Vehicle wading warning method, device and system

Abstract

The present invention provides a vehicle wading warning method, device, and system. The method comprises: detecting the road type of the vehicle; obtaining the distance between the vehicle and an obstacle as sensed by a wading sensor; detecting the road condition for the road type based on a first distance corresponding to a first wading sensor and a second distance corresponding to a second wading sensor; and processing the first and second distances based on the road condition to obtain the vehicle's maximum wading depth, which serves as the basis for providing a wading warning. The present invention can monitor the maximum wading depth of a vehicle while wading on different road types and under different road conditions in real time. Based on this maximum wading depth, it can provide warnings to vehicle occupants, preventing dangerous situations such as engine stalling and electrical component damage caused by forced engine startup due to unknown wading depth, thereby ensuring the safety of vehicle occupants.

Description

Technical Field

[0001] The present invention relates to the field of vehicle service technology, and more particularly to a vehicle wading warning method, device and system. Background Art

[0002] Wading refers to driving on low-lying, waterlogged roads. This typically occurs during rainy weather and in low-lying areas where water accumulates due to a lack of drainage systems. If a car encounters waterlogged roads and the water level reaches two-thirds of the way up the bumper or tires, wading can easily cause water to enter the cab through the engine compartment or chassis, potentially leading to dangerous situations such as engine stalling and damage to electrical components, shortening the vehicle's service life and posing a safety hazard to the occupants.

[0003] Therefore, how to provide water warning to people in the car is an urgent problem that needs to be solved. Summary of the Invention

[0004] In view of this, in order to solve the above problems, the present invention provides a vehicle wading warning method, device and system, and the technical solution is as follows:

[0005] A vehicle wading warning method, the method comprising:

[0006] Detecting the road type of the vehicle;

[0007] Obtaining a distance from a vehicle to an obstacle as sensed by a wading sensor, the wading sensor comprising a first wading sensor disposed in a bottom area of a left rearview mirror of the vehicle and a second wading sensor disposed in a bottom area of a right rearview mirror of the vehicle;

[0008] detecting a road condition of the road type according to a first distance corresponding to the first wading sensor and a second distance corresponding to the second wading sensor;

[0009] The first distance and the second distance are processed based on the road condition to obtain the maximum wading depth of the vehicle, and the maximum wading depth is the basis for performing a wading warning.

[0010] A vehicle wading warning device, comprising:

[0011] A first detection module is used to detect the road type of the road where the vehicle is located;

[0012] an acquisition module, configured to acquire a distance between the vehicle and an obstacle as sensed by a wading sensor, the wading sensor comprising a first wading sensor disposed in a bottom area of a left rearview mirror of the vehicle and a second wading sensor disposed in a bottom area of a right rearview mirror of the vehicle;

[0013] a second detection module, configured to detect a road condition under the road type according to a first distance corresponding to the first wading sensor and a second distance corresponding to the second wading sensor;

[0014] A calculation module is used to process the first distance and the second distance based on the road conditions to obtain the maximum wading depth of the vehicle, and the maximum wading depth is the basis for wading warning.

[0015] A vehicle wading warning system, the system comprising: a wading sensor, a wading sensor host, and an in-vehicle entertainment host, the wading sensor comprising a first wading sensor disposed in the bottom area of the vehicle's left rearview mirror, and a second wading sensor disposed in the bottom area of the vehicle's right rearview mirror;

[0016] The first wading sensor is configured to sense a first distance between the first wading sensor and an obstacle below the left rearview mirror of the vehicle;

[0017] The second wading sensor is configured to sense a second distance between the second wading sensor and an obstacle below the right rearview mirror of the vehicle;

[0018] The water wading sensor host is used to send the first distance and the second distance to the in-vehicle entertainment host;

[0019] The in-vehicle entertainment host is used to detect the road type of the road on which the vehicle is located; obtain the first distance and the second distance; detect the road condition under the road type based on the first distance corresponding to the first wading sensor and the second distance corresponding to the second wading sensor; and process the first distance and the second distance based on the road condition to obtain the maximum wading depth of the vehicle, and the maximum wading depth is the basis for providing a wading warning.

[0020] The present invention provides a vehicle wading warning method, device and system, which can monitor in real time the maximum wading depth of a vehicle when wading on different road types and under different road conditions, so as to issue a warning to occupants of the vehicle based on the maximum wading depth, thereby avoiding dangerous situations such as engine stalling and damage to electrical components caused by forced engine starting due to unknown wading depth, thereby ensuring the life safety of occupants of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0022] Figure 1A flow chart of a vehicle wading warning method according to an embodiment of the present invention;

[0023] Figure 2 An example of a straight road provided in an embodiment of the present invention;

[0024] Figure 3 Four occlusion examples provided by the embodiments of the present invention;

[0025] Figure 4 An example of a road with a transverse slope provided in an embodiment of the present invention;

[0026] Figure 5 Two occlusion examples are provided for the embodiments of the present invention;

[0027] Figure 6 An example of a downhill slope of a longitudinal slope road provided by an embodiment of the present invention;

[0028] Figure 7 An uphill example of a longitudinal slope road provided by an embodiment of the present invention;

[0029] Figure 8 An abnormal road scenario provided by an embodiment of the present invention;

[0030] Figure 9 A water display interface provided by an embodiment of the present invention;

[0031] Figure 10 A schematic diagram of an icon warning provided by an embodiment of the present invention;

[0032] Figure 11 A schematic structural diagram of a vehicle wading warning device provided by an embodiment of the present invention;

[0033] Figure 12 A schematic structural diagram of a vehicle wading warning system provided by an embodiment of the present invention;

[0034] Figure 13 This is a system architecture diagram of the vehicle wading warning system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0036] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0037] The present invention provides a vehicle wading warning method, the method flow chart of the method is as follows Figure 1 As shown, the following steps are included:

[0038] S10, detecting the road type of the road where the vehicle is located.

[0039] In an embodiment of the present invention, the yaw angle and pitch angle of the vehicle can be sensed by sensors such as a gyroscope built into the vehicle. To a certain extent, the yaw angle can represent the lateral slope of the road, and the pitch angle can represent the longitudinal slope of the road.

[0040] In an embodiment of the present invention, if the transverse slope is ≤2.5° and the longitudinal slope is ≤2.5°, it can be determined that the road type of the road where the vehicle is located is a straight road; if the transverse slope is greater than 2.5° and the longitudinal slope is ≤2.5°, it can be determined that the road type of the road where the vehicle is located is a transverse slope road; if the transverse slope is ≤2.5° and the longitudinal slope is greater than 2.5°, it can be determined that the road type of the road where the vehicle is located is a longitudinal slope road; if the transverse slope is greater than 2.5° and the longitudinal slope is greater than 2.5°, it can be determined that the road type of the road where the vehicle is located is a mixed slope road.

[0041] It can be understood that the above-mentioned "2.5°" is only a slope threshold set in the embodiment of the present invention. Other slope thresholds set for distinguishing road types are also within the protection scope of the embodiment of the present invention.

[0042] S20, obtaining a distance between the vehicle and the obstacle as sensed by a wading sensor, where the wading sensor includes a first wading sensor disposed at the bottom area of a left rearview mirror of the vehicle and a second wading sensor disposed at the bottom area of a right rearview mirror of the vehicle.

[0043] In an embodiment of the present invention, the wading sensor can be an ultrasonic radar, which is arranged at the bottom of the left rearview mirror and the bottom of the right rearview mirror respectively, and detects the distance between it and the obstacle under the rearview mirror by emitting ultrasonic radar.

[0044] S30 : Detecting a road condition under the road type according to a first distance corresponding to the first wading sensor and a second distance corresponding to the second wading sensor.

[0045] In the embodiment of the present invention, road conditions are divided into two types: normal road and abnormal road. Normal road means that the obstacle sensed by the sensor is water, while abnormal road means that there are obstacles on the road surface such as bushes, protruding stones, etc. that affect the sensor's perception distance.

[0046] S40: Process the first distance and the second distance based on the road conditions to obtain a maximum wading depth of the vehicle. The maximum wading depth is the basis for a wading warning.

[0047] In an embodiment of the present invention, corresponding wading depth calculation methods are provided for different road conditions under different road types. Based on the calculation methods, the current maximum wading depth of the vehicle can be obtained, thereby providing an early warning to the occupants of the vehicle based on the maximum wading depth.

[0048] The following describes the different road types:

[0049] 1) The road type is a straight road. Figure 2 This is an example of a straight road provided by an embodiment of the present invention.

[0050] L is the distance between a preset wading sensor and the vehicle's support surface. The wading sensor can be either the first or second wading sensor, without limitation. d1 is the first distance corresponding to the first wading sensor, and d2 is the second distance corresponding to the second wading sensor.

[0051] It should be noted that for vehicles with variable suspension, L can be adjusted according to the suspension mode.

[0052] Accordingly, step S30 of “detecting the road condition under the road type according to the first distance corresponding to the first wading sensor and the second distance corresponding to the second wading sensor” may be performed by the following steps:

[0053] The first distance difference D1 on a straight road is calculated according to the following formula (1):

[0054] D1=|d1-d2| (1)

[0055] When the first distance difference is less than the preset distance threshold, it is determined that the road is normal; when the first distance difference is not less than the preset distance threshold, it is determined that the road is abnormal.

[0056] In this embodiment of the present invention, when a vehicle is traveling on a straight road, the wading depth on both sides of the vehicle should be consistent. That is, the first and second distances sensed by the first and second wading sensors should satisfy d1 ≈ d2. Therefore, in this embodiment of the present invention, the road condition can be determined by comparing the first distance difference with a distance threshold ΔT. ΔT can range from 100 mm to 150 mm.

[0057] If there is a foreign object blocking the view, see Figure 3 The four occlusion examples shown directly result in |d1-d2|>ΔT. At this time, the present invention regards the water level on the lower side as the normal water level.

[0058] Therefore, step S40 of "processing the first distance and the second distance based on the road condition to obtain the maximum wading depth of the vehicle" can be performed by the following steps:

[0059] If the road is normal, calculate the maximum wading depth d according to the following formula (2): max :

[0060] d max =L-D1 / 2 (2)

[0061] If the road is abnormal, calculate the maximum wading depth d according to the following formula (3): max :

[0062]

[0063] 2) The road type is a transverse slope road. Figure 4 This is an example of a road with a transverse slope provided by an embodiment of the present invention.

[0064] L is the distance between the preset wading sensor and the vehicle's support surface. The wading sensor can be the first wading sensor or the second wading sensor, and there is no limitation on this. d1 is the first distance corresponding to the first wading sensor, d2 is the second distance corresponding to the second wading sensor, α is the lateral slope of the road, L1 is the lateral distance between the first wading sensor and the second wading sensor, d max The maximum wading depth.

[0065] Accordingly, step S30 of “detecting the road condition under the road type according to the first distance corresponding to the first wading sensor and the second distance corresponding to the second wading sensor” may be performed by the following steps:

[0066] The second distance difference D2 on the transverse slope road is calculated according to the following formula (4):

[0067] D2=|d1 / cosα-d2 / cosα|-L1×tanα (4)

[0068] When the second distance difference is less than the preset distance threshold, it is determined that the road is normal; when the second distance difference is not less than the preset distance threshold, it is determined that the road is abnormal.

[0069] In this embodiment of the present invention, when a vehicle is traveling on a transversely sloped road, the wading depths on both sides of the vehicle body are inconsistent, meaning that there is a significant difference between the first and second distances sensed by the first and second wading sensors. Therefore, in this embodiment of the present invention, the road condition is determined by comparing the second distance difference with the distance threshold ΔT.

[0070] If there is a foreign object blocking the view, see Figure 5 The two occlusion examples shown directly lead to |d1×cscα−d2×sinα|−L1×tanα>ΔT. At this time, the present invention regards the water level on the lower side as the normal water level.

[0071] Therefore, step S40 of "processing the first distance and the second distance based on the road condition to obtain the maximum wading depth of the vehicle" can be performed by the following steps:

[0072] If the road is normal, calculate the maximum wading depth d according to the following formula (5): max :

[0073] d max =L-d1 / cosα (5)

[0074] If the road is abnormal, calculate the maximum wading depth d according to the following formula (6): max :

[0075]

[0076] 3) The road type is longitudinal slope road. Figure 6 This is an example of a downhill road with a longitudinal slope provided by an embodiment of the present invention. Figure 7 This is an uphill example of a longitudinal slope road provided by an embodiment of the present invention.

[0077] d2 is the second distance corresponding to the second wading sensor, β is the longitudinal slope of the road, L front is the distance between the wading sensor and the front of the vehicle, L rear is the distance between the wading sensor and the rear of the vehicle, d max The maximum wading depth.

[0078] Accordingly, step S30 of “detecting the road condition under the road type according to the first distance corresponding to the first wading sensor and the second distance corresponding to the second wading sensor” may be performed by the following steps:

[0079] The third distance difference D3 on the longitudinal slope road is calculated according to the following formula (7):

[0080] D3=|d1 / cosβ-d2 / cosβ| (7)

[0081] Wherein, d1 is the first distance.

[0082] When the third distance difference is less than the preset distance threshold, it is determined that the road is normal; when the third distance difference is not less than the preset distance threshold, it is determined that the road is abnormal.

[0083] In this embodiment of the present invention, when a vehicle is traveling on a road with a longitudinal slope, the wading depth on both sides of the vehicle should be consistent. That is, the first and second distances sensed by the first and second wading sensors should satisfy d1 ≈ d2. Due to the longitudinal slope of the road, the present invention sets the third distance difference to |d1 × cscβ - d2 × cscβ|. In this embodiment of the present invention, the road condition can be determined by comparing the third distance difference with the distance threshold ΔT.

[0084] Therefore, step S40 of "processing the first distance and the second distance based on the road condition to obtain the maximum wading depth of the vehicle" can be performed by the following steps:

[0085] If the road is normal, calculate the maximum wading depth d according to the following formula (8): max :

[0086]

[0087] Wherein, L is the distance between the preset wading sensor and the supporting surface of the vehicle. The wading sensor can be the first wading sensor or the second wading sensor, which is not limited.

[0088] If the road is abnormal, calculate the maximum wading depth d according to the following formula (9): max :

[0089]

[0090] 4) The road type is mixed slope road.

[0091] Accordingly, step S30 of “detecting the road condition under the road type according to the first distance corresponding to the first wading sensor and the second distance corresponding to the second wading sensor” may be performed by the following steps:

[0092] The fourth distance difference D4 on the longitudinal slope road is calculated according to the following formula (10):

[0093] D4=|d1 / cosα-d2 / cosα|-L1×tanα+|d1 / cosβ-d2 / cosβ| (10)

[0094] Wherein, d1 is the first distance, d2 is the second distance, α is the transverse slope of the road, and β is the longitudinal slope of the road;

[0095] When the fourth distance difference is less than the preset distance threshold, it is determined that the road is normal; when the fourth distance difference is not less than the preset distance threshold, it is determined that the road is abnormal.

[0096] In the embodiment of the present invention, since both the transverse slope and the longitudinal slope exist, the side with the greater wading depth can be first determined by the transverse slope, and then the maximum wading depth of this side can be calculated in combination with the longitudinal slope.

[0097] Therefore, step S40 of "processing the first distance and the second distance based on the road condition to obtain the maximum wading depth of the vehicle" can be performed by the following steps:

[0098] If the road is normal, the maximum wading depth d is calculated according to the following formula (11): max :

[0099]

[0100] Among them, L is the distance between the preset wading sensor and the vehicle's support surface, L front is the distance between the wading sensor and the front of the vehicle, L rear is the distance between the wading sensor and the rear of the vehicle.

[0101] If the road is abnormal, calculate the maximum wading depth d according to the following formula (12): max :

[0102]

[0103] Wherein, L1 is the lateral distance between the first wading sensor and the second wading sensor.

[0104] It should be noted that in actual application scenarios, Figure 8 In the abnormal road scenario shown, occlusions occur on both sides of the vehicle body, resulting in the distance difference under the corresponding road type being less than the distance threshold. For this type of occlusion, the data sensed by the wading sensor cannot determine whether a road abnormality has occurred. Therefore, these rare scenarios can be classified as normal roads, and the maximum wading depth can be calculated using the relevant calculation method.

[0105] In some other embodiments, in order to make the user feel the wading scene, Figure 1 Based on the vehicle wading warning method shown above, an embodiment of the present invention provides another vehicle wading warning method, which further includes the following steps:

[0106] The vehicle's side view is displayed based on the maximum wading depth, with a preset warning water level line marked in the side view.

[0107] In an embodiment of the present invention, the vehicle's lateral posture changes, maximum wading depth, and warning water level line can be displayed in real time through the vehicle's central control system, showing the different wading states of the current vehicle to people in the vehicle.

[0108] When driving through flooded areas in urban or off-road areas, the vehicle monitors the current maximum wading depth in real time. The onboard central control panel displays the vehicle's wading status in real time, allowing users to intuitively perceive the wading surface. The height of the wading surface is consistent with the maximum wading depth. When approaching the warning line, an early warning is issued, allowing the driver to take appropriate actions and decisions, reducing vehicle damage and ensuring the safety of those inside.

[0109] See also Figure 9 The wading display interface shown. The wading surface and warning water level line when the vehicle is wading can be displayed in the side view of the vehicle body. The wading surface and warning water level line are always displayed horizontally, which can intuitively show the relationship between the wading surface and the vehicle body.

[0110] Of course, if there is a lateral inclination angle, there will be a difference in the sensing distance of the first wading sensor and the second wading sensor. The side with the deeper wading depth will be used as the basis to display the relationship between the wading water surface and the vehicle body.

[0111] When the front of the vehicle is facing downward (downhill), the warning water level line is based on the warning wading depth at the front of the vehicle. When the front of the vehicle is facing upward (uphill), the warning water level line is based on the warning wading depth at the rear of the vehicle.

[0112] The present invention can concretely transform the performance advantages of the vehicle model itself into a scenario with strong user perception and high applicability, allowing users to experience the vehicle's strong wading performance more intuitively and effectively, and to use the vehicle's wading performance more conveniently and flexibly in actual use of the vehicle to make corresponding driving strategy judgments.

[0113] On this basis, in order to provide different frequencies of early warning reminders to the occupants of the vehicle, the embodiment of the present invention further includes the following steps:

[0114] By comparing the maximum wading depth with the depth of the warning water level line, the vehicle's wading risk level is determined; based on the wading risk level, an icon warning and / or voice warning is issued.

[0115] In an embodiment of the present invention, when the maximum wading depth approaches the warning water level, warning icons, text, and sound alarms can be used to remind the driver to drive cautiously, avoiding dangerous situations such as engine stalling and damage to electrical components due to the driver's unknown wading depth and forcibly starting the vehicle. This also ensures the safety of the driver and passengers. The following describes the icon warning and voice warning respectively:

[0116] 1) Icon warning:

[0117] Based on the vehicle's maximum wading depth, water risk levels are divided into light wading, moderate wading, relatively heavy wading, and severe wading. Light wading means the maximum wading depth is less than or equal to 40% of the warning water level; moderate wading means the maximum wading depth is greater than 40% of the warning water level but less than or equal to 60% of the warning water level; relatively heavy wading means the maximum wading depth is greater than 60% of the warning water level but less than or equal to 80% of the warning water level; and severe wading means the maximum wading depth is greater than 80% of the warning water level.

[0118] When the maximum wading depth exceeds 40% of the warning water level, that is, moderate wading, heavy wading or severe wading occurs, a yellow warning icon will appear on the wading display interface and flash continuously to remind the driver to drive carefully. Figure 10 This is a schematic diagram of an icon warning provided by an embodiment of the present invention.

[0119] 2) Voice warning:

[0120] After vehicle wading monitoring is activated, different warning sound frequency bands can be set for different wading risk levels. Specifically, for light wading, no sound warning is issued; for moderate wading, a continuous low-frequency sound warning is issued; for more serious wading, a continuous medium-frequency sound warning is issued, and the frequency of the warning sound can gradually become faster according to a certain rule; for severe wading, a continuous high-frequency sound warning is issued, and the two warning sounds are not interrupted.

[0121] In practical applications, the vehicle wading warning method provided by the embodiment of the present invention can be applied to the in-vehicle entertainment host, and the user can turn on and off the wading warning function of the in-vehicle entertainment screen through soft keys or voice commands in the vehicle control system.

[0122] The in-car entertainment system monitors the vehicle's maximum wading depth in real time and displays the vehicle's posture and water level on the in-car entertainment screen, comparing them to the warning water level. Vehicle posture is categorized as horizontal, uphill, or downhill, with the uphill and downhill angles corresponding to the actual vehicle pitch angle ranges. Water risk levels are categorized as light, moderate, heavy, and severe.

[0123] When the maximum wading depth is greater than the vehicle's calibrated value, the maximum wading depth can be automatically displayed to the user on the in-vehicle entertainment screen. When the vehicle is moderately wading, the in-vehicle entertainment screen will pop up a text prompt "The water on the road is deep, please drive carefully!", and the yellow warning icon will continue to flash at the corresponding front and rear of the vehicle, and the sound prompt will be a continuous low-frequency prompt tone. When the vehicle is heavily wading, the in-vehicle entertainment screen will pop up a text prompt "The water on the road is deep, please drive carefully!", and the yellow warning icon will continue to flash at the corresponding front and rear of the vehicle, and the sound prompt will be a continuous medium-frequency prompt tone. When the vehicle is heavily wading, the in-vehicle entertainment screen will pop up a text prompt "The water on the road is too deep, please drive carefully!", and the yellow warning icon will continue to flash at the corresponding front and rear of the vehicle, and the sound prompt will be a continuous high-frequency prompt tone.

[0124] In addition, when the system detects that the software and hardware related to the water wading warning are not ready or have malfunctioned, such as the exterior rearview mirror cannot be opened, the door is not closed, or the water wading sensor is abnormal, an abnormal handling prompt will be displayed on the in-vehicle entertainment screen.

[0125] Based on the vehicle wading warning method provided in the above embodiment, an embodiment of the present invention provides a device for executing the above vehicle wading warning method. The structural diagram of the device is shown in FIG. Figure 11 As shown, including:

[0126] A first detection module 101 is used to detect the road type of the road where the vehicle is located;

[0127] an acquisition module 102 for acquiring a distance between the vehicle and an obstacle as sensed by a wading sensor, the wading sensor comprising a first wading sensor disposed at the bottom area of a left rearview mirror of the vehicle and a second wading sensor disposed at the bottom area of a right rearview mirror of the vehicle;

[0128] The second detection module 103 is configured to detect a road condition under the road type according to a first distance corresponding to the first wading sensor and a second distance corresponding to the second wading sensor;

[0129] The calculation module 104 is configured to process the first distance and the second distance based on the road conditions to obtain a maximum wading depth of the vehicle, where the maximum wading depth is the basis for performing a wading warning.

[0130] Optionally, the road type is a straight road;

[0131] Accordingly, the second detection module 103 is specifically configured to:

[0132] The first distance difference D1 on a straight road is calculated according to the following formula:

[0133] D1=|d1-d2|

[0134] Wherein, d1 is the first distance and d2 is the second distance;

[0135] If the first distance difference is less than the preset distance threshold, the road is determined to be normal; if the first distance difference is not less than the preset distance threshold, the road is determined to be abnormal;

[0136] Accordingly, the calculation module 104 is specifically configured to:

[0137] If the road is normal, calculate the maximum wading depth d according to the following formula max :

[0138] d max =L-D1 / 2

[0139] Wherein, L is the distance between the preset wading sensor and the supporting surface of the vehicle;

[0140] If the road is abnormal, calculate the maximum wading depth d according to the following formula max :

[0141]

[0142] Optionally, the road type is a transverse slope road;

[0143] Accordingly, the second detection module 103 is specifically configured to:

[0144] The second distance difference D2 on the transverse slope road is calculated according to the following formula:

[0145] D2=|d1 / cosα-d2 / cosα|-L1×tanα

[0146] Wherein, d1 is the first distance, d2 is the second distance, α is the lateral slope of the road, and L1 is the lateral distance between the first wading sensor and the second wading sensor;

[0147] If the second distance difference is less than the preset distance threshold, the road is determined to be normal; if the second distance difference is not less than the preset distance threshold, the road is determined to be abnormal;

[0148] Accordingly, the calculation module 104 is specifically configured to:

[0149] If the road is normal, calculate the maximum wading depth d according to the following formula max :

[0150] d max =L-d1 / cosα

[0151] Wherein, L is the distance between the preset wading sensor and the supporting surface of the vehicle;

[0152] If the road is abnormal, calculate the maximum wading depth d according to the following formula max :

[0153]

[0154] Optionally, the road type is a longitudinal slope road;

[0155] Accordingly, the second detection module 103 is specifically configured to:

[0156] The third distance difference D3 on the longitudinal slope road is calculated according to the following formula:

[0157] D3=|d1 / cosβ-d2 / cosβ|

[0158] Where d1 is the first distance, d2 is the second distance, and β is the longitudinal slope of the road;

[0159] If the third distance difference is less than the preset distance threshold, the road is determined to be normal; if the third distance difference is not less than the preset distance threshold, the road is determined to be abnormal;

[0160] Accordingly, the calculation module 104 is specifically configured to:

[0161] If the road is normal, calculate the maximum wading depth d according to the following formula max :

[0162]

[0163] Among them, L is the distance between the preset wading sensor and the vehicle's support surface, L front is the distance between the wading sensor and the front of the vehicle, L rear is the distance between the wading sensor and the rear of the vehicle;

[0164] If the road is abnormal, calculate the maximum wading depth d according to the following formula max :

[0165]

[0166] Optionally, the road type is a mixed slope road;

[0167] Accordingly, the second detection module 103 is specifically configured to:

[0168] The fourth distance difference D4 on the longitudinal slope road is calculated according to the following formula:

[0169] D4=|d1 / cosα-d2 / cosα|-L1×tanα+|d1 / cosβ-d2 / cosβ|

[0170] Wherein, d1 is the first distance, d2 is the second distance, α is the transverse slope of the road, and β is the longitudinal slope of the road;

[0171] If the fourth distance difference is less than the preset distance threshold, the road is determined to be normal; if the fourth distance difference is not less than the preset distance threshold, the road is determined to be abnormal;

[0172] Accordingly, the calculation module 104 is specifically configured to:

[0173] If the road is normal, calculate the maximum wading depth d according to the following formula max :

[0174]

[0175] Among them, L is the distance between the preset wading sensor and the vehicle's support surface, L front is the distance between the wading sensor and the front of the vehicle, L rear is the distance between the wading sensor and the rear of the vehicle;

[0176] If the road is abnormal, calculate the maximum wading depth d according to the following formula max :

[0177]

[0178] Wherein, L1 is the lateral distance between the first wading sensor and the second wading sensor.

[0179] Optionally, the above device further includes:

[0180] The early warning module is used to display the side view of the vehicle based on the maximum wading depth, and the preset warning water level line is marked in the side view of the vehicle.

[0181] Optionally, the early warning module is also used to:

[0182] By comparing the maximum wading depth with the depth of the warning water level line, the vehicle's wading risk level is determined; based on the wading risk level, an icon warning and / or voice warning is issued.

[0183] The vehicle wading warning device provided by the embodiment of the present invention can monitor in real time the maximum wading depth of a vehicle when wading on different road types and under different road conditions, so as to issue a warning to the occupants of the vehicle based on the maximum wading depth, thereby avoiding dangerous situations such as engine stalling and damage to electrical components due to forced engine starting due to unknown wading depth, thereby ensuring the life safety of the occupants of the vehicle.

[0184] Based on the vehicle wading warning method and device provided in the above embodiment, the embodiment of the present invention further provides a vehicle wading warning system, the structural diagram of which is shown in FIG. Figure 12As shown, it includes: a water wading sensor 201, a water wading sensor host 202 and an in-vehicle entertainment host 203. The water wading sensor includes a first water wading sensor 2011 arranged at the bottom area of the left rearview mirror of the vehicle, and a second water wading sensor 2012 arranged at the bottom area of the right rearview mirror of the vehicle.

[0185] The first wading sensor 2011 is used to sense a first distance between it and an obstacle below the left rearview mirror of the vehicle.

[0186] The second wading sensor 2012 is used to sense a second distance between it and an obstacle below the right rearview mirror of the vehicle.

[0187] The wading sensor host 202 is used to send the first distance and the second distance to the in-vehicle entertainment host.

[0188] The in-vehicle entertainment host 203 is used to detect the road type of the vehicle; obtain a first distance and a second distance; detect the road condition under the road type based on the first distance corresponding to the first wading sensor and the second distance corresponding to the second wading sensor; and process the first distance and the second distance based on the road condition to obtain the maximum wading depth of the vehicle, which is the basis for wading warning.

[0189] The in-vehicle entertainment host 203 is also used for:

[0190] The vehicle's side view is displayed based on the maximum wading depth, with a preset warning water level line marked in the side view.

[0191] The in-vehicle entertainment host 203 is also used for:

[0192] By comparing the maximum wading depth with the depth of the warning water level line, the vehicle's wading risk level is determined; based on the wading risk level, an icon warning and / or voice warning is issued.

[0193] In the embodiment of the present invention, the detailed process of the vehicle entertainment host 203 executing the water wading warning solution can be found in the disclosed part of the embodiment of the vehicle water wading warning method, which will not be repeated here.

[0194] In addition, in this embodiment of the present invention, the water wading sensor host 202 can be an onboard controller, such as an ECU. For example, if the water wading sensor 201 is an ultrasonic radar, since the ultrasonic radar outputs a digital signal, the water wading sensor host 202 needs to receive, process, and analyze the ultrasonic radar's digital signal to calculate the range of the left and right ultrasonic radars. The water wading sensor host 202 then sends the data to the in-vehicle entertainment host 203 via CAN. The in-vehicle entertainment host 203 then executes the water wading warning solution based on the received data.

[0195] Of course, for the in-vehicle entertainment host 203 that can directly process the digital signal of the water wading sensor 201, the water wading sensor host 202 may not be required. This embodiment of the present invention does not limit this.

[0196] See also Figure 13 The system architecture diagram of the vehicle water wading warning system is shown in the figure. The ultrasonic radar emits ultrasonic waves to sense the distance between the rearview mirror and the water surface, and sends them to the water wading sensor host in the form of a digital signal;

[0197] Wading sensor host: receives digital signals from ultrasonic radar in real time and sends them to the entertainment host via CAN.

[0198] In-vehicle entertainment host: Receives the distance signal from the rearview mirror to the water surface, the rearview mirror folding status signal, the driver and passenger door switch status signal, the vehicle pitch angle signal, the vehicle yaw angle signal, and the vehicle speed signal sent by the water wading sensor host. When the rearview mirror folding status and the driver and passenger door switch status are normal, the maximum wading depth of the vehicle is calculated according to the vehicle posture, and the owner is reminded through the interface and sound that the wading exceeds the warning water level line, and the vehicle is controlled to slow down.

[0199] The above is a detailed introduction to a vehicle wading warning method, device and system provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

[0200] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0201] It should also be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that the process, method, article, or apparatus comprising a series of elements inherent to the elements, or also including elements inherent to these processes, methods, articles, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0202] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle wading warning method, characterized in that: The method comprises: Detecting the road type of the vehicle; Obtaining a distance from a vehicle to an obstacle as sensed by a wading sensor, the wading sensor comprising a first wading sensor disposed in a bottom area of a left rearview mirror of the vehicle and a second wading sensor disposed in a bottom area of a right rearview mirror of the vehicle; detecting a road condition of the road type according to a first distance corresponding to the first wading sensor and a second distance corresponding to the second wading sensor; Processing the first distance and the second distance based on the road condition to obtain a maximum wading depth of the vehicle, wherein the maximum wading depth is a basis for performing a wading warning; The road type is a straight road; accordingly, detecting the road condition under the road type according to the first distance corresponding to the first wading sensor and the second distance corresponding to the second wading sensor includes: The first distance difference D1 on the straight road is calculated according to the following formula: D1=|d1-d2| Wherein, d1 is the first distance, and d2 is the second distance; If the first distance difference is less than a preset distance threshold, it is determined that the road is normal; If the first distance difference is not less than a preset distance threshold, determining that the road is abnormal; Accordingly, the processing of the first distance and the second distance based on the road condition to obtain the maximum wading depth of the vehicle includes: If the road is normal, calculate the maximum wading depth d according to the following formula: max : d max =L-D1 / 2 Wherein, L is the preset distance between the water wading sensor and the supporting surface of the vehicle; If the road is abnormal, calculate the maximum wading depth d according to the following formula: max :

2. The method according to claim 1, characterized in that The road type is a transverse slope road; the straight road is replaced by the transverse slope road; and accordingly, detecting a road condition under the road type according to a first distance corresponding to the first wading sensor and a second distance corresponding to the second wading sensor includes: The second distance difference D2 on the transverse slope road is calculated according to the following formula: D2=|d1 / cosα-d2 / cosα|-L1×tanα Wherein, d1 is the first distance, d2 is the second distance, α is the lateral slope of the road, and L1 is the lateral distance between the first wading sensor and the second wading sensor; If the second distance difference is less than a preset distance threshold, determining that the road is normal; If the second distance difference is not less than a preset distance threshold, determining that the road is abnormal; Accordingly, the processing of the first distance and the second distance based on the road condition to obtain the maximum wading depth of the vehicle includes: If the road is normal, calculate the maximum wading depth d according to the following formula: max : d max =L-d1 / cosα Wherein, L is the preset distance between the water wading sensor and the supporting surface of the vehicle; If the road is abnormal, calculate the maximum wading depth d according to the following formula: max :

3. The method according to claim 1, characterized in that The road type is a longitudinal slope road; the straight road is replaced by the longitudinal slope road; and accordingly, detecting a road condition under the road type based on a first distance corresponding to the first wading sensor and a second distance corresponding to the second wading sensor includes: The third distance difference D3 on the longitudinal slope road is calculated according to the following formula: D3=|d1 / cosβ-d2 / cosβ| Wherein, d1 is the first distance, d2 is the second distance, and β is the longitudinal slope of the road; If the third distance difference is less than a preset distance threshold, it is determined that the road is normal; If the third distance difference is not less than a preset distance threshold, determining that the road is abnormal; Accordingly, the processing of the first distance and the second distance based on the road condition to obtain the maximum wading depth of the vehicle includes: If the road is normal, calculate the maximum wading depth d according to the following formula: max : Wherein, L is the preset distance between the water wading sensor and the supporting surface of the vehicle, L front is the distance between the water wading sensor and the front of the vehicle, L rear is the distance between the wading sensor and the rear of the vehicle; If the road is abnormal, calculate the maximum wading depth d according to the following formula: max :

4. The method according to claim 1, wherein The road type is a mixed-slope road; the straight road is replaced by the mixed-slope road; and accordingly, detecting a road condition under the road type based on a first distance corresponding to the first wading sensor and a second distance corresponding to the second wading sensor includes: The fourth distance difference D4 on the mixed slope road is calculated according to the following formula: D4=|d1 / cosα-d2 / cosα|-L1×tanα+|d1 / cosβ-d2 / cosβ| Wherein, d1 is the first distance, d2 is the second distance, α is the transverse slope of the road, and β is the longitudinal slope of the road; If the fourth distance difference is less than a preset distance threshold, determining that the road is normal; If the fourth distance difference is not less than a preset distance threshold, determining that the road is abnormal; Accordingly, the processing of the first distance and the second distance based on the road condition to obtain the maximum wading depth of the vehicle includes: If the road is normal, calculate the maximum wading depth d according to the following formula: max : Wherein, L is the preset distance between the water wading sensor and the supporting surface of the vehicle, L front is the distance between the water wading sensor and the front of the vehicle, L rear is the distance between the wading sensor and the rear of the vehicle; If the road is abnormal, calculate the maximum wading depth d according to the following formula: max : Wherein, L1 is the lateral distance between the first water wading sensor and the second water wading sensor.

5. The method according to claim 1, wherein The method further comprises: A body side view of the vehicle is displayed based on the maximum wading depth, and a preset warning water level line is marked in the body side view.

6. The method according to claim 5, characterized in that The method further comprises: Determining a wading risk level of the vehicle by comparing the maximum wading depth with the depth of the warning water level line; An icon warning and / or voice warning is performed based on the water risk level.

7. A vehicle wading warning device, characterized in that: The device comprises: A first detection module is used to detect the road type of the road where the vehicle is located; an acquisition module, configured to acquire a distance between the vehicle and an obstacle as sensed by a wading sensor, the wading sensor comprising a first wading sensor disposed in a bottom area of a left rearview mirror of the vehicle and a second wading sensor disposed in a bottom area of a right rearview mirror of the vehicle; a second detection module, configured to detect a road condition under the road type according to a first distance corresponding to the first wading sensor and a second distance corresponding to the second wading sensor; a calculation module, configured to process the first distance and the second distance based on the road condition to obtain a maximum wading depth of the vehicle, wherein the maximum wading depth is a basis for performing a wading warning; Wherein, the road type is a straight road; accordingly, the second detection module is specifically configured to: The first distance difference D1 on the straight road is calculated according to the following formula: D1=|d1-d2| Wherein, d1 is the first distance, and d2 is the second distance; If the first distance difference is less than a preset distance threshold, it is determined that the road is normal; If the first distance difference is not less than a preset distance threshold, determining that the road is abnormal; Accordingly, the calculation module is specifically used to: If the road is normal, calculate the maximum wading depth d according to the following formula: max : d max =L-D1 / 2 Wherein, L is the preset distance between the water wading sensor and the supporting surface of the vehicle; If the road is abnormal, calculate the maximum wading depth d according to the following formula: max :

8. The device according to claim 7, characterized in that The road type is a transverse slope road; the straight road is replaced by the transverse slope road; accordingly, the second detection module is specifically configured to: The second distance difference D2 on the transverse slope road is calculated according to the following formula: D2=|d1 / cosα-d2 / cosα|-L1×tanα Wherein, d1 is the first distance, d2 is the second distance, α is the lateral slope of the road, and L1 is the lateral distance between the first wading sensor and the second wading sensor; If the second distance difference is less than a preset distance threshold, determining that the road is normal; If the second distance difference is not less than a preset distance threshold, determining that the road is abnormal; Accordingly, the calculation module is specifically used to: If the road is normal, calculate the maximum wading depth d according to the following formula: max : d max =L-d1 / cosα Wherein, L is the preset distance between the water wading sensor and the supporting surface of the vehicle; If the road is abnormal, calculate the maximum wading depth d according to the following formula: max :

9. The device according to claim 7, characterized in that The road type is a longitudinal slope road; the straight road is replaced by the longitudinal slope road; accordingly, the second detection module is specifically configured to: The third distance difference D3 on the longitudinal slope road is calculated according to the following formula: D3=|d1 / cosβ-d2 / cosβ| Wherein, d1 is the first distance, d2 is the second distance, and β is the longitudinal slope of the road; If the third distance difference is less than a preset distance threshold, it is determined that the road is normal; If the third distance difference is not less than a preset distance threshold, determining that the road is abnormal; Accordingly, the calculation module is specifically used to: If the road is normal, calculate the maximum wading depth d according to the following formula: max : Wherein, L is the preset distance between the water wading sensor and the supporting surface of the vehicle, L front is the distance between the water wading sensor and the front of the vehicle, L rear is the distance between the wading sensor and the rear of the vehicle; If the road is abnormal, calculate the maximum wading depth d according to the following formula: max :

10. The device according to claim 7, characterized in that The road type is a mixed-slope road; the mixed-slope road is used to replace the straight road; accordingly, the second detection module is specifically configured to: The fourth distance difference D4 on the mixed slope road is calculated according to the following formula: D4=|d1 / cosα-d2 / cosα|-L1×tanα+|d1 / cosβ-d2 / cosβ| Wherein, d1 is the first distance, d2 is the second distance, α is the transverse slope of the road, and β is the longitudinal slope of the road; If the fourth distance difference is less than a preset distance threshold, determining that the road is normal; If the fourth distance difference is not less than a preset distance threshold, determining that the road is abnormal; Accordingly, the calculation module is specifically used to: If the road is normal, calculate the maximum wading depth d according to the following formula: max : Wherein, L is the preset distance between the water wading sensor and the supporting surface of the vehicle, L front is the distance between the water wading sensor and the front of the vehicle, L rear is the distance between the wading sensor and the rear of the vehicle; If the road is abnormal, calculate the maximum wading depth d according to the following formula: max : Wherein, L1 is the lateral distance between the first water wading sensor and the second water wading sensor.

11. A vehicle wading warning system, characterized in that: The system includes: a wading sensor, a wading sensor host and an in-vehicle entertainment host, wherein the wading sensor includes a first wading sensor disposed in the bottom area of the left rearview mirror of the vehicle, and a second wading sensor disposed in the bottom area of the right rearview mirror of the vehicle; The first wading sensor is configured to sense a first distance between the first wading sensor and an obstacle below the left rearview mirror of the vehicle; The second wading sensor is configured to sense a second distance between the second wading sensor and an obstacle below the right rearview mirror of the vehicle; The water wading sensor host is used to send the first distance and the second distance to the in-vehicle entertainment host; The in-vehicle entertainment host is configured to detect a road type of a road on which the vehicle is located; obtain the first distance and the second distance; detect a road condition under the road type based on the first distance corresponding to the first wading sensor and the second distance corresponding to the second wading sensor; and process the first distance and the second distance based on the road condition to obtain a maximum wading depth of the vehicle, the maximum wading depth being the basis for providing a wading warning; The road type is a straight road; accordingly, detecting the road condition under the road type according to the first distance corresponding to the first wading sensor and the second distance corresponding to the second wading sensor includes: The first distance difference D1 on the straight road is calculated according to the following formula: D1=|d1-d2| Wherein, d1 is the first distance, and d2 is the second distance; If the first distance difference is less than a preset distance threshold, it is determined that the road is normal; If the first distance difference is not less than a preset distance threshold, determining that the road is abnormal; Accordingly, the processing of the first distance and the second distance based on the road condition to obtain the maximum wading depth of the vehicle includes: If the road is normal, calculate the maximum wading depth d according to the following formula: max : d max =L-D1 / 2 Wherein, L is the preset distance between the water wading sensor and the supporting surface of the vehicle; If the road is abnormal, calculate the maximum wading depth d according to the following formula: max :

12. The system according to claim 11, wherein: The road type is a transverse slope road; the straight road is replaced by the transverse slope road; and accordingly, detecting a road condition under the road type according to a first distance corresponding to the first wading sensor and a second distance corresponding to the second wading sensor includes: The second distance difference D2 on the transverse slope road is calculated according to the following formula: D2=|d1 / cosα-d2 / cosα|-L1×tanα Wherein, d1 is the first distance, d2 is the second distance, α is the lateral slope of the road, and L1 is the lateral distance between the first wading sensor and the second wading sensor; If the second distance difference is less than a preset distance threshold, determining that the road is normal; If the second distance difference is not less than a preset distance threshold, determining that the road is abnormal; Accordingly, the processing of the first distance and the second distance based on the road condition to obtain the maximum wading depth of the vehicle includes: If the road is normal, calculate the maximum wading depth d according to the following formula: max : d max =L-d1 / cosα Wherein, L is the preset distance between the water wading sensor and the supporting surface of the vehicle; If the road is abnormal, calculate the maximum wading depth d according to the following formula: max :

13. The system according to claim 11, wherein: The road type is a longitudinal slope road; the straight road is replaced by the longitudinal slope road; and accordingly, detecting a road condition under the road type based on a first distance corresponding to the first wading sensor and a second distance corresponding to the second wading sensor includes: The third distance difference D3 on the longitudinal slope road is calculated according to the following formula: D3=|d1 / cosβ-d2 / cosβ| Wherein, d1 is the first distance, d2 is the second distance, and β is the longitudinal slope of the road; If the third distance difference is less than a preset distance threshold, it is determined that the road is normal; If the third distance difference is not less than a preset distance threshold, determining that the road is abnormal; Accordingly, the processing of the first distance and the second distance based on the road condition to obtain the maximum wading depth of the vehicle includes: If the road is normal, calculate the maximum wading depth d according to the following formula: max : Wherein, L is the preset distance between the water wading sensor and the supporting surface of the vehicle, L front is the distance between the water wading sensor and the front of the vehicle, L rear is the distance between the wading sensor and the rear of the vehicle; If the road is abnormal, calculate the maximum wading depth d according to the following formula: max :

14. The system according to claim 11, wherein: The road type is a mixed-slope road; the straight road is replaced by the mixed-slope road; and accordingly, detecting a road condition under the road type based on a first distance corresponding to the first wading sensor and a second distance corresponding to the second wading sensor includes: The fourth distance difference D4 on the mixed slope road is calculated according to the following formula: D4=|d1 / cosα-d2 / cosα|-L1×tanα+|d1 / cosβ-d2 / cosβ| Wherein, d1 is the first distance, d2 is the second distance, α is the transverse slope of the road, and β is the longitudinal slope of the road; If the fourth distance difference is less than a preset distance threshold, determining that the road is normal; If the fourth distance difference is not less than a preset distance threshold, determining that the road is abnormal; Accordingly, the processing of the first distance and the second distance based on the road condition to obtain the maximum wading depth of the vehicle includes: If the road is normal, calculate the maximum wading depth d according to the following formula: max : Wherein, L is the preset distance between the water wading sensor and the supporting surface of the vehicle, L front is the distance between the water wading sensor and the front of the vehicle, L rear is the distance between the wading sensor and the rear of the vehicle; If the road is abnormal, calculate the maximum wading depth d according to the following formula: max : Wherein, L1 is the lateral distance between the first water wading sensor and the second water wading sensor.

15. The system according to claim 11, wherein: The in-vehicle entertainment host is also used for: A body side view of the vehicle is displayed based on the maximum wading depth, and a preset warning water level line is marked in the body side view.

Images