor and the second measuring point on the ground can be measured. Here, the ranging sensor will continuously and alternately transmit the test signal of the first frequency and the test signal of the second frequency to realize the real-time and uninterrupted detection of the depth of accumulated water on the road ahead by the mobile vehicle.

[0053] In an optional embodiment, the target test signal can be determined in the following manner: determine whether the road surface on which the mobile vehicle is currently traveling is a sloped road surface; if it is determined that the road surface on which the mobile vehicle is currently traveling is not a sloped road surface, then determine the test signal in a direction perpendicular to the installation plane of the ranging sensor among multiple test signals as the target test signal; if it is determined that the road surface on which the mobile vehicle is currently traveling is a sloped road surface, then determine the test signal in a direction parallel to the sloped road surface among multiple test signals as the target test signal.

[0054] Here, a road surface without a slope means that the road surface on which the mobile vehicle travels is a horizontal road surface, and a road surface with a slope means that the road surface on which the mobile vehicle travels has a slope.

[0055] Figure 2 A schematic diagram of the transmission direction of a target test signal on a non-slope road provided in an embodiment of the present application, such as Figure 2 As shown, 1 represents the mobile vehicle, 2 represents the installation plane of the ranging sensor, 3 represents the emission direction of the target test signal, 4 represents the water surface, 5 represents the water surface road surface, point A represents the installation position of the ranging sensor, point B is an auxiliary point, which is used to represent the intersection of the vertical direction of the mobile vehicle to the ground and the horizontal direction of the water surface, point C represents the second measuring point, point D represents the first measuring point, E is an auxiliary point, which is the foot of the vertical line drawn from point D to the water surface 5, ɑ represents the detection angle, β represents the installation angle of the ranging sensor, L1 represents the first distance value, and L2 represents the second distance value. If the road surface on which the mobile vehicle is currently traveling is a road surface without a slope, then when the ranging sensor simultaneously sends out multiple test signals of the first frequency, the test signal in the direction perpendicular to the installation plane of the ranging sensor is selected from the multiple test signals of the first frequency as the target test signal emitted at the first frequency.

[0056] Figure 3 A schematic diagram of the transmission direction of a target test signal on a non-slope road provided in an embodiment of the present application, such as Figure 3 As shown in the figure, the contents represented by each number are the same as those Figure 2 F is the auxiliary point, which is the intersection of the extension line of the front surface of the mobile vehicle and the horizontal plane of the water-logged ground, and γ represents the pitch angle of the gyroscope. If the road surface on which the mobile vehicle is currently traveling is a sloped road surface, then when the ranging sensor simultaneously sends out multiple test signals of the second frequency, a test signal in a direction parallel to the road surface on which the mobile vehicle is currently traveling is selected from the multiple test signals of the second frequency as the target test signal transmitted at the second frequency.

[0057] It should be noted that when the current driving surface of the mobile vehicle is a non-slope road surface, test signals in directions other than the direction perpendicular to the installation plane of the ranging sensor may be selected from multiple test signals of the first frequency as target test signals transmitted at the first frequency. At this time, the azimuth of the selected target test signal may be determined with the help of the ranging sensor, and the emission direction of the target test signal transmitted at the first frequency may be determined by the azimuth. Similarly, when the current driving surface of the mobile vehicle is a sloped road surface, test signals in directions other than the direction perpendicular to the installation plane of the ranging sensor may be selected from multiple test signals of the second frequency as target test signals transmitted at the second frequency. Similarly, the azimuth of the target test signal may be determined with the help of the ranging sensor, and the emission direction of the target test signal transmitted at the second frequency may be determined by the azimuth. It can be understood that the method of selecting the test signal in the direction perpendicular to the installation plane of the ranging sensor as the target test signal emitted at the first frequency, and the method of selecting the test signal in the direction parallel to the road surface on which the mobile vehicle is currently traveling as the target test signal emitted at the second frequency, can make it easier to determine the angular relationship between the detection angle and the installation angle of the ranging sensor, and the angular relationship between the detection angle and the pitch angle of the gyroscope, thereby simplifying the calculation process of the water depth.

[0058] In step S103 and step S104, the difference value may be the absolute value of the difference between the first distance value and the second distance value, and the detection angle refers to the angle between the target test signal and the horizontal ground, that is, Figure 2 as well as Figure 3 The ɑ angle in the middle.

[0059] In one example, a gyroscope is also provided on the mobile vehicle, wherein the road surface on which the mobile vehicle is currently traveling is a road surface without a slope, the detection angle is the installation angle of the ranging sensor, the installation angle is the angle between the installation plane of the ranging sensor and the front surface of the mobile vehicle, the road surface on which the mobile vehicle is currently traveling is a road surface with a slope, and the detection angle is the pitch angle value detected by the gyroscope.

[0060] Here, the gyroscope refers to an angular motion detection device, which can detect the angular changes of the moving vehicle in various directions. Exemplary gyroscopes include but are not limited to: piezoelectric gyroscopes, micromechanical gyroscopes, fiber optic gyroscopes and laser gyroscopes, such as Figure 2 as well as Figure 3 As shown, the installation angle is the angle β between the installation plane 2 of the ranging sensor and the front surface of the mobile vehicle. The front surface of the mobile vehicle refers to the surface in front of the mobile vehicle that is perpendicular to the horizontal ground. For example, if the mobile vehicle is a smart car, the front surface may refer to the surface at the smart car bumper that is perpendicular to the horizontal ground, that is, the surface at the smart car bumper that is perpendicular to the smart car chassis.

[0061] In a specific implementation, if the road surface on which the mobile vehicle is currently traveling is a non-slope road surface, since the transmission direction of the target test signal transmitted at the first frequency is perpendicular to the installation plane of the ranging sensor, Figure 2 In the equation, ∠BAC=90°-β. Since ABC is a right triangle, ɑ=β, that is, the detection angle is the installation angle of the ranging sensor. It should be noted that if the emission direction of the first emitted target test signal is not perpendicular to the installation plane of the ranging sensor, the azimuth angle δ of the emission direction of the first emitted target test signal can be determined by the ranging sensor. δ is the angle between the emission direction of the target test signal and the direction perpendicular to the installation plane of the ranging sensor. If the angle between the emission direction of the first emitted target test signal and the installation plane of the ranging sensor is less than 90°, ɑ=β-δ. If the angle between the emission direction of the first emitted target test signal and the installation plane of the ranging sensor is greater than 90°, ɑ=β+δ.

[0062] If the road surface on which the mobile vehicle is currently traveling is a sloped road surface, since the direction of the target test signal emitted at the second frequency is parallel to the road surface on which the mobile vehicle is currently traveling, the direction of the target test signal emitted at the second frequency is perpendicular to the vertical direction of the chassis of the mobile vehicle. Figure 3 In the equation, ∠BAC=90°-γ, and since ∠BCA=90°-∠BAC, we can get ɑ=γ. It should be noted that if the emission direction of the second target test signal is not parallel to the current road surface on which the mobile vehicle is traveling, the azimuth angle δ of the emission direction of the second target test signal can be determined by the ranging sensor. If the angle between the emission direction of the second target test signal and the installation plane of the ranging sensor is less than 90°, then ɑ=β+γ-δ. If the angle between the emission direction of the second target test signal and the installation plane of the ranging sensor is greater than 90°, then ɑ=β+γ+δ.

[0063] It can be seen that regardless of whether the road surface on which the mobile vehicle is currently traveling is a sloped road surface, the transmission direction of the target test signal transmitted at the first frequency and the transmission direction of the target test signal transmitted at the second frequency selected in this application can be used to determine the water depth value of the flooded road surface through simple calculation and using less detection equipment.

[0064] In another example, a first distance value is determined by: determining a first propagation velocity value of a target test signal transmitted at a first frequency in the air; determining a first propagation time of a target test signal transmitted at the first frequency from a ranging sensor to a first measuring point on a road surface; determining the first distance value based on the determined first propagation velocity value and the first propagation time; and / or, determining a second distance value by: determining a second propagation velocity value of a target test signal transmitted at a second frequency in a liquid substance; determining a second propagation time of a target test signal transmitted at the second frequency from the ranging sensor to a second measuring point on the road surface; determining a time difference between the first propagation time and the second propagation time; and determining a second distance value based on the time difference and the second propagation velocity value.

[0065] Here, the first distance value is Figure 2 as well as Figure 3 The second distance value is L1 in Figure 2 as well as Figure 3 In L2, the first propagation speed value refers to the propagation speed of the target test signal emitted at the first frequency in the air, and the second propagation speed value refers to the propagation speed of the target test signal emitted at the second frequency in water. For example, the first propagation speed can be the speed of light, that is, 300,000 kilometers per second, and the second propagation speed can be three quarters of the speed of light, that is, 225,000 kilometers per second.

[0066] In a specific implementation, after the ranging sensor transmits the target test signal at the first frequency, it can determine the time from the transmission to the reception of the target test signal transmitted at the first frequency, and the first propagation time can be determined by dividing the time by 2. Similarly, after the ranging sensor transmits the target test signal at the second frequency, it can determine the time from the transmission to the reception of the target test signal transmitted at the second frequency, and the second propagation time can be determined by dividing the time by 2. Here, the first distance value can be obtained by dividing the product of the first propagation speed value and the first propagation time by 2, the time difference can be obtained by dividing the difference between the second propagation time and the first propagation time, and the second distance value can be obtained by dividing the product of the time difference and the second propagation speed by 2. It can be understood that since the target test signal transmitted at the first frequency and the target test signal transmitted at the second frequency are both electromagnetic waves, they have the characteristics of rapid propagation and long-distance propagation. Therefore, the depth of water accumulation at a long distance on the road where the mobile vehicle is traveling can be measured in real time, so that the warning time for the depth of water accumulation is greatly advanced, and the probability of a safety accident caused by the mobile vehicle not having time to brake due to a short warning time is reduced.

[0067] In an optional example, based on the difference and the detection angle, the step of determining the water depth on the road surface includes: calculating the sine value of the detection angle; and multiplying the difference and the sine value to determine the water depth value on the road surface.

[0068] Here, in Figure 2 and Figure 3 In the figure, DC represents the difference between the first distance value and the second distance value. From the right-angle triangle relationship of the DEC triangle, we can get DE=DC×sinɑ. Since DC and the angle ɑ are both known, DE can be calculated. DE is the water depth value.

[0069] In another optional example, the step of determining the detection angle of the target test signal includes: determining the water accumulation condition on the road ahead of the mobile vehicle based on the difference; if the water accumulation condition on the road ahead of the mobile vehicle meets the water accumulation detection condition, determining the detection angle of the target test signal.

[0070] Here, after starting the ranging sensor, the ranging sensor will continue to send out multiple test signals. Only when the water accumulation on the road ahead meets the water accumulation detection condition will the detection angle of the target test signal be calculated to avoid meaningless calculation process. Here, the water accumulation detection condition can be that the difference between the first distance value and the second distance value exceeds the set threshold. That is to say, when the distance that the target test signal propagates in the water is lower than the set threshold, it can be considered that the depth of the water accumulation is shallow, so there is no need to detect the water accumulation depth value, and there is no need to calculate the detection angle.

[0071] In an optional embodiment, the water accumulation depth detection method further includes: determining whether the water accumulation depth value satisfies a warning trigger condition; if the water accumulation depth value satisfies the warning trigger condition, issuing a warning prompt message.

[0072] Here, the warning triggering condition refers to the condition for triggering the warning. When the warning triggering condition is reached, it indicates that the depth of water on the road where the mobile vehicle is currently traveling is deep, and a warning prompt message needs to be issued.

[0073] In specific implementation, the vertical distance from the air inlet of the mobile vehicle to the ground can be used as a set threshold. If the water depth value is less than the set threshold, it means that the non-warning trigger condition is met, and the mobile vehicle can pass safely without triggering the warning prompt information. If the water depth value is not less than the set threshold, it means that the warning trigger condition is met, and the mobile vehicle cannot pass safely, and the warning prompt information needs to be triggered. It can be seen that the warning will only be triggered when the depth of the water poses a threat to the safe driving of the mobile vehicle, so as to ensure safety while minimizing interference with the driver's driving behavior.

[0074] Based on the same inventive concept, a water accumulation depth detection device corresponding to the water accumulation depth detection method is also provided in the embodiment of the present application. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned water accumulation depth detection method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0075] Figure 4A schematic diagram of the structure of the water depth detection device provided in the embodiment of the present application is shown in FIG. Figure 4 As shown, the device includes the following modules:

[0076] The first transmission control module 201 is used to control the ranging sensor to transmit a plurality of test signals at a first frequency, and determine a first distance value obtained by mapping a target test signal among the plurality of test signals on a road surface in front of the mobile vehicle, wherein the first distance value refers to a distance value from the ranging sensor to a first measuring point on the road surface, and the first measuring point is a measuring point obtained by mapping the target test signal transmitted at the first frequency on the road surface;

[0077] The second transmission control module 202 is used to control the ranging sensor to transmit a plurality of test signals at a second frequency, and determine a second distance value obtained by mapping the target test signal on the road surface in front of the moving vehicle, where the second distance value refers to a distance value from the ranging sensor to a second measuring point on the road surface, where the second measuring point is a measuring point obtained by mapping the target test signal transmitted at the second frequency on the road surface;

[0078] The detection distance determination module 203 is used to determine the difference between the first distance value and the second distance value;

[0079] A detection angle determination module 204, used to determine the detection angle of the target test signal;

[0080] The water depth determination module 205 is used to determine the water depth value of the road surface based on the difference value and the detection angle value.

[0081] Corresponds to Figure 1 In the method for detecting the depth of accumulated water, an embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method for detecting the depth of accumulated water are executed.

[0082] Specifically, the storage medium can be a general storage medium, such as a mobile disk, a hard disk, etc. When the computer program on the storage medium is run, the above-mentioned water depth detection method can be executed. By utilizing the characteristics of test signals of different frequencies, the water depth of a flooded road surface at a long distance can be detected in real time, thereby solving the problems of short detection distance, low detection accuracy and complex calculation process.

[0083] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the above method embodiments and will not be repeated here.

[0084] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0085] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0086] In addition, each functional unit in the embodiments provided in the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0087] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for enabling an electronic device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0088] It should be noted that similar numbers and letters represent similar items in the following figures. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and are not to be understood as indicating or implying relative importance.

[0089] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A method for detecting the depth of accumulated water, It is characterized in that The invention is applied to a mobile vehicle, wherein a distance measuring sensor is arranged on the mobile vehicle, and the distance measuring sensor transmits a test signal of a first frequency and a test signal of a second frequency, so as to map the test signal of the first frequency and the test signal of the second frequency on the road surface in front of the mobile vehicle when the mobile vehicle is traveling. Wherein, the water depth detection method comprises: Controlling the ranging sensor to transmit a plurality of test signals at a first frequency, and determining a first distance value obtained by mapping a target test signal among the plurality of test signals on a road surface in front of the moving vehicle, wherein the first distance value refers to a distance value from the ranging sensor to a first measuring point on the road surface, and the first measuring point is a measuring point obtained by mapping the target test signal transmitted at the first frequency on the road surface; Controlling the ranging sensor to transmit a plurality of test signals at a second frequency, and determining a second distance value obtained by mapping the target test signal on a road surface in front of the moving vehicle, wherein the second distance value refers to a distance value from the ranging sensor to a second measuring point on the road surface, wherein the second measuring point is a measuring point obtained by mapping the target test signal transmitted at the second frequency on the road surface, and the first measuring point, the second measuring point and the ranging sensor are located on the same straight line; determining a difference between the first distance value and the second distance value; determining a detection angle of the target test signal; Determine the water depth value of the road surface based on the difference and the detection angle value; The first frequency is less than the second frequency, wherein the water depth detection method further includes: Controlling the distance measuring sensor to transmit a plurality of test signals alternately at a first frequency and a second frequency; The target test signal is determined by: Determine whether the road the mobile vehicle is currently traveling on is a sloped road; If it is determined that the road surface on which the mobile vehicle is currently traveling is a road surface without a slope, a test signal in a direction perpendicular to the installation plane of the ranging sensor among the multiple test signals is determined as a target test signal; If it is determined that the road surface on which the mobile vehicle is currently traveling is a sloped road surface, a test signal in a direction parallel to the sloped road surface among the multiple test signals is determined as a target test signal; The step of determining the detection angle of the target test signal comprises: Determine the water accumulation condition of the road surface ahead of the moving vehicle based on the difference; If the water accumulation condition on the road ahead of the mobile vehicle meets the water accumulation detection condition, the detection angle of the target test signal is determined.

2. The method for detecting the depth of accumulated water according to claim 1, It is characterized in that The mobile vehicle is also provided with a gyroscope. The road surface on which the mobile vehicle is currently traveling is a road surface without a slope, the detection angle is the installation angle of the ranging sensor, and the installation angle is the angle value between the installation plane of the ranging sensor and the front surface of the mobile vehicle. The road surface on which the mobile vehicle is currently traveling is a sloped road surface, and the detection angle is the pitch angle value detected by the gyroscope.

3. The method for detecting the depth of accumulated water according to claim 1, It is characterized in that The first distance value is determined by: determining a first propagation velocity value in air of a target test signal transmitted at a first frequency; determining a first propagation time of a target test signal transmitted at a first frequency from the range sensor to a first measurement point on the road surface; Determining a first distance value according to the determined first propagation speed value and the first propagation time; And / or, determining the second distance value by: determining a second propagation velocity value of a target test signal transmitted at a second frequency in a liquid substance; determining a second propagation time of a target test signal transmitted at a second frequency from the ranging sensor to a second measuring point on the road surface; determining a time difference between the first propagation time and the second propagation time; The second distance value is determined based on the time difference value and the second propagation speed value.

4. The method for detecting the depth of accumulated water according to claim 1, It is characterized in that The step of determining the water depth of the road surface based on the difference and the detection angle includes: Calculating the sine value of the detection angle; The product of the difference and the sine value is determined as the water depth value of the road surface.

5. The method for detecting the depth of accumulated water according to claim 1, It is characterized in that The water depth detection method further comprises: Determine whether the water depth value meets the warning triggering condition; If the water depth value meets the warning triggering condition, a warning prompt message is issued.

6. A device for detecting the depth of accumulated water, It is characterized in that The invention is applied to a mobile vehicle, wherein a distance measuring sensor is arranged on the mobile vehicle, and the distance measuring sensor transmits a test signal of a first frequency and a test signal of a second frequency, so as to map the test signal of the first frequency and the test signal of the second frequency on the road surface in front of the mobile vehicle when the mobile vehicle is traveling. Wherein, the water depth detection device comprises: a first transmission control module, used to control the distance measuring sensor to transmit a plurality of test signals at a first frequency, and determine a first distance value obtained by mapping a target test signal among the plurality of test signals on a road surface in front of the moving vehicle, wherein the first distance value refers to a distance value from the distance measuring sensor to a first measuring point on the road surface, and the first measuring point is a measuring point obtained by mapping the target test signal transmitted at the first frequency on the road surface; a second transmission control module, used to control the ranging sensor to transmit a plurality of test signals at a second frequency, and determine a second distance value obtained by mapping the target test signal on a road surface in front of the moving vehicle, wherein the second distance value refers to a distance value from the ranging sensor to a second measuring point on the road surface, wherein the second measuring point is a measuring point obtained by mapping the target test signal transmitted at the second frequency on the road surface, and the first measuring point, the second measuring point and the ranging sensor are located on the same straight line; a detection distance determination module, configured to determine a difference between the first distance value and the second distance value; A detection angle determination module, used to determine the detection angle of the target test signal; A water depth determination module, used to determine the water depth value of the road surface based on the difference value and the detection angle value; The first frequency is less than the second frequency, and the distance measuring sensor transmits a plurality of test signals alternately at the first frequency and the second frequency; The first emission control module is specifically used for: Determine whether the road the mobile vehicle is currently traveling on is a sloped road; If it is determined that the road surface on which the mobile vehicle is currently traveling is a road surface without a slope, a test signal in a direction perpendicular to the installation plane of the ranging sensor among the multiple test signals is determined as a target test signal; If it is determined that the road surface on which the mobile vehicle is currently traveling is a sloped road surface, a test signal in a direction parallel to the sloped road surface among the multiple test signals is determined as a target test signal; The detection angle determination module is specifically used for: Determine the water accumulation condition of the road surface ahead of the moving vehicle based on the difference; If the water accumulation condition on the road ahead of the mobile vehicle meets the water accumulation detection condition, the detection angle of the target test signal is determined.

7. A computer-readable storage medium, It is characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for detecting the depth of water accumulation as described in any one of claims 1 to 5 are executed.

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