A vehicle wading detection method, electronic device and storage medium

Abstract

The application discloses a kind of automobile water detection methods, comprising the following steps: by millimeter wave radar monitoring current road condition, the echo information received by the millimeter wave radar is compared with threshold information, if exceed threshold range, then switch to water depth monitoring state;When in the water depth monitoring state, the millimeter wave radar emits ranging electromagnetic wave to water surface and ground, and the height between the millimeter wave radar and water surface and the height between the millimeter wave radar and ground are detected by millimeter wave radar;According to the height between the millimeter wave radar and water surface and the height between the millimeter wave radar and ground, calculate water level depth, when the water level depth exceeds safety threshold, trigger early warning alarm.The application can utilize existing millimeter wave radar on vehicle to monitor and warn water depth in advance, and the design cost is low, and the safety is high.

Description

Technical Field

[0001] This application relates to the field of automotive technology, and in particular to a method for detecting water immersion in automobiles, an electronic device, and a storage medium. Background Technology

[0002] With urban development, urban flooding is becoming increasingly frequent, leading to a rise in safety accidents caused by vehicles wading through water. Typically, when a vehicle is driving through water, the surface is murky, visibility is poor, and drivers cannot clearly observe underwater conditions, making it difficult to avoid dangers in advance. If a vehicle is driven through too deep water, it can easily cause engine stalling, doors to become impossible to open, and battery failure, threatening the safety of passengers and the vehicle itself.

[0003] Current methods for detecting vehicle wading require the installation of dedicated water level sensors, which increases vehicle costs and system complexity. Furthermore, the measurement range and accuracy are limited, and it is impossible to provide early warnings before a vehicle wades through water.

[0004] Therefore, there is a need to design a vehicle wading depth detection method that is low in design cost and can provide early warnings. Summary of the Invention

[0005] The purpose of this application is to overcome the shortcomings of the prior art and provide a vehicle wading depth detection method that can use existing millimeter-wave radar on vehicles to monitor and warn of wading depth in advance, with low design cost and high safety.

[0006] The technical solution of this application provides a method for detecting water immersion in a vehicle, including the following steps:

[0007] The current road surface condition is monitored by millimeter-wave radar. The echo information received by the millimeter-wave radar is compared with the threshold information. If it exceeds the threshold range, the system switches to water depth monitoring mode.

[0008] When in the water depth monitoring state, the millimeter-wave radar emits ranging electromagnetic waves to the water surface and the ground, and detects the height between the millimeter-wave radar and the water surface and the height between the millimeter-wave radar and the ground.

[0009] The water level depth is calculated based on the height between the millimeter-wave radar and the water surface and the height between the millimeter-wave radar and the ground. When the water level depth exceeds a safety threshold, an early warning alarm is triggered.

[0010] Preferably, the millimeter-wave radar includes a first millimeter-wave radar connected to the vehicle via a rotating mechanism;

[0011] When in the water depth monitoring state, the millimeter-wave radar emits ranging electromagnetic waves towards the water surface and the ground, and detects the height between the millimeter-wave radar and the water surface, as well as the height between the millimeter-wave radar and the ground. Specifically, this includes:

[0012] When in the water depth monitoring state, the rotating mechanism drives the first millimeter-wave radar to rotate until the normal of the first millimeter-wave radar is perpendicular to the vehicle's driving direction.

[0013] The first millimeter-wave radar transmits ranging electromagnetic waves toward the ground. The ranging electromagnetic waves are reflected by the water surface to obtain a first reflected signal. The first millimeter-wave radar calculates the first height H1 between the first millimeter-wave radar and the water surface based on the first reflected signal.

[0014] The ranging electromagnetic wave is reflected by the ground to obtain a second reflected signal, and the first millimeter-wave radar calculates the second height H2 between the first millimeter-wave radar and the ground based on the second reflected signal.

[0015] The water level depth is calculated based on the height between the millimeter-wave radar and the water surface and the height between the radar and the ground. When the water level depth exceeds a safety threshold, an early warning alarm is triggered, specifically including:

[0016] Based on the first height and the second height, calculate the water level depth H_water depth = H2 - H1;

[0017] Determine whether the water level depth exceeds the safety threshold; if it does, trigger an early warning alarm.

[0018] Preferably, the millimeter-wave radar includes a second millimeter-wave radar disposed at the front end of the vehicle, wherein the normal of the second millimeter-wave radar is parallel to the vehicle's direction of travel;

[0019] When in the water depth monitoring state, the millimeter-wave radar emits ranging electromagnetic waves towards the water surface and the ground, and detects the height between the millimeter-wave radar and the water surface, as well as the height between the millimeter-wave radar and the ground. Specifically, this includes:

[0020] When in the water depth monitoring state, the third height H3 between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar is located is calculated by the second millimeter-wave radar, and the fourth height H4 between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar is located is calculated by the second millimeter-wave radar.

[0021] The water level depth is calculated based on the height between the millimeter-wave radar and the water surface and the height between the radar and the ground. When the water level depth exceeds a safety threshold, an early warning alarm is triggered, specifically including:

[0022] When the water surface is below the second millimeter-wave radar, the water depth H_water depth = H4 - H3 is calculated;

[0023] When the water surface is above the second millimeter-wave radar, the water depth H_water depth = H3 + H4.

[0024] Determine whether the water level depth exceeds the safety threshold; if it does, trigger an early warning alarm.

[0025] Preferably, the step of calculating the third height H3 between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar is located using the second millimeter-wave radar, and calculating the fourth height H4 between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar is located using the second millimeter-wave radar, specifically includes:

[0026] When measuring the i-th water surface target point, the angle α between the normal of the second millimeter-wave radar and the horizontal plane where the center point of the second millimeter-wave radar is located is obtained;

[0027] Obtain the distance DWi between the second millimeter-wave radar and the i-th surface target point Wi, and obtain the angle βi between the line connecting the second millimeter-wave radar and the surface target point Wi and the normal of the second millimeter-wave radar;

[0028] Obtain the distance DGi between the second millimeter-wave radar and the i-th ground target point Gi, and obtain the angle γi between the line connecting the second millimeter-wave radar and the ground target point Gi and the normal of the second millimeter-wave radar;

[0029] Where i = 1 ~ n, n ≥ 2;

[0030] When the water surface is below the second millimeter-wave radar:

[0031] Calculate the height HWi between the i-th surface target point and the horizontal plane containing the center point of the second millimeter-wave radar: HWi = DWi * sin(α - βi);

[0032] Calculate the height HGi between the i-th ground target point and the horizontal plane containing the center point of the second millimeter-wave radar: HGi = DGi * sin(α - γi);

[0033] Based on the height HWi between multiple surface target points and the horizontal plane where the center point of the second millimeter-wave radar is located, the third height H3 between the surface target points and the horizontal plane where the center point of the second millimeter-wave radar is located is calculated.

[0034] Based on the height HGi between multiple ground target points and the horizontal plane where the center point of the second millimeter-wave radar is located, the fourth height H4 between the ground target points and the horizontal plane where the center point of the second millimeter-wave radar is located is calculated.

[0035] The calculation of the third height H3 between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar is located, as measured by the second millimeter-wave radar, and the calculation of the fourth height H4 between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar is located, specifically includes:

[0036] When measuring the i-th water surface target point, the angle α between the normal of the second millimeter-wave radar and the horizontal plane where the center point of the second millimeter-wave radar is located is obtained;

[0037] Obtain the distance DWi between the second millimeter-wave radar and the i-th surface target point Wi, and obtain the angle βi between the line connecting the second millimeter-wave radar and the i-th surface target point Wi and the normal of the second millimeter-wave radar;

[0038] Obtain the distance DGi between the second millimeter-wave radar and the i-th ground target point Gi, and obtain the angle γi between the line connecting the second millimeter-wave radar and the i-th ground target point Gi and the normal of the second millimeter-wave radar;

[0039] Where i = 1 ~ n, n ≥ 2;

[0040] When the water surface is above the second millimeter-wave radar:

[0041] Calculate the height HWi between the i-th surface target point and the horizontal plane containing the center point of the second millimeter-wave radar: HWi = DWi * sin(βi - α);

[0042] Calculate the height HGi between the i-th ground target point and the horizontal plane containing the center point of the second millimeter-wave radar: HGi = DGi * sin(α - γi);

[0043] Based on the height HWi between multiple surface target points and the horizontal plane where the center point of the second millimeter-wave radar is located, the third height H3 between the surface target points and the horizontal plane where the center point of the second millimeter-wave radar is located is calculated.

[0044] Based on the height HGi between the ground target points and the horizontal plane where the center point of the second millimeter-wave radar is located, the fourth height H4 between the ground target points and the horizontal plane where the center point of the second millimeter-wave radar is located is calculated.

[0045] Preferably, the second millimeter-wave radar is connected to the front end of the vehicle via a rotating mechanism;

[0046] Under normal conditions, the major axis of the beam envelope of the second millimeter-wave radar is parallel to the ground.

[0047] When switching to the water depth monitoring state, the rotating mechanism drives the second millimeter-wave radar to rotate, so that the major axis of the beam envelope of the second millimeter-wave radar is perpendicular to the ground.

[0048] Preferably, when switching to the water depth monitoring state, the resolution of the millimeter-wave radar is increased.

[0049] Preferably, improving the resolution of the millimeter-wave radar specifically includes:

[0050] The sweep bandwidth of the millimeter-wave radar was adjusted to 3.5~5GHz.

[0051] Preferably, the step of comparing the echo information received by the millimeter-wave radar with the threshold information, and switching to the water depth monitoring state if the value exceeds the threshold range, specifically includes:

[0052] The millimeter-wave radar is controlled to emit electromagnetic waves toward the current road surface and receive the echo information reflected by the current road surface. The echo information includes one or more of the following: echo signal-to-noise ratio, echo reflection intensity, reflection cross-sectional area, and echo distribution characteristics. The echo information is compared with the threshold range obtained by testing and calibrating the water-crossing road conditions. If the echo information meets the threshold range, the system switches to water depth monitoring mode.

[0053] Preferably, the method further includes:

[0054] The millimeter-wave radar is switched to water depth monitoring status information and sent to a remote terminal. When the water level depth is detected to exceed the safety threshold, an early warning message is sent to the remote terminal.

[0055] This invention provides an electronic device, comprising:

[0056] At least one processor; and,

[0057] A memory communicatively connected to at least one of the processors; wherein,

[0058] The memory stores instructions that can be executed by at least one of the processors to enable at least one of the processors to perform the vehicle wading detection method as described above.

[0059] The present invention provides a storage medium that stores computer instructions, which, when executed by a computer, are used to perform all the steps of the vehicle wading detection method described above.

[0060] The above technical solution has the following beneficial effects:

[0061] This application utilizes existing millimeter-wave radar on vehicles to monitor road conditions and switch to water depth monitoring mode. It can monitor the depth of accumulated water using millimeter-wave radar, thereby enabling water depth warnings with high detection accuracy and sensitivity, improving vehicle safety. Furthermore, this application eliminates the need for additional dedicated water level sensors to monitor water depth, thus reducing design costs. Attached Figure Description

[0062] The disclosure of this application will become more readily understood with reference to the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this application. In the drawings:

[0063] Figure 1 This is a flowchart illustrating a vehicle wading detection method in one embodiment of the present invention;

[0064] Figure 2 This is a schematic diagram of a millimeter-wave radar detecting water depth in one embodiment of the present invention;

[0065] Figure 3 This is a side view of the first millimeter-wave radar switching from normal state to water depth monitoring state in one embodiment of the present invention;

[0066] Figure 4 This is a frontal schematic diagram of the first millimeter-wave radar switching from normal state to water depth monitoring state in one embodiment of the present invention;

[0067] Figure 5 This is a schematic diagram of the millimeter-wave radar detecting water depth when not wading in one embodiment of the present invention;

[0068] Figure 6 This is a schematic diagram of the millimeter-wave radar detecting water depth during wading in one embodiment of the present invention;

[0069] Figure 7 This is a side view of the second millimeter-wave radar switching from normal state to water depth monitoring state in one embodiment of the present invention;

[0070] Figure 8 This is a frontal schematic diagram of the second millimeter-wave radar switching from normal state to water depth monitoring state in one embodiment of the present invention;

[0071] Figure 9 This is a schematic diagram of the hardware structure of an electronic device in one embodiment of the present invention.

[0072] Reference table for attached figures:

[0073] First millimeter-wave radar 10, rotating mechanism 20, second millimeter-wave radar 30. Detailed Implementation

[0074] The specific embodiments of this application will be further described below with reference to the accompanying drawings.

[0075] It is readily understood that, based on the technical solution of this application, various structural and implementation methods can be interchanged by those skilled in the art without altering the essential spirit of this application. Therefore, the following detailed embodiments and accompanying drawings are merely illustrative examples of the technical solution of this application and should not be considered as the entirety of this application or as limitations or restrictions on the technical solution of the application.

[0076] The directional terms such as up, down, left, right, front, back, front, back, top, and bottom mentioned or possibly used in this specification are defined relative to the structures shown in the accompanying drawings. These are relative concepts and may therefore vary depending on their location and usage. Therefore, these or other directional terms should not be interpreted as restrictive. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0077] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meanings of the above in this application according to the specific circumstances.

[0078] In one embodiment of the present invention, a method for detecting water immersion in a vehicle is disclosed, such as... Figure 1 As shown, it includes the following steps:

[0079] S1: Monitor the current road surface condition through millimeter-wave radar, compare the echo information received by the millimeter-wave radar with the threshold information, and if it exceeds the threshold range, switch to water depth monitoring mode.

[0080] S2: When in water depth monitoring mode, the millimeter-wave radar emits ranging electromagnetic waves to the water surface and the ground, and detects the height between the millimeter-wave radar and the water surface and the height between the millimeter-wave radar and the ground.

[0081] S3: Calculates water level depth based on the height between the millimeter-wave radar and the water surface, and the height between the millimeter-wave radar and the ground. When the water level depth exceeds the safety threshold, an early warning alarm is triggered.

[0082] The millimeter-wave radar is an existing component of the driver assistance system in existing vehicles. It emits electromagnetic waves in the direction the vehicle is moving and receives the echoes reflected from the road surface. When the received echoes are within a threshold range, the millimeter-wave radar operates normally, monitoring the vehicle's trajectory and providing collision warnings. When the received echoes exceed the threshold range, it indicates water accumulation ahead. The millimeter-wave radar then switches to water depth monitoring mode to detect the water depth. In water depth monitoring mode, the millimeter-wave radar emits electromagnetic waves towards the water. The height between the radar and the water surface is calculated by the reflection of the electromagnetic waves off the water surface, and the height between the radar and the ground is calculated by the reflection of the electromagnetic waves off the ground. The water depth is then calculated using these heights and compares it to a preset safety threshold. If the water depth does not exceed the safety threshold, the vehicle does not trigger a warning alarm; if the water depth exceeds the safety threshold, the vehicle triggers a warning alarm. When the water depth is higher than the height of the car's sensitive parts above the ground, the car will trigger a warning alarm to prompt the driver to stop or proceed with caution.

[0083] When a warning is triggered, the warning information can be displayed on the vehicle's center console or dashboard, or through the vehicle's warning lights or audio system.

[0084] This method eliminates the need for additional water level sensors on the vehicle, thus effectively reducing vehicle design costs. Furthermore, by utilizing the vehicle's existing millimeter-wave radar, this application can sensitively identify the presence of water accumulation on the road surface and switch to water depth monitoring mode. The millimeter-wave radar can then accurately monitor the water depth, enabling early warning of water depth conditions.

[0085] In some embodiments of the present invention, such as Figure 2 As shown, the millimeter-wave radar includes a first millimeter-wave radar connected to the vehicle via a rotating mechanism 20;

[0086] When in water depth monitoring mode, the millimeter-wave radar emits ranging electromagnetic waves towards the water surface and the ground, and detects the height between the millimeter-wave radar and the water surface, as well as the height between the millimeter-wave radar and the ground. Specifically, this includes:

[0087] When in water depth monitoring mode, the rotating mechanism 20 drives the first millimeter-wave radar to rotate until the normal of the millimeter-wave radar is perpendicular to the vehicle's direction of travel.

[0088] The millimeter-wave radar transmits ranging electromagnetic waves toward the ground. The ranging electromagnetic waves are reflected by the water surface to obtain the first reflected signal. The millimeter-wave radar calculates the first height H1 between the millimeter-wave radar and the water surface based on the first reflected signal.

[0089] The ranging electromagnetic wave is reflected by the ground to obtain a second reflected signal. The millimeter-wave radar calculates the second height H2 between the millimeter-wave radar and the ground based on the second reflected signal.

[0090] The water level depth is calculated based on the height between the millimeter-wave radar and the water surface, and the height between the radar and the ground. When the water level depth exceeds a safe threshold, an early warning alarm is triggered, specifically including:

[0091] Based on the first and second elevations, the water level depth H and water depth H2-H1 are calculated.

[0092] The system determines whether the water level exceeds a safe threshold; if it does, it triggers an early warning alarm.

[0093] like Figure 3 and Figure 4 As shown, the front-to-back direction of the vehicle body is the X-axis, the vertical direction of the vehicle body is the Z-axis, the left-to-right direction of the vehicle body is the Y-axis, the i-axis of the first millimeter-wave radar 10 is the normal direction, the j-axis of the first millimeter-wave radar 10 is the major axis direction of the beam envelope of the first millimeter-wave radar 10, and the k-axis of the first millimeter-wave radar 10 is the minor axis direction of the beam envelope of the first millimeter-wave radar 10.

[0094] When the vehicle is in normal driving condition, the normal of the first millimeter-wave radar 10 is parallel to the vehicle's driving direction. That is, the i-axis of the first millimeter-wave radar 10 is parallel to the vehicle's driving direction, the i-axis of the first millimeter-wave radar 10 is parallel to the vehicle's X-axis, the k-axis of the first millimeter-wave radar 10 is parallel to the vehicle's Z-axis, and the j-axis of the first millimeter-wave radar 10 is parallel to the vehicle's Y-axis. At this time, the radar beam of the first millimeter-wave radar 10 is emitted towards the front of the vehicle and can monitor the road conditions in front of the vehicle.

[0095] When switching to water depth monitoring mode, the first millimeter-wave radar 10 is rotated so that its normal is perpendicular to the ground. Specifically, the i-axis of the first millimeter-wave radar 10 is rotated 90° to be perpendicular to the ground. The i-axis of the first millimeter-wave radar 10 is parallel to the Z-axis of the vehicle body, the j-axis is parallel to the Y-axis of the vehicle body, and the k-axis is parallel to the X-axis of the vehicle body. At this time, the radar beam of the first millimeter-wave radar 10 is emitted towards the ground, thus enabling the monitoring of water depth on flooded roads.

[0096] The first millimeter-wave radar 10 can be installed on the front of the vehicle or on the side of the vehicle, or multiple sets of first millimeter-wave radars 10 can be installed. When the first millimeter-wave radar 10 detects water accumulation on the road surface ahead, the rotating mechanism 20 drives the first millimeter-wave radar 10 to rotate so that the normal is perpendicular to the vehicle's driving direction, thereby improving the detection accuracy of the first millimeter-wave radar 10 in the ground direction. When the vehicle is wading through water, the first millimeter-wave radar 10 emits electromagnetic waves to the water surface and detects the height H1 between the first millimeter-wave radar 10 and the water surface and the height H2 between the first millimeter-wave radar 10 and the ground. Then, the water depth H_water depth = H2 - H1 is calculated, and the calculated water depth is compared with a preset safety threshold. If the water depth is less than the safety threshold, it means that the vehicle can pass safely and no warning alarm is triggered. If the water depth is greater than the safety threshold, it means that the vehicle cannot pass safely and a warning alarm is triggered to remind the driver to drive cautiously.

[0097] Optionally, the first millimeter-wave radar 10 is located at the rear of the vehicle. The driver can manually switch the first millimeter-wave radar 10 to water depth monitoring mode. When the vehicle passes through a flooded road, the water depth of the flooded road can be monitored by the first millimeter-wave radar 10.

[0098] Furthermore, since the height H2 between the first millimeter-wave radar and the ground is a predetermined value, H2 can be measured by the first millimeter-wave radar without needing to be measured by the first millimeter-wave radar, and the above method can be used to measure it. This application will not repeat the above description.

[0099] Preferably, the first millimeter-wave radar is positioned at the rearview mirror position of the vehicle. Under normal driving conditions, the normal of the first millimeter-wave radar is parallel to the driving direction of the vehicle to monitor the vehicle's forward direction. When switching to water depth monitoring mode, the rotating mechanism 20 rotates the first millimeter-wave radar by 90° so that the normal of the first millimeter-wave radar is perpendicular to the driving direction of the vehicle, thereby improving the detection accuracy of the first millimeter-wave radar in the ground direction.

[0100] In this application, the rotating mechanism 20 can be an electric hinge or an electric turntable.

[0101] In some embodiments of the present invention, the millimeter-wave radar includes a second millimeter-wave radar disposed at the front end of the vehicle, the normal of the second millimeter-wave radar being parallel to the vehicle's direction of travel.

[0102] When in water depth monitoring mode, the millimeter-wave radar emits ranging electromagnetic waves towards the water surface and the ground, and detects the height between the millimeter-wave radar and the water surface, as well as the height between the millimeter-wave radar and the ground. Specifically, this includes:

[0103] When in water depth monitoring mode, the third height H3 between the target point on the water surface and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is calculated by the second millimeter-wave radar.

[0104] The fourth height H4 between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is calculated by the second millimeter-wave radar.

[0105] The water level depth is calculated based on the height between the millimeter-wave radar and the water surface, and the height between the radar and the ground. When the water level depth exceeds a safe threshold, an early warning alarm is triggered, specifically including:

[0106] When the water surface is below the second millimeter-wave radar 30, the water depth H_water depth = H4 - H3 is calculated.

[0107] When the water surface is above the second millimeter-wave radar 30, the water depth H is calculated as H3 + H4.

[0108] The system determines whether the water level exceeds a safe threshold; if it does, it triggers an early warning alarm.

[0109] In some embodiments of the present invention, the third height H3 between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is calculated by the second millimeter-wave radar, and the fourth height H4 between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is calculated by the second millimeter-wave radar, specifically including:

[0110] like Figure 5 and Figure 6 As shown, when measuring the i-th water surface target point, the angle α between the normal of the second millimeter-wave radar and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is obtained;

[0111] When measuring the i-th water surface target point, obtain the distance DWi between the second millimeter-wave radar and the i-th water surface target point Wi, and obtain the angle βi between the line connecting the second millimeter-wave radar and the i-th water surface target point Wi and the normal.

[0112] When measuring the i-th ground target point, obtain the distance DGi between the second millimeter-wave radar and the i-th ground target point Gi, and obtain the angle γi between the line connecting the second millimeter-wave radar and the i-th ground target point Gi and the normal.

[0113] Where i = 1 ~ n, n ≥ 2;

[0114] like Figure 5 As shown, when the water surface is below the second millimeter-wave radar 30:

[0115] Calculate the height HWi between the i-th surface target point and the horizontal plane containing the center point of the second millimeter-wave radar 30: HWi = DWi * sin(α - βi).

[0116] Calculate the height HGi between the i-th ground target point and the horizontal plane containing the center point of the second millimeter-wave radar 30: HGi = DGi * sin(α - γi);

[0117] Based on the height HWi between multiple surface target points and the horizontal plane where the center point of the second millimeter-wave radar 30 is located, the third height H3 between the surface target points and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is calculated.

[0118] Based on the height HGi between multiple ground target points and the horizontal plane where the center point of the second millimeter-wave radar 30 is located, the fourth height H4 between the ground target points and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is calculated.

[0119] The third height H3 between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is calculated using the second millimeter-wave radar. The fourth height H4 between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is calculated using the second millimeter-wave radar. Specifically, it includes:

[0120] When measuring the i-th water surface target point, the angle α between the normal of the second millimeter-wave radar and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is obtained;

[0121] Obtain the distance DWi between the second millimeter-wave radar and the i-th surface target point Wi, and obtain the angle βi between the line connecting the second millimeter-wave radar and the i-th surface target point Wi and the normal of the second millimeter-wave radar;

[0122] Obtain the distance DGi between the second millimeter-wave radar and the i-th ground target point Gi, and obtain the angle γi between the line connecting the second millimeter-wave radar and the i-th ground target point Gi and the normal of the second millimeter-wave radar.

[0123] Where i = 1 ~ n, n ≥ 2;

[0124] like Figure 5 As shown, when the water surface is above the second millimeter-wave radar 30:

[0125] Calculate the height HWi between the i-th surface target point and the horizontal plane containing the center point of the second millimeter-wave radar 30: HWi = DWi * sin(βi - α).

[0126] The height HGi between the i-th ground target point and the horizontal plane containing the center point of the second millimeter-wave radar 30 is HGi = DGi * sin(α - γi);

[0127] Based on the height HWi between multiple surface target points and the horizontal plane where the center point of the second millimeter-wave radar 30 is located, the third height H3 between the surface target points and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is calculated.

[0128] Based on the height HGi between multiple ground target points and the horizontal plane where the center point of the second millimeter-wave radar 30 is located, the fourth height H4 between the ground target points and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is calculated.

[0129] Preferably, the heights HWi between multiple water surface target points and the horizontal plane where the center point of the second millimeter-wave radar 30 is located, and the heights HGi between multiple ground target points and the horizontal plane where the center point of the second millimeter-wave radar 30 is located, are smoothed and filtered to obtain the third height H3 between the water surface target points and the horizontal plane where the center point of the second millimeter-wave radar 30 is located, as calculated by the second millimeter-wave radar, and the fourth height H4 between the ground target points and the horizontal plane where the center point of the second millimeter-wave radar 30 is located, as calculated by the second millimeter-wave radar.

[0130] Specifically, the angle α between the normal of the second millimeter-wave radar and the horizontal plane where the center point of the second millimeter-wave radar 30 is located can be obtained by a gyroscope. When a vehicle approaches a flooded road, such as when entering a tunnel, the vehicle's direction of travel is tilted relative to the horizontal plane where the center point of the second millimeter-wave radar 30 is located. By installing a gyroscope in the vehicle, the slope angle of the vehicle can be monitored, which is the angle α between the normal of the second millimeter-wave radar and the horizontal plane where the center point of the second millimeter-wave radar 30 is located. At the same time, the second millimeter-wave radar at the front of the vehicle emits electromagnetic waves in the direction of the vehicle's travel, i.e., electromagnetic waves are directed toward the flooded road surface. After the echo information received by the second millimeter-wave radar is transformed by range-doppler 2D FFT, it can be distinguished into two types of point cloud targets in the range dimension: ground and water surface, based on the differences in echo characteristics such as the reflection power of the water surface and the echo azimuth angle. A certain number of water surface target points Wi and ground target points Gi are selected, and the angle βi between the line connecting the second millimeter-wave radar and the water surface target point Wi and the normal, as well as the angle γi between the line connecting the second millimeter-wave radar and the ground target point Gi and the normal, are obtained.

[0131] like Figure 5 As shown, when the water surface is below the second millimeter-wave radar 30, i.e., before the vehicle has driven into the waterlogged area, the second millimeter-wave radar 30 is above the water surface. The height HWi between the target point on the water surface and the horizontal plane containing the center point of the second millimeter-wave radar 30, and the height HGi between the target point on the ground and the horizontal plane containing the center point of the second millimeter-wave radar 30, can be calculated. By smoothing and filtering HWi and HGi, the optimal estimated values ​​for the third height H2 and the fourth height H4 between the target point on the water surface and the horizontal plane containing the center point of the second millimeter-wave radar 30 are obtained. Finally, the water depth H_water_depth = H4 - H3 is calculated. Since the vehicle has not yet driven through the water, the calculated water depth is compared with a safety threshold. If the water depth is less than the safety threshold, it indicates safe driving and no warning alarm is triggered. If the water depth is greater than the safety threshold, it indicates unsafe driving and a warning alarm is triggered. This allows for advance warning before the vehicle needs to drive through the water, improving vehicle safety. It should be noted that as the vehicle travels down the slope, the selected water surface target point Wi and ground target point Gi change continuously, and the water level depth monitored in the corresponding locations also changes accordingly, in order to provide real-time early warnings.

[0132] like Figure 6As shown, when the water surface is above the second millimeter-wave radar 30, the second millimeter-wave radar 30 is below the water surface. Using the above method, the optimal estimated value H3 of the third height between the target point on the water surface and the horizontal plane where the center point of the second millimeter-wave radar 30 is located, and the optimal estimated value H4 of the fourth height between the target point on the ground and the horizontal plane where the center point of the second millimeter-wave radar 30 is located, can be calculated. At this time, the water depth H_water depth = H3 + H4. The water depth is compared with the safety threshold. If the water depth is less than the safety threshold, it means that it is safe to continue and no warning alarm is triggered. If the water depth is greater than the safety threshold, it means that it is not safe to continue and a warning alarm is triggered to alert the driver.

[0133] Preferably, the second millimeter-wave radar is located below the front bumper of the vehicle. When the second millimeter-wave radar 30 is below the water surface, the vehicle's sensitive parts are still above the water surface, thus ensuring effective warning and vehicle driving safety.

[0134] In some embodiments of the present invention, the second millimeter-wave radar 30 is connected to the front end of the vehicle via a rotating mechanism 20;

[0135] When in normal condition, the major axis of the beam envelope of the second millimeter-wave radar 30 is parallel to the ground.

[0136] When switching to water depth monitoring mode, the rotating mechanism 20 drives the second millimeter-wave radar 30 to rotate, so that the long axis of the beam envelope of the second millimeter-wave radar 30 is perpendicular to the ground.

[0137] Furthermore, when switching to water depth monitoring mode, the long axis of the beam envelope of the second millimeter-wave radar 30 is rotated to be perpendicular to the ground by the rotating mechanism 20, which improves the detection accuracy of the second millimeter-wave radar 30 facing the ground, thereby enabling accurate monitoring of the water depth of the road surface ahead in advance.

[0138] Specifically, such as Figure 7 and Figure 8 As shown, the i-axis of the second millimeter-wave radar 30 is the normal, the major axis of the beam envelope of the second millimeter-wave radar 30 is the j-axis, and the minor axis of the beam envelope of the second millimeter-wave radar 30 is the k-axis. The second millimeter-wave radar 30 has higher angular resolution along the j-axis and relatively lower angular resolution along the k-axis. Therefore, when the vehicle is in normal driving condition, the major axis of the beam envelope of the second millimeter-wave radar 30 is parallel to the ground, the i-axis of the second millimeter-wave radar 30 is parallel to the X-axis of the vehicle body, the k-axis of the second millimeter-wave radar 30 is parallel to the Z-axis of the vehicle body, and the j-axis of the second millimeter-wave radar 30 is parallel to the Y-axis of the vehicle body.

[0139] When switching to water depth monitoring mode, the major axis of the second millimeter-wave radar 30 is rotated 90° to be perpendicular to the ground via the rotating mechanism 20. The i-axis of the second millimeter-wave radar 30 is parallel to the X-axis of the vehicle body, the j-axis is parallel to the Z-axis of the vehicle body, and the k-axis is parallel to the Y-axis of the vehicle body. This improves the ground detection accuracy of the second millimeter-wave radar 30. The rotation of the second millimeter-wave radar 30 via the rotating mechanism 20 changes the direction of the major axis of its beam envelope, thereby improving the angular resolution of the second millimeter-wave radar 30 in the direction perpendicular to the ground.

[0140] In some embodiments of the present invention, the resolution of the millimeter-wave radar is improved when switching to water depth monitoring mode.

[0141] In some embodiments of the present invention, improving the resolution of millimeter-wave radar specifically includes:

[0142] Adjust the sweep bandwidth of the millimeter-wave radar to 3.5~5GHz.

[0143] Preferably, when switching to water depth monitoring mode, the sweep frequency bandwidth is adjusted to 5GHz, which can improve the range resolution of millimeter-wave radar, improve the accuracy of millimeter-wave radar in monitoring water depth, and thus improve the accuracy and sensitivity of early warning.

[0144] Alternatively, the rotating mechanism 20 can also be monitored by millimeter-wave radar to monitor its status and fault conditions.

[0145] In some embodiments of the present invention, comparing the echo information received by the millimeter-wave radar with threshold information, and if it exceeds the threshold range, switching to the water depth monitoring state specifically includes:

[0146] The system controls the millimeter-wave radar to emit electromagnetic waves toward the current road surface and receive the echo information reflected by the current road surface. The echo information includes one or more combinations of echo signal-to-noise ratio, echo reflection intensity, reflection cross-sectional area, and echo distribution characteristics. The echo information is compared with the threshold range obtained by testing and calibrating the water-crossing road conditions. If the echo information meets the threshold range, the system switches to water depth monitoring mode.

[0147] Because the echo information of electromagnetic waves reflected from the water surface is different from that reflected from the ground, the road surface ahead can be monitored by millimeter-wave radar. When the echo information of the road surface ahead exceeds the threshold range of the threshold information, it means that the road surface ahead is flooded, and the system switches to water depth monitoring mode to monitor the water depth.

[0148] In some embodiments of the present invention, the millimeter-wave radar is switched to water depth monitoring mode via a remote terminal, and when the water level depth is detected to exceed a safety threshold, an early warning message is sent to the remote terminal.

[0149] The remote terminal can be a mobile phone. During the rainy season, the driver can actively control the millimeter-wave radar to switch to water depth monitoring mode via the mobile phone, thereby remotely monitoring the vehicle for water wading and providing early warnings.

[0150] As a preferred embodiment of the present invention, such as Figure 1 As shown, the method for detecting water immersion in a vehicle includes the following steps:

[0151] S1: Monitor the current road surface condition through millimeter-wave radar, compare the echo information received by the millimeter-wave radar with the threshold information, and if it exceeds the threshold range, switch to water depth monitoring mode.

[0152] S2: When in water depth monitoring mode, the millimeter-wave radar emits ranging electromagnetic waves to the water surface and the ground, and detects the height between the millimeter-wave radar and the water surface and the height between the radar and the ground.

[0153] S3: Calculates water level depth based on the height between the millimeter-wave radar and the water surface, as well as the height between the radar and the ground. When the water level depth exceeds the safety threshold, an early warning alarm is triggered.

[0154] Among them, such as Figure 2 As shown, the millimeter-wave radar includes a first millimeter-wave radar. The first millimeter-wave radar is only used to monitor the current wading depth. In a preferred embodiment, the first millimeter-wave radar is set at the rearview mirror position of the vehicle via a rotating mechanism 20. When the vehicle is driving normally, the normal of the first millimeter-wave radar is parallel to the driving direction of the vehicle and is used to monitor the situation in front of the vehicle. When the first millimeter-wave radar detects that the road surface in front is flooded, the rotating mechanism 20 drives the first millimeter-wave radar to rotate 90° so that its normal is perpendicular to the driving direction of the vehicle and adjusts the sweep frequency bandwidth of the first millimeter-wave radar to 5GHz, thereby improving the resolution of the first millimeter-wave radar and switching to the water depth monitoring state.

[0155] When a car passes through a flooded road, the first millimeter-wave radar emits electromagnetic waves toward the flooded road. The first millimeter-wave radar monitors the first height H1 between the first millimeter-wave radar and the water surface and the second height H2 between the first millimeter-wave radar and the ground, thereby calculating the current water depth H_water depth = H2 - H1, and comparing the current water depth with a safety threshold. If the water depth exceeds the safety threshold, a warning alarm is triggered.

[0156] Even better, the second altitude H2 between the first millimeter-wave radar and the ground is a predetermined value, so it is not necessary to monitor it through the first millimeter-wave radar.

[0157] like Figure 5 and Figure 6 As shown, the millimeter-wave radar includes a second millimeter-wave radar 30. The second millimeter-wave radar 30 can be used to monitor the current wading depth and the water depth ahead. The second millimeter-wave radar 30 is mounted on the front bumper of the vehicle via a rotating mechanism 20. When the vehicle is driving normally, the major axis of the beam envelope of the second millimeter-wave radar 30 is parallel to the ground. When the second millimeter-wave radar 30 detects a flooded road ahead, the rotating mechanism 20 rotates the second millimeter-wave radar 30 so that the major axis of its beam envelope is perpendicular to the ground, thereby improving the angular resolution of the second millimeter-wave radar 30 in the perpendicular direction. Simultaneously, the sweep bandwidth of the second millimeter-wave radar is adjusted to 5 GHz, further improving its resolution and switching to water depth monitoring mode.

[0158] The second millimeter-wave radar emits electromagnetic waves in front of the vehicle. The echo information received by the second millimeter-wave radar is transformed by range-doppler 2D FFT. Based on the differences in echo characteristics such as the reflection power of the water surface and the azimuth angle of the echo, it can be distinguished into two types of point cloud targets in the range dimension: ground and water surface. A certain number of water surface target points Wi and ground target points Gi are selected, and the angle βi between the line connecting the second millimeter-wave radar and the water surface target point Wi and the normal, as well as the angle γi between the line connecting the second millimeter-wave radar and the ground target point Gi and the normal, are obtained.

[0159] like Figure 5 As shown, when the second millimeter-wave radar 30 is above the water surface:

[0160] The height HWi between the i-th surface target point and the horizontal plane containing the center point of the second millimeter-wave radar 30 is HWi=DWi*sin(α-βi).

[0161] The height HGi between the i-th ground target point and the horizontal plane containing the center point of the second millimeter-wave radar 30 is HGi = DGi * sin(α - γi);

[0162] By applying a smoothing filter to HWi, the optimal estimated value H3 of the third height between the target point on the water surface and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is obtained.

[0163] By smoothing and filtering HGi, the optimal estimate of the fourth altitude H4 between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is obtained.

[0164] Water depth H_water depth = H4 - H3;

[0165] like Figure 6 As shown, when the second millimeter-wave radar 30 is below the water surface:

[0166] The height HWi between the i-th surface target point and the horizontal plane containing the center point of the second millimeter-wave radar 30 is HWi=DWi*sin(βi-α).

[0167] The height HGi between the i-th ground target point and the horizontal plane containing the center point of the second millimeter-wave radar 30 is HGi = DGi * sin(α - γi);

[0168] By applying a smoothing filter to HWi, the optimal estimated value H3 of the third height between the target point on the water surface and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is obtained.

[0169] By smoothing and filtering HGi, the optimal estimate of the fourth altitude H4 between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar 30 is located is obtained.

[0170] Water depth H = H3 + H4.

[0171] The water level depth is compared with a safety threshold. If the water level depth is higher than the safety threshold, an early warning alarm is triggered.

[0172] This method utilizes existing millimeter-wave radar on vehicles for water depth monitoring without requiring additional water level sensors, thus saving design costs. Furthermore, using millimeter-wave radar to monitor water depth offers high detection accuracy and sensitivity, enhancing vehicle safety.

[0173] like Figure 9 The diagram shown is a hardware structure schematic of an electronic device according to the present invention, comprising:

[0174] At least one processor 601; and,

[0175] Memory 602 is communicatively connected to at least one processor 601; wherein,

[0176] The memory 602 stores instructions that can be executed by at least one processor to enable the at least one processor to perform the vehicle wading detection method as described above.

[0177] Figure 8 Take the 601 processor as an example.

[0178] The electronic device may also include an input device 603 and a display device 604.

[0179] The processor 601, memory 602, input device 603 and display device 604 can be connected by a bus or other means. The figure shows an example of connection by a bus.

[0180] The memory 602, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the vehicle wading detection method in the embodiments of this application, for example, Figure 1 The method flow is shown. The processor 601 executes various functional applications and data processing by running non-volatile software programs, instructions, and modules stored in the memory 602, thereby realizing the vehicle wading detection method in the above embodiments.

[0181] The memory 602 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on the use of the vehicle wading detection method. Furthermore, the memory 602 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 602 may optionally include memory remotely located relative to the processor 601, and these remote memories may be connected via a network to the apparatus performing the vehicle wading detection method. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0182] The input device 603 can receive user clicks and generate signal inputs related to user settings and function control of the vehicle wading detection method. The display device 604 may include a display screen or other display equipment.

[0183] One or more modules are stored in memory 602, and when run by one or more processors 601, the vehicle wading detection method in any of the above method embodiments is executed.

[0184] This method eliminates the need for additional water level sensors on the vehicle, thus effectively reducing vehicle design costs. Furthermore, by utilizing the vehicle's existing millimeter-wave radar, it can sensitively identify the presence of water accumulation on the road surface and switch to water depth monitoring mode. The millimeter-wave radar can accurately monitor water depth, thereby enabling early warning of water depth. One embodiment of this invention provides a storage medium that stores computer instructions. When the computer executes these instructions, it performs all the steps of the aforementioned vehicle wading detection method.

[0185] The above are merely the principles and preferred embodiments of this application. It should be noted that, for those skilled in the art, several other modifications can be made based on the principles of this application, and these modifications should also be considered within the scope of protection of this application.

Claims

1. A method for detecting water wading in automobiles, characterized in that, Includes the following steps: The current road surface condition is monitored by millimeter-wave radar. The echo information received by the millimeter-wave radar is compared with the threshold information. If it exceeds the threshold range of the threshold information, the system switches to water depth monitoring mode. When in the water depth monitoring state, the millimeter-wave radar emits ranging electromagnetic waves to the water surface and the ground, and detects the height between the millimeter-wave radar and the water surface and the height between the millimeter-wave radar and the ground. The water level depth is calculated based on the height between the millimeter-wave radar and the water surface and the height between the millimeter-wave radar and the ground. When the water level depth exceeds a safety threshold, an early warning alarm is triggered. The echo information includes one or a combination of several of the following: echo signal-to-noise ratio, echo reflection intensity, reflection cross-sectional area, and echo distribution characteristics. The millimeter-wave radar includes a first millimeter-wave radar (10) connected to the vehicle via a rotating mechanism (20). When in the water depth monitoring state, the rotating mechanism (20) drives the first millimeter-wave radar (10) to rotate until the normal of the first millimeter-wave radar (10) is perpendicular to the vehicle's driving direction; Alternatively, the millimeter-wave radar may include a second millimeter-wave radar (30) disposed at the front end of the vehicle, wherein the normal of the second millimeter-wave radar (30) is parallel to the vehicle's direction of travel. The second millimeter-wave radar (30) is connected to the front of the vehicle via a rotating mechanism (20); When in normal condition, the major axis of the beam envelope of the second millimeter-wave radar (30) is parallel to the ground. When switching to the water depth monitoring state, the rotating mechanism (20) drives the second millimeter-wave radar (30) to rotate, so that the long axis of the beam envelope of the second millimeter-wave radar (30) is perpendicular to the ground.

2. The vehicle wading detection method according to claim 1, characterized in that, When in the water depth monitoring state, the millimeter-wave radar emits ranging electromagnetic waves towards the water surface and the ground, and detects the height between the millimeter-wave radar and the water surface, as well as the height between the millimeter-wave radar and the ground. Specifically, this includes: The first millimeter-wave radar (10) emits ranging electromagnetic waves toward the ground. The ranging electromagnetic waves are reflected by the water surface to obtain a first reflected signal. The first millimeter-wave radar (10) calculates the first height H1 between the first millimeter-wave radar (10) and the water surface based on the first reflected signal. The ranging electromagnetic wave is reflected by the ground to obtain a second reflected signal, and the first millimeter-wave radar (10) calculates the second height H2 between the first millimeter-wave radar (10) and the ground based on the second reflected signal; The water level depth is calculated based on the height between the millimeter-wave radar and the water surface and the height between the radar and the ground. When the water level depth exceeds a safety threshold, an early warning alarm is triggered, specifically including: Calculate the water level depth H based on the first height and the second height. 水深 =H2-H1; Determine whether the water level depth exceeds the safety threshold; if it does, trigger an early warning alarm.

3. The vehicle wading detection method according to claim 1, characterized in that, When in the water depth monitoring state, the millimeter-wave radar emits ranging electromagnetic waves towards the water surface and the ground, and detects the height between the millimeter-wave radar and the water surface, as well as the height between the millimeter-wave radar and the ground. Specifically, this includes: When in the water depth monitoring state, the third height H3 between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar (30) is located is calculated by the second millimeter-wave radar (30), and the fourth height H4 between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar (30) is located is calculated by the second millimeter-wave radar (30). The water level depth is calculated based on the height between the millimeter-wave radar and the water surface and the height between the radar and the ground. When the water level depth exceeds a safety threshold, an early warning alarm is triggered, specifically including: When the water surface is below the second millimeter-wave radar (30), the water level depth H is calculated. 水深 =H4-H3; When the water surface is above the second millimeter-wave radar (30), the water level depth H is calculated. 水深 =H4+H3; Determine whether the water level depth exceeds the safety threshold; if it does, trigger an early warning alarm.

4. The vehicle wading detection method according to claim 3, characterized in that, The calculation of the third height H3 between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar (30) is located, and the calculation of the fourth height H4 between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar (30) is located, specifically includes: When measuring the i-th water surface target point, the angle α between the normal of the second millimeter-wave radar (30) and the horizontal plane where the center point of the second millimeter-wave radar (30) is located is obtained; Acquire the second millimeter-wave radar (30) and the i-th surface target point W i The spacing D between them Wi And obtain the second millimeter-wave radar (30) and the i-th surface target point W. i The angle β between the line connecting the two sides and the normal of the second millimeter-wave radar (30) is β i ; Obtain the distance D between the second millimeter-wave radar (30) and the i-th ground target point Gi. Gi And obtain the angle γ between the line connecting the second millimeter-wave radar (30) and the i-th ground target point Gi and the normal of the second millimeter-wave radar (30). i ; Where i = 1 ~ n, n ≥ 2; When the water surface is below the second millimeter-wave radar (30): Calculate the height H between the i-th surface target point and the horizontal plane containing the center point of the second millimeter-wave radar (30). Wi =D Wi *sin(α-β) i ); Calculate the height H between the i-th ground target point and the horizontal plane containing the center point of the second millimeter-wave radar (30). Gi =D Gi *sin(α-γ i ); Based on the height H between multiple surface target points and the horizontal plane where the center point of the second millimeter-wave radar (30) is located, Wi The third height H3 between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar (30) is located is calculated; Based on the height H between multiple ground target points and the horizontal plane where the center point of the second millimeter-wave radar (30) is located, Gi The fourth height H4 between the ground target point and the horizontal plane containing the center point of the second millimeter-wave radar (30) is calculated.

5. The vehicle wading detection method according to claim 3, characterized in that, The calculation of the third height H3 between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar (30) is located, and the calculation of the fourth height H4 between the ground target point and the horizontal plane where the center point of the second millimeter-wave radar (30) is located, specifically includes: When measuring the i-th water surface target point, the angle α between the normal of the second millimeter-wave radar (30) and the horizontal plane where the center point of the second millimeter-wave radar (30) is located is obtained; Acquire the second millimeter-wave radar (30) and the i-th surface target point W i The spacing D between them Wi And obtain the second millimeter-wave radar (30) and the i-th surface target point W. i The angle β between the line connecting the two sides and the normal of the second millimeter-wave radar (30) is β i ; Acquire the second millimeter-wave radar (30) and the i-th ground target point G i The spacing D between them Gi And obtain the second millimeter-wave radar (30) and the i-th ground target point G. i The angle γ between the line connecting the two sides and the normal of the second millimeter-wave radar (30) is... i ; Where i = 1 ~ n, n ≥ 2; When the water surface is above the second millimeter-wave radar (30): Calculate the height H between the i-th surface target point and the horizontal plane containing the center point of the second millimeter-wave radar (30). Wi =D Wi *sin(β) i -α); Calculate the height H between the i-th ground target point and the horizontal plane containing the center point of the second millimeter-wave radar (30). Gi =D Gi *sin(α-γ i ); Based on the height H between multiple surface target points and the horizontal plane where the center point of the second millimeter-wave radar (30) is located, Wi The third height H3 between the water surface target point and the horizontal plane where the center point of the second millimeter-wave radar (30) is located is calculated; Based on the height H between multiple ground target points and the horizontal plane where the center point of the second millimeter-wave radar (30) is located, Gi The fourth height H4 between the ground target point and the horizontal plane containing the center point of the second millimeter-wave radar (30) is calculated.

6. The vehicle wading detection method according to claim 1, characterized in that, When switching to the water depth monitoring state, the resolution of the millimeter-wave radar is increased.

7. The vehicle wading detection method according to claim 6, characterized in that, Improving the resolution of the millimeter-wave radar specifically includes: The sweep bandwidth of the millimeter-wave radar was adjusted to 3.5~5GHz.

8. The method for detecting water immersion in a vehicle according to claim 1, characterized in that, The step of comparing the echo information received by the millimeter-wave radar (10) with the threshold information, and switching to the water depth monitoring state if the echo information exceeds the threshold range, specifically includes: The millimeter-wave radar (10) is controlled to emit electromagnetic waves to the current road surface and receive the echo information reflected by the current road surface. The echo information is compared with the threshold range obtained by testing and calibrating the water-crossing road conditions. If the echo information meets the threshold range, the water depth monitoring state is switched.

9. The method for detecting water wading in a vehicle according to any one of claims 1 to 8, characterized in that, The method further includes: The millimeter-wave radar (10) is switched to water depth monitoring status information and sent to a remote terminal. When the water level depth is detected to exceed the safety threshold, an early warning message is sent to the remote terminal.

10. An electronic device, characterized in that, include: At least one processor; as well as, A memory communicatively connected to at least one of the processors; wherein, The memory stores instructions that can be executed by at least one of the processors to enable at least one of the processors to perform the vehicle wading detection method as described in any one of claims 1 to 9.

11. A storage medium, characterized in that, The storage medium stores computer instructions, which, when executed by the computer, are used to perform all the steps of the vehicle wading detection method as described in any one of claims 1 to 9.

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