Vehicle wading warning method, system and readable storage medium

Abstract

The present invention provides a vehicle wading warning method, system and readable storage medium, the method comprising: obtaining the speed information of the current vehicle, and judging whether the speed information is less than the preset speed; if the speed information is less than the preset speed, automatically turning on the wading mode, and detecting the body posture of the current vehicle in real time; based on the body posture, determining the measured distance between the current vehicle reference position and the water surface; when the measured distance reaches the set threshold, issuing a corresponding alarm prompt. The method solves the technical problem in the prior art that the driver cannot judge the depth of the water surface, which leads to the easy occurrence of accidents in the vehicle wading driving.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile wading warning technology, and in particular to a vehicle wading warning method, system and readable storage medium. Background Art

[0002] Cars often encounter flooded roads during driving. In certain circumstances, cars need to cross deeper water to reach their destination, and sometimes they need to drive in heavy rain. All of the above situations require wading driving. With the continuous development of automobile technology, people have also put forward higher requirements for the safety of wading driving.

[0003] Driving a car through water is very different from driving in normal traffic conditions. For example, the impact of the water flow on the car will increase the resistance to the vehicle's forward movement, and the water flow will produce thrust in various directions on the moving car, causing the vehicle to easily skid and the steering wheel to lose control, etc. In addition, the pressure between the tires and the underwater road surface is reduced, the driving force is restricted, and the vehicle's travel is hindered, which will lead to traffic accidents and rollovers. Therefore, driving a car through water is a very dangerous driving condition.

[0004] However, in the current existing technology, the driver cannot judge the depth of the water, and basically relies on the driver to manually operate and adjust to control the vehicle, and the effect depends to a large extent on the driver's personal driving skills. Since this control is manual control, the stability, accuracy and reliability of the effect will be discounted. In addition, when dealing with emergencies occurring during vehicle wading driving, it is impossible to respond quickly and accurately, which often leads to serious traffic accidents. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide a vehicle wading warning method, system and readable storage medium, which are used to solve the technical problem in the prior art that the driver is unable to judge the depth of the water surface, resulting in accidents that are prone to occur during wading driving.

[0006] In one aspect, the present invention provides a vehicle wading warning method, the method comprising:

[0007] Obtaining the current vehicle speed information, and determining whether the vehicle speed information is less than a preset vehicle speed;

[0008] If the vehicle speed information is less than the preset vehicle speed, the wading mode is automatically turned on, and the current vehicle body posture is detected in real time;

[0009] Based on the vehicle body posture, determining a measured distance between a current vehicle reference position and a water surface;

[0010] When the measured distance reaches a set threshold, a corresponding alarm prompt is issued.

[0011] Preferably, the step of detecting the current vehicle body posture in real time specifically includes:

[0012] Obtain the horizontal height information of the front wheels and rear wheels of the current vehicle during driving, and compare the horizontal height information of the front wheels and rear wheels to determine the body posture of the current vehicle;

[0013] If the level of the front wheels is lower than the level of the rear wheels, it is determined that the current vehicle is in a first body posture;

[0014] If the horizontal height of the front wheels is equal to the horizontal height of the rear wheels, it is determined that the current vehicle is in the second body posture;

[0015] If the level of the front wheels is higher than the level of the rear wheels, it is determined that the current vehicle is in the third body posture.

[0016] Preferably, the step of determining the measured distance between the current vehicle reference position and the water surface based on the vehicle body posture specifically includes:

[0017] If the current vehicle is in the first body posture, the front section of the vehicle body is selected as the current reference position, and the measurement distance between the reference position and the water surface is measured;

[0018] If the current vehicle is in the second body posture, the middle section of the vehicle body is selected as the current reference position, and the measurement distance between the reference position and the water surface is measured;

[0019] If the current vehicle is in the third body posture, the rear section of the vehicle body is selected as the current reference position, and the measurement distance between the reference position and the water surface is measured.

[0020] Preferably, if the current vehicle is in the first body posture, the calculation formula for the measured distance between the current reference position and the water surface is:

[0021] H'=(H1 / H0)*H;

[0022] Wherein, H' is the measured distance between the current reference position and the water surface in the first body posture, H1 is the distance to the water surface measured by the sensor on the front tailgate, H0 is the standard value, and H is the distance to the water surface measured by the sensor on the rearview mirror;

[0023] If the current vehicle is in the third body posture, the calculation formula for the measured distance between the current reference position and the water surface is:

[0024] H''=(H2 / H0)*H;

[0025] Among them, H'' is the measured distance between the current reference position and the water surface in the third body posture, H2 is the distance to the water surface measured by the sensor on the tailgate, H0 is the standard value, and H is the distance to the water surface measured by the sensor on the rearview mirror.

[0026] Preferably, when the measured distance reaches a set threshold, the step of issuing a corresponding alarm prompt specifically includes:

[0027] Comparing the measured distance with a first preset warning distance, a second preset warning distance, and a third preset warning distance, wherein the first preset warning distance is smaller than the second preset warning distance, and the second preset warning distance is smaller than the third preset warning distance;

[0028] If the measured distance is less than or equal to the first preset warning distance, no alarm prompt is issued;

[0029] If the measured distance is greater than the first warning distance and less than or equal to the second warning distance, a first level alarm is issued;

[0030] If the measured distance is greater than the second warning distance and less than or equal to the third warning distance, a second level alarm is issued;

[0031] If the measured distance is greater than the third warning distance, a third level alarm prompt is issued.

[0032] Preferably, after the step of issuing an alarm when the measured distance reaches a set threshold, the method further comprises:

[0033] Monitor the measured distance between the current vehicle and the water surface, as well as the vehicle speed information under the current driving state;

[0034] If the measured distance is less than or equal to the first preset warning distance, and the vehicle speed information is greater than the preset vehicle speed, the wading mode is turned off and the real-time detection of the current vehicle's body posture is stopped.

[0035] Another aspect of the present invention further provides a vehicle wading warning system, comprising:

[0036] The speed measurement module is used to obtain the current vehicle speed information and determine whether the speed information is less than a preset speed;

[0037] A vehicle body posture detection module, used to automatically start the wading mode if the vehicle speed information is less than the preset vehicle speed, and detect the current vehicle body posture in real time;

[0038] A distance measurement module, used for determining a measured distance between a current vehicle reference position and a water surface based on the vehicle body posture;

[0039] The alarm module is used to issue a corresponding alarm prompt when the measured distance reaches a set threshold.

[0040] Preferably, the vehicle body posture detection module comprises:

[0041] The vehicle body posture detection unit is used to obtain the horizontal height information of the front wheels and rear wheels of the current vehicle during driving, and compare the horizontal height information of the front wheels and the rear wheels to determine the current vehicle body posture;

[0042] a first vehicle body posture determination unit, configured to determine that the current vehicle is in a first vehicle body posture if the level of the front wheels is lower than the level of the rear wheels;

[0043] a second vehicle body posture determination unit, configured to determine that the current vehicle is in a second vehicle body posture if the horizontal height of the front wheels is equal to the horizontal height of the rear wheels;

[0044] The third vehicle body posture determination unit is used to determine that the current vehicle is in a third vehicle body posture if the level of the front wheels is higher than the level of the rear wheels.

[0045] Preferably, the ranging module includes:

[0046] a first distance measuring unit, configured to select the front section of the vehicle body as the current reference position and measure the distance between the reference position and the water surface if the vehicle is currently in the first body posture;

[0047] a second distance measuring unit, for selecting the middle section of the vehicle body as the current reference position if the vehicle is currently in the second body posture, and measuring the distance between the reference position and the water surface;

[0048] The third distance measuring unit is used to select the rear section of the vehicle body as the current reference position if the current vehicle is in the third vehicle body posture, and measure the measurement distance between the reference position and the water surface.

[0049] Preferably, the alarm module comprises:

[0050] a comparing unit, configured to compare the measured distance with a first preset warning distance, a second preset warning distance, and a third preset warning distance, wherein the first preset warning distance is smaller than the second preset warning distance, and the second preset warning distance is smaller than the third preset warning distance;

[0051] A first alarm unit, configured to not issue an alarm if the measured distance is less than or equal to the first preset warning distance;

[0052] A second alarm unit, configured to issue a first level alarm if the measured distance is greater than the first warning distance and less than or equal to the second warning distance;

[0053] A third alarm unit, configured to issue a second level alarm if the measured distance is greater than the second warning distance and less than or equal to the third warning distance;

[0054] The fourth alarm unit issues a third level alarm if the measured distance is greater than the third warning distance.

[0055] Furthermore, the system further comprises:

[0056] A monitoring module is used to monitor the measured distance between the current vehicle and the water surface, as well as the vehicle speed information under the current driving state;

[0057] The pause module is used to turn off the wading mode and stop real-time detection of the current vehicle's body posture if the measured distance is less than or equal to the first preset warning distance and the vehicle speed information is greater than a preset vehicle speed.

[0058] Another aspect of the present invention further provides a readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle wading warning method as described above.

[0059] Compared with the prior art, the beneficial effect of the present invention is that during driving, the vehicle can automatically turn on the wading mode according to whether the vehicle speed information is lower than a preset speed. In the wading mode, the vehicle can measure the distance between the vehicle body and the water surface according to the current vehicle body posture, that is, the measured distance between the vehicle body and the water surface is adaptively adjusted under different road conditions to improve the accuracy of wading depth measurement. When the measured distance reaches a preset threshold, a corresponding alarm prompt is issued to remind the driver of the water level depth of the vehicle when wading, so as to avoid the vehicle stalling due to excessive water level. This solves the technical problem in the prior art that the driver cannot judge the depth of the water surface, which makes the vehicle prone to accidents during wading driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0061] Figure 1 This is a flow chart of a vehicle wading warning method in a first embodiment of the present invention;

[0062] Figure 2 It is a structural block diagram of a vehicle wading warning system in a third embodiment of the present invention;

[0063] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0064] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0065] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0066] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present invention belongs. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0067] Embodiment 1

[0068] See also Figure 1 , which shows a vehicle wading warning method in a first embodiment of the present invention, the method comprises:

[0069] S101, obtaining the current vehicle speed information, and determining whether the vehicle speed information is less than a preset vehicle speed;

[0070] Specifically, the vehicle continuously detects its own speed information during driving. When the speed is lower than 10km / h, the wading mode is automatically turned on. The preset speed can be adaptively adjusted according to the driver's habits and is not limited to 10km / h.

[0071] S102, if the vehicle speed information is less than the preset vehicle speed, automatically turning on the wading mode and detecting the current vehicle body posture in real time;

[0072] Specifically, the vehicle body posture can be measured by a combination of a gyroscope, an acceleration sensor and an angle sensor to detect the vehicle body posture under different road conditions, such as the degree of vehicle body inclination when driving on uphill, downhill or flat roads. It should be noted that the measurement of the vehicle body posture is usually the angle of the vehicle body relative to the horizontal axis or plane.

[0073] S103, determining a measured distance between a current vehicle reference position and a water surface based on the vehicle body posture;

[0074] Specifically, water level sensors are respectively provided on the rearview mirror, front tailgate and rear tailgate of the vehicle. The water level sensors may be ultrasonic sensors, wherein the water level depth measured by the water level sensor on the rearview mirror is used as the main judgment parameter.

[0075] S104: When the measured distance reaches a set threshold, a corresponding alarm is issued.

[0076] Specifically, when the wading depth measured at the rearview mirror is greater than 10 cm, an alarm will be issued to remind the driver to prevent accidents caused by excessive wading depth. If the wading depth is less than 10 cm, no alarm will be issued and the water level depth will continue to be monitored provided that the vehicle speed is not higher than the preset speed.

[0077] In summary, in the vehicle wading warning method in the above-mentioned embodiment of the present invention, during driving, the driver can automatically turn on the wading mode of the vehicle according to whether the vehicle speed information is lower than a preset speed. In the wading mode, the vehicle can measure the distance between the vehicle body and the water surface according to the current vehicle body posture, that is, make adaptive adjustments to the measured distance between the vehicle body and the water surface under different road conditions to improve the accuracy of wading depth measurement. When the measured distance reaches a preset threshold, a corresponding alarm prompt is issued to remind the driver of the water level depth of the vehicle when wading, so as to avoid the vehicle stalling due to excessive water level. This solves the technical problem in the prior art that the driver cannot judge the depth of the water surface, which makes the vehicle prone to accidents during wading driving.

[0078] Embodiment 2

[0079] The vehicle wading warning method in the second embodiment of the present invention comprises the following steps:

[0080] Step S11, obtaining the current vehicle speed information, and determining whether the vehicle speed information is less than a preset vehicle speed;

[0081] Step S12, if the vehicle speed information is less than the preset vehicle speed, the wading mode is automatically turned on, and the current vehicle body posture is detected in real time;

[0082] Step S13, determining a measured distance between a current vehicle reference position and a water surface based on the vehicle body posture;

[0083] Step S14: When the measured distance reaches a set threshold, a corresponding alarm is issued.

[0084] It should be explained that, for the parts not described in step S11, step S12, step S13 and step S14 in this embodiment, reference may be made to the first embodiment.

[0085] Furthermore, the step of detecting the current vehicle body posture in real time specifically includes:

[0086] Obtain the horizontal height information of the front wheels and rear wheels of the current vehicle during driving, and compare the horizontal height information of the front wheels and rear wheels to determine the body posture of the current vehicle;

[0087] If the level of the front wheels is lower than the level of the rear wheels, it is determined that the current vehicle is in a first body posture;

[0088] If the horizontal height of the front wheels is equal to the horizontal height of the rear wheels, it is determined that the current vehicle is in the second body posture;

[0089] If the level of the front wheels is higher than the level of the rear wheels, it is determined that the current vehicle is in the third body posture.

[0090] It can be understood that when a car is driving under different road conditions, the gyroscope can be used to detect the height difference between the front wheels and the rear wheels, and the current posture of the vehicle can be determined based on the height difference between the front wheels and the rear wheels. Among them, the first body posture is that the vehicle is in a forward leaning posture, the second body posture is that the vehicle is in a horizontal posture, and the third body posture is that the vehicle is in a backward leaning posture.

[0091] Furthermore, the step of determining the measured distance between the current vehicle reference position and the water surface based on the vehicle body posture specifically includes:

[0092] If the current vehicle is in the first body posture, the front section of the vehicle body is selected as the current reference position, and the measurement distance between the reference position and the water surface is measured;

[0093] If the current vehicle is in the second body posture, the middle section of the vehicle body is selected as the current reference position, and the measurement distance between the reference position and the water surface is measured;

[0094] If the current vehicle is in the third body posture, the rear section of the vehicle body is selected as the current reference position, and the measurement distance between the reference position and the water surface is measured.

[0095] Specifically, if the current vehicle is in the first body posture, the calculation formula for the measured distance between the current reference position and the water surface is:

[0096] Formula 1: H'= (H1 / H0)*H;

[0097] Wherein, H' is the measured distance between the current reference position and the water surface in the first body posture, H1 is the distance to the water surface measured by the sensor on the front tailgate, H0 is the standard value, and H is the distance to the water surface measured by the sensor on the rearview mirror.

[0098] If the current vehicle is in the second body posture, the calculation formula for the measured distance between the current reference position and the water surface is:

[0099] Formula 2: H~=H;

[0100] Wherein, H~ is the measured distance between the current reference position and the water surface in the second vehicle body posture, and H is the distance to the water surface measured by the sensor on the rearview mirror;

[0101] If the current vehicle is in the third body posture, the calculation formula for the measured distance between the current reference position and the water surface is:

[0102] Formula 3: H''= (H2 / H0)*H;

[0103] Among them, H'' is the measured distance between the current reference position and the water surface in the third body posture, H2 is the distance to the water surface measured by the sensor on the tailgate, H0 is the standard value, and H is the distance to the water surface measured by the sensor on the rearview mirror.

[0104] In this embodiment, when the vehicle is in a first body posture, the distance to the water surface measured by the sensor on the rearview mirror can be corrected by formula 1. When the vehicle is in a third body posture, the distance to the water surface measured by the sensor on the rearview mirror can be corrected by formula 3. This improves the accuracy of the actual measured wading depth and improves the reliability of the data.

[0105] Furthermore, when the measured distance reaches a set threshold, the step of issuing a corresponding alarm prompt specifically includes:

[0106] Comparing the measured distance with a first preset warning distance, a second preset warning distance, and a third preset warning distance, wherein the first preset warning distance is smaller than the second preset warning distance, and the second preset warning distance is smaller than the third preset warning distance;

[0107] If the measured distance is less than or equal to the first preset warning distance, no alarm prompt is issued;

[0108] If the measured distance is greater than the first warning distance and less than or equal to the second warning distance, a first level alarm is issued;

[0109] If the measured distance is greater than the second warning distance and less than or equal to the third warning distance, a second level alarm is issued;

[0110] If the measured distance is greater than the third warning distance, a third level alarm prompt is issued.

[0111] Among them, the first preset warning distance, the second preset warning distance and the third preset warning distance can be set according to different vehicle models, and are not limited here. In this embodiment, the first level of alarm prompt is an animation of the car in the water displayed on the instrument or IVI, and the water level line is displayed in green. The second level of alarm prompt is an animation of the car in the water displayed on the instrument or IVI, and the water level line is displayed in yellow, and the instrument emits an alarm sound with a frequency of 1s. The third level of alarm prompt is that the vehicle animation displayed on the instrument and IVI stops and flashes, the water level line is displayed in red, and the instrument emits an alarm sound with a frequency of 1s.

[0112] Furthermore, after the step of issuing an alarm when the measured distance reaches a set threshold, the method further comprises:

[0113] Monitor the measured distance between the current vehicle and the water surface, as well as the vehicle speed information under the current driving state;

[0114] If the measured distance is less than or equal to the first preset warning distance, and the vehicle speed information is greater than the preset vehicle speed, the wading mode is turned off and the real-time detection of the current vehicle's body posture is stopped.

[0115] In summary, in the vehicle wading warning method in the above-mentioned embodiment of the present invention, during driving, the driver can automatically turn on the wading mode of the vehicle according to whether the vehicle speed information is lower than a preset speed. In the wading mode, the vehicle can measure the distance between the vehicle body and the water surface according to the current vehicle body posture, that is, make adaptive adjustments to the measured distance between the vehicle body and the water surface under different road conditions to improve the accuracy of wading depth measurement. When the measured distance reaches a preset threshold, a corresponding alarm prompt is issued to remind the driver of the water level depth of the vehicle when wading, so as to avoid the vehicle stalling due to excessive water level. This solves the technical problem in the prior art that the driver cannot judge the depth of the water surface, which makes the vehicle prone to accidents during wading driving.

[0116] Embodiment 3

[0117] The present invention also provides a vehicle wading warning system, see Figure 2 As shown, the system includes:

[0118] The speed measuring module 10 is used to obtain the current vehicle speed information and determine whether the vehicle speed information is less than a preset vehicle speed;

[0119] The vehicle body posture detection module 20 is used to automatically start the wading mode if the vehicle speed information is less than the preset vehicle speed, and detect the vehicle body posture in real time;

[0120] The distance measuring module 30 is used to determine the measured distance between the current vehicle reference position and the water surface based on the vehicle body posture;

[0121] The alarm module 40 is used to issue a corresponding alarm prompt when the measured distance reaches a set threshold.

[0122] Furthermore, the vehicle body posture detection module 20 includes:

[0123] The vehicle body posture detection unit 21 is used to obtain the horizontal height information of the front wheels and the rear wheels of the current vehicle during driving, and compare the horizontal height information of the front wheels and the rear wheels to determine the vehicle body posture of the current vehicle;

[0124] A first vehicle body posture determination unit 22, configured to determine that the current vehicle is in a first vehicle body posture if the level of the front wheels is lower than the level of the rear wheels;

[0125] A second vehicle body posture determination unit 23, configured to determine that the current vehicle is in a second vehicle body posture if the horizontal height of the front wheels is equal to the horizontal height of the rear wheels;

[0126] The third vehicle body posture determination unit 24 is configured to determine that the current vehicle is in a third vehicle body posture if the level of the front wheels is higher than the level of the rear wheels.

[0127] Furthermore, the distance measurement module 30 includes:

[0128] A first distance measuring unit 31 is used for selecting the front section of the vehicle body as the current reference position and measuring the distance between the reference position and the water surface if the current vehicle is in the first body posture;

[0129] A second distance measuring unit 32, configured to select the middle section of the vehicle body as the current reference position if the vehicle is currently in the second body posture, and measure the measurement distance between the reference position and the water surface;

[0130] The third distance measuring unit 33 is used to select the rear section of the vehicle body as the current reference position if the current vehicle is in the third vehicle body posture, and measure the measurement distance between the reference position and the water surface.

[0131] Furthermore, the alarm module 40 includes:

[0132] A comparison unit 41 is used to compare the measured distance with a first preset warning distance, a second preset warning distance and a third preset warning distance, wherein the first preset warning distance is smaller than the second preset warning distance, and the second preset warning distance is smaller than the third preset warning distance;

[0133] A first alarm unit 42, configured not to issue an alarm if the measured distance is less than or equal to the first preset warning distance;

[0134] A second alarm unit 43, configured to issue a first level alarm if the measured distance is greater than the first warning distance and less than or equal to the second warning distance;

[0135] A third alarm unit 44, configured to issue a second level alarm if the measured distance is greater than the second warning distance and less than or equal to the third warning distance;

[0136] The fourth alarm unit 45 issues a third level alarm if the measured distance is greater than the third warning distance.

[0137] Furthermore, the system further comprises:

[0138] A monitoring module 50 is used to monitor the measured distance between the current vehicle and the water surface, and the vehicle speed information under the current driving state;

[0139] The pause module 60 is used to turn off the wading mode and stop real-time detection of the current vehicle's body posture if the measured distance is less than or equal to the first preset warning distance and the vehicle speed information is greater than a preset vehicle speed.

[0140] In summary, in the vehicle wading warning system in the above-mentioned embodiment of the present invention, when the driver is driving, the speed measurement module detects whether the vehicle speed information is lower than the preset speed and automatically turns on the wading mode. In the wading mode, the vehicle can measure the distance between the vehicle body and the water surface according to the current vehicle body posture, that is, the measured distance between the vehicle body and the water surface is adaptively adjusted under different road conditions to improve the accuracy of wading depth measurement. When the distance measured by the distance measurement module reaches a preset threshold, the alarm module issues a corresponding alarm prompt to remind the driver of the water level depth of the vehicle when wading, so as to avoid the vehicle stalling due to excessive water level. This solves the technical problem in the prior art that the driver cannot judge the depth of the water surface, which makes the vehicle prone to accidents during wading driving.

[0141] Embodiment 4

[0142] The present invention also provides a readable storage medium on which a computer program is stored. When the program is executed by a processor, the vehicle wading warning method as described above is implemented.

[0143] The present invention also proposes a server, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned vehicle wading warning method when executing the program.

[0144] Those skilled in the art will appreciate that the logic and / or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for implementing logical functions, and may be specifically implemented in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in conjunction with such instruction execution systems, devices or apparatuses. For purposes of this specification, "computer-readable medium" may be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in conjunction with such instruction execution systems, devices or apparatuses.

[0145] More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic device), a portable computer disk case (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be a paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering or, if necessary, processing in another suitable manner, and then stored in a computer memory.

[0146] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or a combination thereof: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0147] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0148] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A vehicle wading warning method, characterized in that: The method comprises: Obtaining the current vehicle speed information, and determining whether the vehicle speed information is less than a preset vehicle speed; If the vehicle speed information is less than the preset vehicle speed, the wading mode is automatically turned on, and the current vehicle body posture is detected in real time; Based on the vehicle body posture, determining a measured distance between a current vehicle reference position and a water surface; When the measured distance reaches a set threshold, a corresponding alarm prompt is issued; The step of detecting the current vehicle body posture in real time specifically includes: Obtain the horizontal height information of the front wheels and rear wheels of the current vehicle during driving, and compare the horizontal height information of the front wheels and rear wheels to determine the body posture of the current vehicle; If the level of the front wheels is lower than the level of the rear wheels, it is determined that the current vehicle is in a first body posture; If the horizontal height of the front wheels is equal to the horizontal height of the rear wheels, it is determined that the current vehicle is in the second body posture; If the level of the front wheels is higher than the level of the rear wheels, it is determined that the current vehicle is in a third body posture; The step of determining the measured distance between the current vehicle reference position and the water surface based on the vehicle body posture specifically includes: If the current vehicle is in the first body posture, the front section of the vehicle body is selected as the current reference position, and the measurement distance between the current reference position and the water surface is measured; If the current vehicle is in the second body posture, the middle section of the vehicle body is selected as the current reference position, and the measurement distance between the current reference position and the water surface is measured; If the current vehicle is in the third body posture, the rear section of the vehicle body is selected as the current reference position, and the measurement distance between the current reference position and the water surface is measured; If the current vehicle is in the first body posture, the calculation formula for the measured distance between the current reference position and the water surface is: H'=(H1 / H0)*H; Wherein, H' is the measured distance between the current reference position and the water surface in the first body posture, H1 is the distance to the water surface measured by the sensor on the front tailgate, H0 is the standard value, and H is the distance to the water surface measured by the sensor on the rearview mirror; If the current vehicle is in the third body posture, the calculation formula for the measured distance between the current reference position and the water surface is: H''=(H2 / H0)*H; Among them, H'' is the measured distance between the current reference position and the water surface in the third body posture, H2 is the distance to the water surface measured by the sensor on the tailgate, H0 is the standard value, and H is the distance to the water surface measured by the sensor on the rearview mirror.

2. The vehicle wading warning method according to claim 1, characterized in that: When the measured distance reaches a set threshold, the step of issuing a corresponding alarm prompt specifically includes: Comparing the measured distance with a first preset warning distance, a second preset warning distance, and a third preset warning distance, wherein the first preset warning distance is smaller than the second preset warning distance, and the second preset warning distance is smaller than the third preset warning distance; If the measured distance is less than or equal to the first preset warning distance, no alarm prompt is issued; If the measured distance is greater than the first preset warning distance and less than or equal to the second preset warning distance, a first level alarm is issued; If the measured distance is greater than the second preset warning distance and less than or equal to the third preset warning distance, a second level alarm is issued; If the measured distance is greater than the third preset warning distance, a third level alarm prompt is issued.

3. The vehicle wading warning method according to claim 2, characterized in that: After the step of issuing an alarm when the measured distance reaches a set threshold, the method further comprises: Monitor the measured distance between the current vehicle and the water surface, as well as the vehicle speed information under the current driving state; If the measured distance is less than or equal to the first preset warning distance, and the vehicle speed information is greater than the preset vehicle speed, the wading mode is turned off and the real-time detection of the current vehicle's body posture is stopped.

4. A vehicle wading warning system, characterized in that: include: The speed measurement module is used to obtain the current vehicle speed information and determine whether the speed information is less than a preset speed; A vehicle body posture detection module, used to automatically start the wading mode if the vehicle speed information is less than the preset vehicle speed, and detect the current vehicle body posture in real time; A distance measurement module, used for determining a measured distance between a current vehicle reference position and a water surface based on the vehicle body posture; An alarm module is used to issue a corresponding alarm prompt when the measured distance reaches a set threshold; The vehicle body posture detection module comprises: The vehicle body posture detection unit is used to obtain the horizontal height information of the front wheels and rear wheels of the current vehicle during driving, and compare the horizontal height information of the front wheels and the rear wheels to determine the current vehicle body posture; a first vehicle body posture determination unit, configured to determine that the current vehicle is in a first vehicle body posture if the level of the front wheels is lower than the level of the rear wheels; a second vehicle body posture determination unit, configured to determine that the current vehicle is in a second vehicle body posture if the horizontal height of the front wheels is equal to the horizontal height of the rear wheels; a third vehicle body posture determination unit, configured to determine that the current vehicle is in a third vehicle body posture if the level of the front wheels is higher than the level of the rear wheels; The ranging module comprises: a first distance measuring unit, configured to select the front section of the vehicle body as the current reference position and measure the distance between the reference position and the water surface if the vehicle is currently in the first body posture; A second distance measuring unit, configured to select the middle section of the vehicle body as the current reference position if the vehicle is currently in the second body posture, and measure the measurement distance between the reference position and the water surface; A third distance measuring unit, configured to select the rear section of the vehicle body as the current reference position if the vehicle is currently in the third vehicle body posture, and measure the measurement distance between the reference position and the water surface; If the current vehicle is in the first body posture, the calculation formula for the measured distance between the current reference position and the water surface is: H'=(H1 / H0)*H; Wherein, H' is the measured distance between the current reference position and the water surface in the first body posture, H1 is the distance to the water surface measured by the sensor on the front tailgate, H0 is the standard value, and H is the distance to the water surface measured by the sensor on the rearview mirror; If the current vehicle is in the third body posture, the calculation formula for the measured distance between the current reference position and the water surface is: H''=(H2 / H0)*H; Among them, H'' is the measured distance between the current reference position and the water surface in the third body posture, H2 is the distance to the water surface measured by the sensor on the tailgate, H0 is the standard value, and H is the distance to the water surface measured by the sensor on the rearview mirror.

5. A readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the vehicle wading warning method as described in any one of claims 1 to 3 is implemented.

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