Vehicle wading detection method, apparatus, vehicle, and medium

Abstract

This invention discloses a method, device, vehicle, and medium for detecting vehicle wading. During vehicle operation, a millimeter-wave radar system mounted on the vehicle detects wading routes. When a wading route is detected ahead, the wading depth is determined. If the wading depth is greater than or equal to the vehicle's engine height, a wading warning is issued. This method, using a millimeter-wave radar system mounted on the vehicle at a specific height and angle, can obtain and monitor the depth of the road ahead in real time. When a wading route is detected ahead, the wading depth is compared with the vehicle's engine height. If the wading depth is greater than or equal to the vehicle's engine height, a wading warning is issued. This prevents the vehicle from entering a wading route, thus preventing engine water ingress and vehicle malfunctions, ensuring the safety of people and the vehicle.

Description

Technical Field

[0001] This invention relates to the field of automotive technology, and in particular to a method, device, vehicle, and medium for detecting vehicle wading. Background Technology

[0002] With the development of the automotive industry, there are now more and more cars, and the road conditions in China are also very diverse. With extreme weather becoming more and more common, some roads will accumulate deep water. Under such conditions, if a vehicle drives through a flooded road, it is easy for water to enter the engine and the vehicle to be submerged, which can seriously endanger personal safety.

[0003] Current vehicle control systems do not take into account the vehicle's own driving conditions in conjunction with the actual road conditions, and therefore cannot control the vehicle in a timely and accurate manner based on road conditions. Summary of the Invention

[0004] This invention provides a method, device, vehicle, and medium for detecting vehicle wading through water, enabling the detection of vehicle wading through water.

[0005] According to a first aspect of the present invention, a method for detecting vehicle wading depth is provided, comprising:

[0006] During vehicle operation, water-crossing road detection is performed using the millimeter-wave radar system installed on the vehicle.

[0007] When a flooded road is detected ahead, the wading depth of the flooded road is determined;

[0008] If the wading depth value is greater than or equal to the vehicle's engine height, a wading warning reminder will be issued.

[0009] According to a second aspect of the present invention, a vehicle wading detection device is provided, comprising:

[0010] The monitoring module is used to detect wading roads using a millimeter-wave radar system installed on the vehicle during vehicle operation;

[0011] The depth value determination module is used to determine the wading depth value of the wading road when a wading road is detected ahead.

[0012] The execution module is used to perform a wading warning operation if the wading depth value is greater than or equal to the engine height of the vehicle.

[0013] According to a third aspect of the present invention, a vehicle is provided, the vehicle comprising:

[0014] Millimeter-wave radar system;

[0015] Sound and light devices;

[0016] Video device;

[0017] Also includes:

[0018] One or more controllers;

[0019] A memory communicatively connected to the at least one controller; wherein,

[0020] The memory stores a computer program that can be executed by the at least one controller, which enables the at least one controller to perform the vehicle wading detection method according to any embodiment of the present invention.

[0021] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a controller to execute and implement the vehicle wading detection method according to any embodiment of the present invention.

[0022] The technical solution of this invention involves detecting wading roads using a millimeter-wave radar system mounted on the vehicle during driving. When a wading road is detected ahead, the wading depth is determined. If the wading depth is greater than or equal to the vehicle's engine height, a wading warning is issued. The millimeter-wave radar system, mounted on the vehicle at a specific height and angle, can obtain the depth information of the road ahead in advance and monitor it in real time. When a wading road is detected ahead, the wading depth is compared with the vehicle's engine height. If the wading depth is greater than or equal to the vehicle's engine height, a wading warning is issued. This prevents the vehicle from entering a wading road, thus preventing engine water ingress and vehicle malfunctions, ensuring the safety of people and the vehicle.

[0023] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 This is a flowchart of a vehicle wading detection method according to Embodiment 1 of the present invention;

[0026] Figure 2 This is a flowchart of a vehicle wading detection method according to Embodiment 2 of the present invention;

[0027] Figure 3 This is a flowchart illustrating the determination of wading depth values ​​in a vehicle wading detection method according to Embodiment 2 of the present invention;

[0028] Figure 4 This is an example flowchart of a vehicle wading detection method according to Embodiment 2 of the present invention;

[0029] Figure 5 A schematic diagram of the structure of a vehicle wading detection device provided in Embodiment 3 of the present invention;

[0030] Figure 6 This is a schematic diagram of the vehicle structure for implementing the vehicle wading detection method of this invention. Detailed Implementation

[0031] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0033] Example 1

[0034] Figure 1 This is a flowchart of a vehicle wading detection method provided in Embodiment 1 of the present invention. This embodiment is applicable to the detection of vehicle wading situations. The method can be executed by a vehicle wading detection device, which can be implemented in hardware and / or software and can be configured in a vehicle. Figure 1 As shown, the method includes:

[0035] S110. During vehicle operation, water-crossing road detection is performed using the millimeter-wave radar system installed on the vehicle.

[0036] It is known that because the water-crossing road is lower than the road surface in front of the vehicle, if the millimeter-wave radar system is placed at a low position and emits radar signals horizontally, the water-crossing information can only be obtained when the vehicle enters the water-crossing area, and it is impossible to predict the water-crossing road in advance. Placing the millimeter-wave radar system at a certain height on the vehicle and at a certain angle to the normal to the horizontal plane makes it easier to obtain information about the water-crossing road in advance.

[0037] In this embodiment, the millimeter-wave radar system is mounted on a vehicle, such as on the roof, at a certain height and angle. The millimeter-wave radar system may include a radio frequency signal transmitting and receiving system, a microcontroller, a power management system, and a data transceiver, etc. This embodiment does not limit the configuration of the millimeter-wave radar system. The radio frequency signal transmitting and receiving system may include a transmitting antenna and a receiving antenna for transmitting and receiving radar signals. The transmitting antenna transmits radar signals according to a preset angle value of the millimeter-wave radar system. The microcontroller can be used to set parameters such as the transmitting power and time of the radio frequency signal transmitting and receiving system, and to acquire corresponding information based on the received radar signals. The power management system can be used to supply power to the devices in the system.

[0038] In this embodiment, a wading road can be understood as a road where the ground is lower than the normal ground of the road where the vehicle travels, and the road has a certain depth compared to the normal road, and there is water in it. If the water exceeds the lower surface of the vehicle's engine, that is, the lowest point of the engine, it may cause water to enter the engine and affect the normal operation of the vehicle.

[0039] Specifically, a millimeter-wave radar system can transmit radar signals through a transmitting antenna. The radar signals can penetrate the water in a flooded road and reach the bottom of the flooded road. When the radar signals reach the bottom of the flooded road, they can be reflected back to the millimeter-wave radar system. The receiving antenna in the millimeter-wave radar receives the returned radar signals and obtains relevant information about the flooded road, such as the depth of the flooded road.

[0040] S120. When a flooded road is detected ahead, determine the flood depth of the flooded road.

[0041] In this embodiment, the road ahead can be understood as the road corresponding to the furthest distance that the millimeter-wave radar system can detect along the vehicle's direction of travel. For example, if the millimeter-wave radar system can detect a distance of 800 meters ahead, then the road ahead corresponds to the road from the millimeter-wave radar system to 800 meters ahead. The wading depth value can be understood as the vertical distance from the bottom of the wading road to the horizontal plane at the lowest point of the vehicle's tires.

[0042] Specifically, the road ahead may include other vehicles, trees, and other obstacles. Since these obstacles are likely on the same horizontal plane as the vehicle equipped with the millimeter-wave radar system, they have no downward depth; in fact, the radar signal reaching the roof of the vehicle or the tree trunk has a certain height. However, the wading road is not on the same horizontal plane as the vehicle equipped with the millimeter-wave radar system; it has a downward depth compared to the normal driving road. Therefore, the millimeter-wave radar system can detect the wading road portion from among the various obstacles ahead based on this characteristic. The depth of the wading road is determined by combining the installation information of the millimeter-wave radar system with the depth information of the wading road portion in the radar signal.

[0043] S130. If the wading depth is greater than or equal to the vehicle's engine height, a wading warning reminder will be issued.

[0044] In this embodiment, the flood prevention warning operation can be understood as a warning operation to prevent the vehicle from entering a flooded area when the water depth at the flooded road is greater than or equal to the lowest point of the vehicle's engine. The flood prevention warning operation can be performed through sound, light, video, or other means.

[0045] It's understandable that vehicle engines are prone to malfunction due to water ingress, so the lowest point of the engine is used as a criterion for determining water resistance. In other words, engine height can be understood as the vertical distance from the lowest point of the engine to the lowest point of the tires on the plane.

[0046] Specifically, by judging the wading depth and the vehicle's engine height, when the wading depth is greater than or equal to the vehicle's engine height, that is, the water depth has reached the engine position, if the vehicle continues to drive into the flooded road, it will cause water to enter the engine and cause vehicle failure. In this case, the executing entity can send control commands through the vehicle's bus to the corresponding sound, light, and video warning devices to control them to perform anti-wading warning and reminder operations.

[0047] This embodiment provides a vehicle wading detection method. Using a millimeter-wave radar system mounted on the vehicle at a specific height and angle, the system can obtain and monitor the depth of the road ahead in real time. When a wading section is detected, the system compares the wading depth with the vehicle's engine height. If the wading depth is greater than or equal to the engine height, a wading warning is issued. This prevents the vehicle from entering a flooded area, thus avoiding engine water ingress and potential vehicle malfunctions, and ensuring the safety of both personnel and the vehicle.

[0048] Example 2

[0049] Figure 2 This is a flowchart of a vehicle wading detection method provided in Embodiment 2 of the present invention. The embodiments of the present invention further optimize the above technical solution. For example... Figure 2 As shown, the method includes:

[0050] S201. Control the transmitting antenna of the millimeter-wave radar system to transmit a first radar signal outward and acquire a second radar signal received by the receiving antenna.

[0051] In this embodiment, the first radar signal can be understood as the radar signal emitted outward by the transmitting antenna at a preset angle value, used to distinguish it from the received radar signal; the second radar signal can be understood as the radar signal received by the receiving antenna.

[0052] Specifically, the first step is to set control parameters such as transmission time and power. These control parameters can be transmitted to the microcontroller in the millimeter-wave radar system. The microcontroller then controls the transmitting antenna to transmit a first radar signal towards the road ahead in the direction the vehicle is traveling, according to the control parameters. When the first radar signal encounters an obstacle, it returns a second radar signal to the millimeter-wave radar system, where it is received by the receiving antenna.

[0053] S202. Based on the point cloud data of the second radar signal, a radar image is formed.

[0054] In this embodiment, point cloud data can be understood as representing the obstacle information in the road ahead detected by the millimeter-wave radar system in three-dimensional coordinates with the vehicle as the origin; radar image can be understood as reflecting the actual road conditions within the detection range of the millimeter-wave radar in the form of radar image, which may include image information of obstacles and roads.

[0055] Specifically, the point cloud data based on the received second radar signal containing obstacle information can be processed by the processing algorithm in the microcontroller to form a radar image. The radar image reflects the obstacle information in the road ahead detected by the millimeter-wave radar system, such as the height information of the obstacle and the depth information in the road ahead.

[0056] S203. By identifying the content of the radar image, determine whether there is a flooded road ahead.

[0057] It is known that since radar images contain all obstacles within the detection range of millimeter-wave radar systems, some of these obstacles (such as vehicles, trees, etc.) may have a certain height, meaning they lack depth information and do not belong to the water-crossing roads. Therefore, it is necessary to identify the water-crossing roads.

[0058] Specifically, the radar image content is identified. Because in a radar image of a flooded road, data may be present in the horizontal plane downwards from the lowest point of the vehicle's tires, while the upward portion may not show data; whereas ordinary obstacles in a radar image show data both upwards from the lowest point of the vehicle's tires and at a certain height, but no data in the horizontal plane downwards. This difference can be used to identify flooded roads in the radar image. If there is no data in the horizontal plane downwards from the lowest point of the vehicle's tires in the radar image, it means there is likely no flooded road ahead, confirming that there is no flooded road ahead. Conversely, if there is data in the horizontal plane downwards from the lowest point of the vehicle's tires in the radar image, it means there is a flooded road ahead, confirming that there is a flooded road ahead.

[0059] S204. When a flooded road is detected ahead, determine the flood depth of the flooded road.

[0060] It is known that drivers may not be able to judge the wading depth by sight, or even in some cases, they may not be able to determine that there is a wading road ahead. Therefore, when it is determined that there is a wading road ahead, it is necessary to further determine the wading depth of the wading road.

[0061] Specifically, after identifying the content of the reconstructed radar image based on the radar signal, it is determined that there is a flooded road ahead, meaning that part of the road ahead has downward depth information. Since the radar image is obtained based on point cloud data, which is demodulated from the radar signal, the flooding depth of the flooded road can be obtained by demodulating the radar signal and combining it with the installation information of the millimeter-wave radar system.

[0062] S205. Determine the first distance value based on the second radar signal received by the receiving antenna.

[0063] The first distance value is the diagonal distance from the millimeter-wave radar system to the flooded road. Since the second radar signal returns to the millimeter-wave radar system from the reflection point at the bottom of the flooded road, the first distance value can be understood as the distance from the reflection point to the millimeter-wave radar system.

[0064] Specifically, since the millimeter-wave radar system is installed in the vehicle at a set installation angle, the antenna within it also emits a first radar signal at the set installation angle. When the first radar signal encounters an obstacle, it forms a second radar signal that returns to the receiving antenna in the millimeter-wave radar system. The receiving antenna receives the returned second radar signal and transmits it to the microprocessor. After processing by the algorithm built into the microprocessor, the first distance value from the millimeter-wave radar system to the reflection point at the bottom of the flooded road can be determined based on information such as the return time of the second radar signal and the propagation speed of the radar signal wave. In this embodiment, the method for determining the first distance value is not limited.

[0065] S206. Determine the wading depth of the wading road based on the first distance value.

[0066] Specifically, once the distance from the reflection point at the bottom of the wading road corresponding to the first distance value to the millimeter-wave radar system is known, the second radar signal can be used as the hypotenuse, and the side corresponding to the installation height value of the millimeter-wave radar system is the right-angle side. The angle between the right-angle side and the hypotenuse is the installation angle. Based on the reflection point at the bottom, a line parallel to the horizontal plane where the wheel is located is drawn, and this parallel line is used as the base. Since the base is parallel to the parallel line where the wheel is located, the angle between the base and the right-angle side is a right angle. This constructs a right triangle. Using trigonometric functions combined with the preset installation height value of the millimeter-wave radar system, the wading depth value of the wading road can be determined.

[0067] Figure 3 This is a flowchart illustrating the determination of wading depth values ​​in a vehicle wading detection method according to Embodiment 2 of the present invention. Figure 3 As shown, the wading depth is determined by combining relevant installation values ​​of the millimeter-wave radar system and a first distance value determined based on the second radar signal with trigonometric functions. The specific steps of this method include:

[0068] S2061. Obtain the preset installation height and installation angle values ​​of the millimeter-wave radar system.

[0069] In this embodiment, the preset installation height can be understood as the vertical distance between the millimeter-wave radar system and the plane where the lowest point of the wheel is located; the preset installation angle can be understood as the angle between the millimeter-wave radar system and the normal to the horizontal plane perpendicular to the vehicle. Both can be obtained through measurement.

[0070] Specifically, the millimeter-wave radar system is installed on the vehicle according to preset installation height and angle values. Before using the millimeter-wave radar system, the installation height and angle values ​​can be pre-input into a readable storage medium. When the execution subject needs to use these two values, it can issue a command to retrieve the preset installation height and angle values ​​of the millimeter-wave radar system from the readable storage medium.

[0071] S2062. Determine the second distance value based on the installation angle value and the first distance value.

[0072] The second distance value is the vertical distance from the millimeter-wave radar system to the flooded road. This can be understood as the vertical distance from the millimeter-wave radar system to the bottom of the flooded road, calculated by drawing a line parallel to the horizontal plane where the wheels are located, based on the reflection point at the bottom of the road. The second distance value is less than the first distance value.

[0073] Specifically, in the constructed right triangle, the second distance value is the leg, the first distance value is the hypotenuse, and the installation angle is the angle between the second distance value and the first distance value. When the first distance value and the installation angle value are known, the second distance value can be calculated using trigonometric functions.

[0074] For example, in this embodiment, the symbol θ represents the installation angle value, L1 represents the first distance value, and H2 represents the second distance value. The second distance value can be determined as follows: H2 = L1 * cosθ.

[0075] S2063. Determine the wading depth of the road based on the second distance value and the installation height value.

[0076] Specifically, since the second distance value is the distance from the millimeter-wave radar system to the bottom of the wading road, and the installation height value is the distance from the millimeter-wave radar system to the lowest point where the wheels are located, subtracting the installation height value from the second distance value will give the wading depth value of the wading road.

[0077] For example, in this embodiment, the symbol H1 represents the installation height value, and H represents the wading depth value of the wading road. The wading depth value of the wading road can be determined as follows: H = H2 - H1.

[0078] S207. If the wading depth is less than the engine height of the vehicle, control the vehicle to drive normally.

[0079] Specifically, when the wading depth is less than the height of the vehicle's engine, it can be assumed that the engine will not come into contact with the water when the vehicle enters the wading road, and the vehicle can pass through the wading road smoothly. The executing entity does not need to control the vehicle or perform any anti-wading warning operations, and the vehicle can maintain its current state and drive normally.

[0080] S208. If the wading depth is greater than or equal to the vehicle's engine height, a wading warning and reminder will be issued.

[0081] Optionally, perform flood prevention early warning and reminder operations, including:

[0082] Activate the audio-visual device installed in the vehicle to provide an audio-visual alert; and / or activate the video device installed in the vehicle to provide a video alert.

[0083] In this embodiment, the audio-visual device can be understood as a device that can be connected to the vehicle and provides audio-visual alerts by receiving corresponding control commands. Examples include: car audio systems, dashboards, etc. The video device can be understood as a device that can be connected to the vehicle and provides video alerts by receiving corresponding control commands. Examples include: central control displays, etc.

[0084] Specifically, when the wading depth is greater than or equal to the vehicle's engine height, the executing entity can send a control command to the warning and reminder control associated with the executing entity, causing the corresponding warning and reminder control to perform a wading warning and reminder operation.

[0085] For example, if the wading depth is greater than or equal to the engine height of a vehicle, driving into such a flooded area could cause engine water ingress. The executing entity can then send a control command to the associated audio-visual and / or video devices, activating them and continuously broadcasting pre-set flood warning messages. For instance, the central control screen might display a text message stating, "The wading depth ahead is greater than the engine height; do not proceed." Alternatively, the vehicle's audio system could broadcast the message, or a red indicator light on the dashboard could flash alternately. The driver can then adjust their course accordingly, such as slowing down or taking a detour.

[0086] This embodiment provides a vehicle wading detection method. By installing a millimeter-wave radar system on the vehicle at a set height and angle, and forming a radar image based on point cloud data from a second radar signal, it can accurately identify wading areas ahead, enabling advance detection of wading routes. When the road ahead includes a wading area, combining the installation values ​​with the distance value obtained from the second radar signal allows for faster and more accurate determination of the wading depth, achieving real-time and precise detection of the wading depth. When the wading depth is greater than or equal to the vehicle's engine height, a wading warning is triggered, reminding the driver to perform appropriate braking or steering maneuvers. This real-time detection of wading routes effectively prevents water from entering the vehicle's engine, ensuring the safety of the vehicle and its occupants.

[0087] Figure 4 This is an example flowchart of a vehicle wading detection method provided in Embodiment 2 of the present invention, as follows: Figure 4 As shown, the following steps can be used to detect vehicle wading through water in this second embodiment.

[0088] S301. During vehicle operation, water wading road detection is performed using the millimeter-wave radar system installed on the vehicle.

[0089] S302. Check if there is a flooded section of road ahead. If yes, proceed to S303; otherwise, proceed to S306.

[0090] S303, Determine the water depth value of roads that involve water;

[0091] S304. Is the wading depth less than the vehicle's engine height? If yes, proceed to S306; otherwise, proceed to S305.

[0092] S305. Activate sound, light and / or video devices to provide early warning and reminder;

[0093] S306, Control the normal driving of the vehicle.

[0094] Example 3

[0095] Figure 5 This is a schematic diagram of a vehicle wading detection device provided in Embodiment 3 of the present invention. Figure 5 As shown, the device includes: a detection module 41, a depth value determination module 42, and an execution module 43. Among them,

[0096] Detection module 41 is used to detect wading roads based on the millimeter-wave radar system installed on the vehicle during vehicle operation;

[0097] The depth value determination module 42 is used to determine the wading depth value of the wading road when a wading road is detected ahead.

[0098] Execution module 43 is used to perform a wading warning operation if the wading depth value is greater than or equal to the engine height of the vehicle.

[0099] This embodiment provides a vehicle wading detection device that, through a millimeter-wave radar system mounted on the vehicle at a certain height and angle, can obtain and monitor the depth information of the road ahead in real time. When a wading road is detected ahead, the device compares the wading depth value with the vehicle's engine height. If the wading depth value is greater than or equal to the vehicle's engine height, a wading warning is issued. This prevents the vehicle from entering a flooded area, thus preventing engine water ingress and vehicle malfunction, and ensuring the safety of both personnel and the vehicle.

[0100] Optionally, the detection module 41 is specifically used for:

[0101] The transmitting antenna of the millimeter-wave radar system is controlled to transmit a first radar signal outward and to acquire a second radar signal received by the receiving antenna.

[0102] A radar image is formed based on the point cloud data of the second radar signal;

[0103] By identifying the content of radar images, it can be determined whether there are height-restricted obstacles on the road ahead.

[0104] Optionally, the depth value determination module 42 may include:

[0105] The first determining unit is used to determine a first distance value based on the second radar signal received by the receiving antenna.

[0106] The second determining unit is used to determine the water depth of the water-crossing road based on the first distance value.

[0107] Specifically, the second determining unit is used for:

[0108] Obtain the preset installation height and installation angle values ​​of the millimeter-wave radar system; determine the second distance value based on the installation angle value and the first distance value; determine the wading depth value of the wading road based on the second distance value and the installation height value.

[0109] Furthermore, the collision avoidance warning reminder operation in execution module 43 may include:

[0110] Activate the audio-visual device installed in the vehicle to provide an audio-visual alert; and / or activate the video device installed in the vehicle to provide a video alert.

[0111] Furthermore, the device also includes:

[0112] The control module is used to control the vehicle to drive normally if the wading depth is less than the height of the vehicle's engine.

[0113] The vehicle wading detection device provided in this embodiment of the invention can execute the vehicle wading detection method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0114] Example 4

[0115] Figure 6 This is a structural schematic diagram of a vehicle provided in Embodiment 4 of the present invention, as shown below. Figure 6 As shown, the vehicle includes a controller 51, a memory 52, an input device 53, an output device 54, a millimeter-wave radar system 55, an audio-visual device 56, and a video device 57. The number of controllers 51 and memory 52 can be one or more. Figure 6 Taking a controller 51 and a memory 52 as an example; the controller 51 and memory 52 in the vehicle can be connected via a bus or other means. Figure 6 Taking a bus connection as an example, the controller refers to the controller of the execution entity in this embodiment of the invention.

[0116] The memory 52, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the vehicle wading detection method in this embodiment of the invention (e.g., the detection module 41, depth value determination module 42, and execution module 43 in the vehicle wading detection device). The controller 51 executes various functional applications and data processing of the vehicle by running the software programs, instructions, and modules stored in the memory 52, thereby realizing the aforementioned vehicle wading detection method.

[0117] The memory 52 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 52 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 52 may further include memory remotely configured relative to the controller 51, which can be connected to the vehicle via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0118] Input device 53 can be used to receive digital or character information and generate key signal inputs related to vehicle user settings and function control. Output device 54 may include a display device.

[0119] The millimeter-wave radar system 55 can be used to obtain the wading depth value of roads that are flooded.

[0120] The sound and light device 56 can be used to provide early warning and reminders about water wading through sound and light.

[0121] The video device 57 can be used to provide early warnings and reminders about water damage via video.

[0122] Example 5

[0123] Embodiment 5 of the present invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer controller, are used for a vehicle wading detection method, the method comprising:

[0124] During vehicle operation, water-crossing road detection is performed using the millimeter-wave radar system installed on the vehicle.

[0125] When a flooded road is detected ahead, the wading depth of the flooded road is determined;

[0126] If the wading depth value is greater than or equal to the vehicle's engine height, a wading warning reminder will be issued.

[0127] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the method operations described above, but can also perform related operations in the vehicle wading detection method provided in any embodiment of the present invention.

[0128] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0129] It is worth noting that in the embodiments of the vehicle wading detection device described above, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0130] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0131] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A vehicle wading detection method characterized by, The application comprises the following steps: During the driving of the vehicle, a wading road is detected by a millimeter wave radar system loaded on the vehicle; When it is detected that the road ahead has a wading road, a wading depth value of the wading road is determined; If the wading depth value is greater than or equal to the engine height of the vehicle, a wading prevention warning reminding operation is performed; The detection of the wading road by the millimeter wave radar system comprises the following steps: The transmitting antenna of the millimeter wave radar system is controlled to transmit a first radar signal outward, and a second radar signal received by the receiving antenna is acquired; A radar image is formed based on the point cloud data of the second radar signal; Whether there is data in the part downward from the horizontal plane where the lowest part of the vehicle tire is located is determined by recognizing the image content in the radar image, and if there is data, it is determined that the road ahead has a wading road, otherwise, the road ahead does not have a wading road; The determination of the wading depth value of the wading road comprises the following steps: A first distance value is determined according to the second radar signal received by the receiving antenna; The wading depth value of the wading road is determined according to the first distance value; The determination of the wading depth value of the wading road according to the first distance value comprises the following steps: An installation height value and an installation angle value preset by the millimeter wave radar system are acquired; A second distance value is determined according to the installation angle value and the first distance value; The wading depth value of the wading road is determined according to the second distance value and the installation height value.

2. The method of claim 1, wherein, The first distance value is the oblique distance from the millimeter wave radar system to the wading road, and the second distance value is the vertical distance from the millimeter wave radar system to the wading road, wherein the second distance value is less than the first distance value.

3. The method of claim 1, wherein, Further comprising: If the wading depth value is less than the engine height of the vehicle, the vehicle is controlled to drive normally.

4. The method of claim 1, wherein, The performance of the wading prevention warning reminding operation comprises the following steps: An audible and visual device loaded in the vehicle is started to perform audible and visual reminding; and / or A video device loaded in the vehicle is started to perform video reminding.

5. A vehicle wading detection apparatus characterized by comprising: The application comprises the following steps: A detection module is configured to detect a wading road by a millimeter wave radar system loaded on the vehicle during the driving of the vehicle; A depth value determination module is configured to determine a wading depth value of the wading road when it is detected that the road ahead has a wading road; An execution module is configured to perform a wading prevention warning reminding operation if the wading depth value is greater than or equal to the engine height of the vehicle; The detection module is specifically configured to: The transmitting antenna of the millimeter wave radar system is controlled to transmit a first radar signal outward, and a second radar signal received by the receiving antenna is acquired; A radar image is formed based on the point cloud data of the second radar signal; Whether there is data in the part downward from the horizontal plane where the lowest part of the vehicle tire is located is determined by recognizing the image content in the radar image, and if there is data, it is determined that the road ahead has a wading road, otherwise, the road ahead does not have a wading road; The depth value determination module comprises: A first determination unit is configured to determine a first distance value according to the second radar signal received by the receiving antenna; A second determining unit is configured to determine a wading depth value of the wading road according to the first distance value. The second determining unit is specifically configured to: obtain a preset installation height value and a preset installation angle value of the millimeter wave radar system; determine a second distance value according to the installation angle value and the first distance value; determine the wading depth value of the wading road according to the second distance value and the installation height value.

6. A vehicle characterized by comprising: The system comprises: a millimeter wave radar system; an acousto-optic device; a video device; The system further comprises: one or more controllers; a memory in communication connection with at least one of the controllers; wherein the memory stores a computer program executable by at least one of the controllers, and the computer program is executed by at least one of the controllers to enable at least one of the controllers to execute the vehicle wading detection method in any one of claims 1-4.

7. A computer readable storage medium characterized in that, The computer readable storage medium stores computer instructions for enabling the controller to execute the vehicle wading detection method in any one of claims 1-4 when executed.

Images