A vehicle wading state determination method, device, equipment and storage medium

Abstract

The present application provides a kind of vehicle water-logging state determination method, device, equipment and storage medium, the method comprises: obtaining the target environment image of target vehicle;Determine the target vehicle water level line of target vehicle based on target environment image;Based on the position relationship of target vehicle water level line and the vehicle mark position of target vehicle, determine the target vehicle water depth of target vehicle;Determine the water-logging state of target vehicle based on target vehicle water depth.The method gives full play to the ability of panoramic image system, without increasing additional peripheral system, avoid increasing cost, in addition, also solve the passive monitoring problem of simply relying on ultrasonic radar, realize the active monitoring of vehicle water, improve the situation awareness of driver on water, avoid vehicle loss and safety accident under water condition.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobiles, and in particular to a vehicle water-approaching state determination method, device, equipment and storage medium. BACKGROUND

[0002] With the deepening of climate extremization and urban construction process, drivers are increasingly encountering vehicle water-approaching state, and the tragedies of vehicle water-approaching and even casualties caused by the lack of water depth estimation by drivers are also increasing. Therefore, realizing real-time monitoring of vehicle water-approaching state and water-approaching depth, and providing water-approaching state and water-approaching depth information for drivers to assist drivers in taking early escape measures is an effective solution to the deepening of climate extremization and urban construction process.

[0003] At present, the sensing of vehicle water-approaching state and water-approaching depth is mostly realized by ultrasonic radar. Specifically, the water-approaching depth is calculated based on the time difference between radar wave emission and reception combined with radar transmission speed. The problem is that a downward ultrasonic radar needs to be installed separately on the vehicle body, increasing the hardware cost; the vehicle system cannot actively perceive the water-approaching state, and can only trigger the water-approaching depth sensing system by the driver. SUMMARY

[0004] In view of the above-mentioned shortcomings of the prior art, the present application provides a vehicle water-approaching state determination method, device, equipment and storage medium to solve the above technical problems.

[0005] The vehicle water-approaching state determination method provided by the present application comprises: acquiring a target environment image of a target vehicle, the target environment image comprising a vehicle body image of at least one side of the vehicle body of the target vehicle; determining a target vehicle water level line of the target vehicle based on the target environment image; determining a target vehicle water-approaching depth of the target vehicle based on the position relationship between the target vehicle water level line and the vehicle logo position of the target vehicle; and determining the water-approaching state of the target vehicle based on the target vehicle water-approaching depth.

[0006] The vehicle water-approaching water level line comprises: acquiring a plurality of sample images of a target vehicle, the sample images comprising vehicle body images of at least one side of the vehicle body of the target vehicle; labeling the vehicle water-approaching water level line of the sample images to obtain a training sample data set; training an image recognition model through the sample data set, and using the trained image recognition model as a vehicle water-approaching water level line recognition model; and inputting a target environment image of the target vehicle into the vehicle water-approaching water level line recognition model to obtain the water-approaching water level line of the target vehicle.

[0007] In an embodiment of the present application, after the target vehicle water wading level line of the target vehicle is acquired, determining the target vehicle water wading depth of the target vehicle comprises at least one of the following: acquiring a plurality of vehicle mark positions in the target environment image, and determining a target mark position based on the target vehicle water wading level line and the vehicle mark positions; determining the target vehicle water wading depth according to the positional relationship between the target vehicle water wading level line and the target mark position; acquiring a complete tire area of the target vehicle, and regarding the partial area of the tire that is higher than the target vehicle water wading level line as a tire exposed area, and determining the target vehicle water wading depth based on the relationship between the tire exposed area and the complete tire area.

[0008] In an embodiment of the present application, acquiring a plurality of vehicle mark positions in the target environment image, and determining a target mark position based on the target vehicle water wading level line and the vehicle mark positions, and determining the target vehicle water wading depth according to the positional relationship between the target vehicle water wading level line and the target mark position comprises: acquiring a plurality of vehicle mark positions in the target environment image; determining a plurality of expected mark positions based on the target vehicle water wading level line, the plurality of expected mark positions being the plurality of vehicle mark positions that are higher than the target vehicle water wading level line; determining a target mark position from the plurality of expected mark positions, the target mark position being the vehicle mark position that is closest to the target vehicle; and determining the target vehicle water wading depth based on the target mark position and the positional relationship between the target mark position and the target vehicle water wading level line.

[0009] In an embodiment of the present application, determining the target vehicle water wading depth based on the target mark position and the positional relationship between the target mark position and the target vehicle water wading level line comprises: acquiring an actual height value of the target mark position; determining a distance between the target mark position and the target vehicle water wading level line as an interval distance; determining an actual interval of the interval distance based on the interval distance and a preset image distance-pre-set actual distance library, to obtain an actual interval value; and determining the target vehicle water wading depth based on the difference between the actual height value of the target mark position and the actual interval value.

[0010] In an embodiment of the present application, acquiring a complete tire area of the target vehicle, and regarding the partial area of the tire that is higher than the target vehicle water wading level line as a tire exposed area, and determining the target vehicle water wading depth based on the relationship between the tire exposed area and the complete tire area comprises: acquiring a tire exposed area of the target vehicle, the tire exposed area being the area of the tire that is exposed to water; determining the complete tire area based on the vehicle model of the target vehicle; determining a tire exposed area ratio of the target vehicle based on the tire exposed area and the complete tire area; and determining the target vehicle water wading depth of the target vehicle based on the tire exposed area ratio and a preset tire exposed area ratio-pre-set target vehicle water wading depth library.

[0011] In an embodiment of the present application, determining the water wading depth of the target vehicle further comprises: obtaining the water depth, water clarity and tire obscuring area of the environment in which the target vehicle is located, and determining the environment index of the environment in which the target vehicle is located; calculating a first water wading depth based on the relative positional relationship between the vehicle water wading level and the target mark position, and calculating a second water wading depth based on the proportional relationship between the tire exposed area and the tire complete area; based on the water wading environment index, giving the first water wading depth a first calculation weight and the second water wading depth a second calculation weight, when the water wading environment index is greater than or equal to the standard environment index, the first calculation weight is greater than the second calculation weight, and when the water wading environment index is less than the standard environment index, the first calculation weight is less than the second calculation weight; based on the first water wading depth, the first calculation weight, the second water wading depth, and the second calculation weight, determining the water wading depth of the target vehicle.

[0012] In an embodiment of the present application, determining the target vehicle water wading depth of the target vehicle further comprises: obtaining a plurality of water wading levels of the target vehicle, and determining the plurality of water wading levels as expected water wading levels; determining the expected water wading depth of the target vehicle based on the expected water wading levels, and obtaining the maximum value of the expected water wading depth; determining the maximum value of the expected water wading depth as the target vehicle water wading depth.

[0013] In an embodiment of the present application, obtaining the water wading level of the target vehicle comprises: obtaining a plurality of target environment images of the target vehicle, inputting the plurality of target environment images into the vehicle water wading level identification model, and obtaining a plurality of vehicle water wading levels; giving the plurality of vehicle water wading levels a calculation weight, obtaining a theoretical water wading level of the plurality of vehicle water wading levels based on the calculation weight, and regarding the theoretical water wading level as the vehicle water wading level of the target vehicle.

[0014] In an embodiment of the present application, obtaining a plurality of sample images of the target vehicle comprises: collecting an initial environment image of the target vehicle, and identifying the water splash height and water wave height in the initial environment image; taking the maximum value of the water splash height and water wave height in the initial environment image as the water surface fluctuation value of the initial environment image; when the water surface fluctuation value is less than the standard water surface fluctuation value, retaining the initial environment image, and taking the retained initial environment image as the target environment image.

[0015] In an embodiment of the present application, obtaining a plurality of sample images of the target vehicle further comprises: obtaining the ambient light intensity of the environment in which the target vehicle is located; when the ambient light intensity is lower than the standard light intensity, starting the vehicle backup light source to supplement light, and the vehicle backup light source includes a welcome light with the position direction of the rearview mirror pointing downward.

[0016] In an embodiment of the present application, before obtaining the target vehicle water wading line of the target vehicle, further comprising: determining, based on the target environment image, water accumulation position information of a water accumulation area in the target environment image and tire position information of a tire of the target vehicle in the target environment image; determining a water accumulation position of the water accumulation area and a tire position of the tire of the target vehicle based on the water accumulation position information and the tire position information; and determining that the target vehicle has waded into water if the water accumulation area and the tire area overlap.

[0017] In an embodiment of the present application, determining the water wading state of the target vehicle based on the target vehicle water wading depth comprises: determining a target vehicle water wading depth value based on the target vehicle water wading depth; determining that the water wading state of the target vehicle is a first-level water wading when the target vehicle water wading depth is greater than or equal to a preset first threshold value; and determining that the water wading state of the target vehicle is a second-level water wading when the target vehicle water wading depth is greater than or equal to a preset second threshold value; and the preset first threshold value is less than the preset second threshold value.

[0018] In an embodiment of the present application, after determining the water wading state of the target vehicle based on the target vehicle water wading depth, further comprising: issuing a first-level alarm to remind the driver that the current vehicle has waded into water when the water wading state of the target vehicle is a first-level water wading; and issuing a second-level alarm to remind the driver that a part of the current vehicle has waded into water when the water wading state of the target vehicle is a second-level water wading.

[0019] The present application provides a vehicle water wading state determination device, which comprises: an image acquisition module for acquiring a target environment image of a target vehicle, the target environment image comprising a vehicle body image of at least one side of the target vehicle; a water wading determination module for obtaining a target vehicle water wading line of the target vehicle based on the target environment image; a water wading depth determination module for determining a target vehicle water wading depth of the target vehicle based on a positional relationship between the target vehicle water wading line and a vehicle marker position of the target vehicle; and a water wading state determination module for determining a water wading state of the target vehicle based on the target vehicle water wading depth.

[0020] In an embodiment of the present application, the vehicle water wading state determination device further comprises an alarm module, which comprises: a display module comprising at least one display screen for issuing text alarm information based on the water wading state of the target vehicle; an indicator light module comprising at least two color indicator lights for starting different color indicator lights to issue light alarm information based on the water wading state of the target vehicle; and a speaker module comprising at least one buzzer for issuing voice alarm information based on the water wading state of the target vehicle.

[0021] The electronic device includes one or more processors; a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the vehicle wading state determination method.

[0022] The computer readable storage medium stores a computer program, which, when executed by a processor of a computer, causes the computer to execute the vehicle wading state determination method.

[0023] Beneficial effects: The present application uses the panoramic image system arranged around the vehicle to detect the wading sensing, collects the environmental image around the vehicle, processes the image, obtains the relationship between the distance in the image and the actual distance, determines the vehicle wading state and depth through the relationship between the vehicle logo or vehicle tire area and the vehicle wading water level line, and triggers the alarm accordingly; this method fully utilizes the capability of the panoramic image system without increasing additional external systems, avoids increasing the cost, and solves the passive monitoring problem of the ultrasonic radar alone, realizes the active monitoring of the vehicle wading, improves the situation awareness of the driver on the wading, and avoids the vehicle loss and safety accidents under the wading condition.

[0024] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0025] The drawings incorporated into the specification and forming a part of the specification, show embodiments consistent with the present application, and together with the specification, serve to explain the principles of the present application. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor. In the drawings:

[0026] Figure 1 is a schematic diagram of the implementation environment of the vehicle wading state determination method according to an exemplary embodiment of the present application;

[0027] Figure 2 is a flowchart of the vehicle wading state determination method according to an exemplary embodiment of the present application;

[0028] Figure 3 is a schematic diagram of the vehicle wading according to an exemplary embodiment of the present application;

[0029] Figure 4 is a schematic diagram of the vehicle wading according to another exemplary embodiment of the present application;

[0030] Figure 5 is a vehicle wading state determination flowchart shown in an exemplary embodiment of the present application;

[0031] Figure 6 is a vehicle wading state determination device block diagram shown in an exemplary embodiment of the present application;

[0032] Figure 7 is a vehicle wading warning device block diagram shown in an exemplary embodiment of the present application;

[0033] Figure 8 is a vehicle wading sensing system architecture diagram shown in an exemplary embodiment of the present application;

[0034] Figure 9 is a vehicle body height engineering calibration system connection relationship diagram shown in an exemplary embodiment of the present application;

[0035] Figure 10 is a vehicle wading warning reaction whole flowchart shown in an exemplary embodiment of the present application;

[0036] Figure 11 A structure diagram of a computer system of an electronic device suitable for implementing embodiments of the present application is shown. DETAILED DESCRIPTION

[0037] Other advantages and effects of the present application can be easily understood by those skilled in the art from the disclosure of the present specification. The present application can also be implemented or applied by means of other different specific embodiments, and various modifications or changes can be made to the details of the present specification based on different views and applications without departing from the spirit of the present application. It should be understood that the preferred embodiments are only for illustrating the present application, and are not intended to limit the protection scope of the present application.

[0038] It should be noted that the diagrams provided in the following embodiments only schematically illustrate the basic concepts of the present application, and the diagrams only show the components related to the present application, but are not drawn according to the number, shape and size of the components in actual implementation. The shapes, number and proportions of the components in actual implementation can be arbitrarily changed, and the layout pattern of the components can also be more complex.

[0039] In the following description, a large number of details are discussed to provide a more thorough explanation of the embodiments of the present application, however, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details, and in other embodiments, the known structures and devices are shown in the form of block diagrams rather than in the form of details, so as to avoid making the embodiments of the present application difficult to understand.

[0040] First of all, it needs to be pointed out that in the field of automobiles, the current vehicle water detection is completed by ultrasonic radar, but this technology has two major defects, on the one hand, due to the limitation of technology, the ultrasonic radar needs about 0.8 seconds to get a water depth measurement value, considering the driving speed in the process of vehicle wading, when the vehicle receives the wading measurement value, the environment has changed, resulting in a large delay between the wading measurement value and the environment of the vehicle. For example, when the vehicle outdoor driving speed is 25km / h, after 0.8 seconds, the driving distance is 5.56 meters, if the road section is not a straight line with equal water level, the actual wading depth of the vehicle may have changed greatly, and the actual use value of the measurement value is very limited. On the other hand, during normal driving, there may be water waves or splashes on the road, if the ultrasonic wave is emitted at the right time, it may cause a large error, according to the actual situation, the error can reach 40cm, and 40cm compared with the height of ordinary car (140cm-160cm) is close to 20%, which can seriously affect the judgment of the vehicle wading depth.

[0041] Therefore, the present application uses the vehicle-mounted camera device to collect the vehicle wading picture, and then obtains the vehicle wading depth through image processing. The advantage of this method is that on the one hand, the efficiency of image acquisition is very high, assuming that the video stream frame rate of the camera is 30 frames, a signal can be collected every 33 milliseconds, plus the calculation processing time of the algorithm, a water depth measurement value can be collected in about 50 milliseconds, if the driving speed of the target vehicle is 25km / h, the vehicle driving distance in this 50 milliseconds is only 0.35 meters, and in the accumulated water section, the water depth usually does not change within 0.35 meters, so the water depth measurement value is effective for the current wading state of the vehicle. On the other hand, the present application determines the vehicle wading depth by image processing, and in the image processing process, the collected image can be screened to remove the influence of water splashes and water waves. Therefore, the vehicle wading state determination method proposed in the present application effectively avoids the defects of the traditional method.

[0042] Figure 1 is a schematic diagram of the implementation environment of the vehicle wading state determination method shown in an exemplary embodiment of the present application. As shown in Figure 1 , the system architecture can include a camera device 101, a target vehicle 102 and a computer device 103. Among them, the computer device 103 can be at least one of a desktop graphic processing unit (GPU) computer, a GPU computing cluster, a neural network computer, etc. The relevant technical personnel can use the computer device 103 to make a judgment on the driving risk between the current vehicle and the target vehicle, and control the driving behavior action of the current vehicle.

[0043] Illustratively, the camera device 101 first acquires the target vehicle's surrounding environment image and sends relevant information to the computer device 103 for processing. The computer device 103 determines the water immersion depth of the target vehicle based on the water immersion risk confirmation information in the image information provided by the camera device 101, judges the alarm level, and sends the result to the target vehicle 102 to perform relevant alarm actions.

[0044] Figure 2 is a flowchart of a vehicle water immersion state determination method according to an example embodiment of the present application.

[0045] Referring to Figure 2 , Figure 2 is a flowchart of a vehicle water immersion state determination method according to an example embodiment of the present application. The method can be applied to Figure 1 the implementation environment shown in FIG. 1 and specifically executed by the intelligent terminal 103 in the implementation environment. It should be understood that the method can also be applied to other example implementation environments and specifically executed by devices in other implementation environments, and the present embodiment does not limit the implementation environment to which the method is applied. Referring to Figure 2 the image processing method includes at least steps S210 to S240, which are described in detail as follows:

[0046] Step S210, acquiring a target environment image of a target vehicle, the target environment image including a vehicle body image of at least one side of the target vehicle.

[0047] It should be understood that during vehicle driving, the surrounding environment information of the vehicle can be collected according to the vehicle's own vehicle-mounted camera system, the environment information including the contact line between the vehicle body and the ground water, and through the edge computing module included in the vehicle-mounted camera, the collected initial environment information can be preliminarily processed, the images meeting the calculation requirements are screened out, and sent to the vehicle water immersion detection module to obtain the water immersion condition of the vehicle.

[0048] In an embodiment of the present application, the vehicle itself has a panoramic image camera for the driver to observe the vehicle's surrounding conditions, including a front-view camera and cameras arranged at the positions of the vehicle's two side-view mirrors, which respectively monitor the water immersion state in front of the vehicle body and on the left and right sides of the vehicle body to obtain the environmental image information of the vehicle during driving. Then, through the artificial intelligence algorithm system deployed at the camera end, i.e., the edge computing module, the video data is processed directly at the camera end; the vehicle body image including at least one side of the target vehicle is obtained and sent to the vehicle controller through CAN (Controller Area Network, CAN for short), and the artificial intelligence algorithm deployed on the vehicle controller further processes the obtained image information.

[0049] It should be understood that, since the present application relies on the camera to collect the target vehicle environment image, the intensity of the ambient light will have a certain degree of influence on the clarity of the image. When the target vehicle is driving at night, since it is dark and the street lights are dim, relevant measures need to be taken to avoid the camera being unable to collect a clear target environment image.

[0050] Obtaining the plurality of sample images of the target vehicle also includes obtaining the intensity of the ambient light of the environment in which the target vehicle is located; when the intensity of the ambient light is lower than the standard light intensity, starting the vehicle backup light source to supplement light, and the vehicle backup light source includes a welcome light with the direction of the position of the rearview mirror pointing downward.

[0051] In an embodiment of the present application, when the target vehicle is driving on a relatively remote road at night, the weather is dim and the street light illumination capability is limited. The device determines that the intensity of the light of this environment is A, the preset standard light intensity is B, the comparison shows that A is less than B, and the intensity of the light of the environment in which the target vehicle is located is lower than the standard light intensity. The welcome light with the direction of the position of the rearview mirror pointing downward is turned on to supplement light to the environment, so that the vehicle-mounted camera can collect a usable target environment image.

[0052] Step S220, based on the target environment image, determining the target vehicle wading water level of the target vehicle.

[0053] Based on the target environment image, obtaining the target vehicle wading water level of the target vehicle includes: obtaining a plurality of sample images of the target vehicle, the sample images including a vehicle body image of at least one side of the vehicle body of the target vehicle; labeling the vehicle wading water level of the sample images to obtain a training sample data set; training the image recognition model through the sample data set, and taking the trained image recognition model as a vehicle wading water level recognition model; inputting the target environment image of the target vehicle into the vehicle wading water level recognition model to obtain the target vehicle wading water level.

[0054] Obtaining the target vehicle wading water level includes: obtaining a plurality of target environment images of the target vehicle, inputting the plurality of target environment images into the vehicle wading water level recognition model to obtain a plurality of vehicle wading water levels; assigning a calculation weight to the plurality of vehicle wading water levels, obtaining a theoretical wading water level of the plurality of vehicle wading water levels based on the calculation weight, and taking the theoretical wading water level as the vehicle wading water level of the target vehicle.

[0055] It should be understood that a large number of target environment images including a large number of non-standard environment images with water waves or splashes are first collected to train the image processing model, and the non-standard environment images are processed in the model training process, including but not limited to, eliminating images that obviously do not have reference value, such as images with large splashes, to increase the accuracy of the water level judgment; the actual wading line that is not straight is collected in the target image with water splashes, and a plurality of wading monitoring points are taken on the actual wading line to determine the wading point linear regression line of the plurality of wading monitoring points to obtain the wading point linear regression line as the target vehicle wading water level.

[0056] The plurality of sample images of the target vehicle are obtained by: collecting an initial environment image of the target vehicle, and identifying the water splash height and the water wave height in the initial environment image; taking the maximum value of the water splash height and the water wave height in the initial environment image as the water surface fluctuation value of the initial environment image; when the water surface fluctuation value is less than the standard water surface fluctuation value, the initial environment image is retained, and the retained initial environment image is taken as the target environment image.

[0057] In an embodiment of the present application, a large number of vehicle environment images are collected by a vehicle-mounted camera, and a large water splash and water wave exist in a part of the images. Taking 5 cm as the standard water surface fluctuation value, the position of the highest point of the water splash or water wave in the collected vehicle environment image is determined, and the height difference between the position and the water surface is taken as the water surface fluctuation value of the environment image. The water surface fluctuation value of any environment image is compared with the standard water surface fluctuation value. When the water surface fluctuation value of the environment image is greater than the standard water surface fluctuation value, the environment image is eliminated. The environment images with a water surface fluctuation value less than 5 cm are retained for model training.

[0058] The wading water level of the target vehicle is obtained by: obtaining a plurality of target environment images of the target vehicle, inputting the plurality of target environment images into the vehicle wading water level identification model, obtaining a plurality of vehicle wading water levels, assigning a calculation weight to the plurality of vehicle wading water levels, obtaining a theoretical wading water level of the plurality of vehicle wading water levels based on the calculation weight, and taking the theoretical wading water level as the vehicle wading water level of the target vehicle.

[0059] In an embodiment of the present application, taking 30 frames per second as the video stream frame rate as an example, that is, a signal can be collected every 30 milliseconds, 10 vehicle environment images collected within 0.3 seconds are input into the vehicle wading water level identification model to obtain 10 different vehicle wading water levels. Based on the clarity of each environment image, different weights are assigned to the 10 vehicle wading water levels. Then, based on the weights of the vehicle wading water levels, a theoretical wading water level is fused, and the theoretical wading water level is taken as the target vehicle wading water level.

[0060] In an embodiment of the present application, a large number of environmental images of the vehicle during driving are first collected, and a convolutional neural network model is established through training to determine the water line of the target vehicle.

[0061] In an embodiment of the present application, a real-time environmental image of the target vehicle is input into the trained vehicle water state recognition model, and it is determined that the target vehicle has not waded, and the vehicle is controlled to run normally and the wading condition is continuously detected.

[0062] In an embodiment of the present application, a real-time environmental image of the target vehicle is input into the trained vehicle water state recognition model, and it is determined that the target vehicle has waded, and the information that the target vehicle has waded is sent to the vehicle controller, and the image information obtained is further processed by the artificial intelligence algorithm deployed on the vehicle controller.

[0063] In an embodiment of the present application, a large number of vehicle body environmental images during driving are first collected, and the vehicle water line in the related vehicle body environmental images is labeled to form a data set, and then the image is recognized and trained based on the data set to obtain a vehicle water line recognition model.

[0064] In an embodiment of the present application, a target environmental image of a target vehicle is collected, and the target environmental image is input into the vehicle water line recognition model to obtain the water line of the target vehicle corresponding to the target environmental image.

[0065] Step S230, based on the position relationship between the target vehicle water line and the vehicle marker position of the target vehicle, the target vehicle water depth of the target vehicle is determined.

[0066] Before obtaining the target vehicle water line of the target vehicle, it further includes: based on the target environmental image, determining the water accumulation position information of the water accumulation area in the target environmental image and the tire position information of the target vehicle tire in the target environmental image; based on the water accumulation position information and the tire position information, determining the water accumulation position of the water accumulation area and the tire position of the target vehicle tire; if the water accumulation area and the tire area overlap, it is determined that the target vehicle has waded.

[0067] In an embodiment of the present application, a large number of environmental images of the vehicle during driving are first collected, and based on the environmental image information, the tire position area and the water accumulation position area of the target vehicle are determined, the area where the tire is located is M1, and the area where the water accumulation is located is N1, and the area M1 and the area N1 overlap, then it is determined that the target vehicle has waded.

[0068] In an embodiment of the present application, a large number of environmental images during vehicle driving are first collected, and the tire position area of the target vehicle and the position area of the accumulated water are determined based on the environmental image information, so that the area where the tire is located is M2, and the area where the accumulated water is located is N2, wherein the area M2 and the area N2 are independent of each other and have no overlapping area, and then it is determined that the target vehicle does not wade through water.

[0069] It should be understood that during vehicle driving, because the reliability or clarity of the environmental image will change with the change of the environmental factors, different water determination methods can be used based on different environments, including the relative position relationship based on the marker or the proportion relationship of the tire exposure area to determine the vehicle wading depth.

[0070] The determination of the wading depth of the target vehicle also includes: obtaining the accumulated water depth, the accumulated water clarity, and the blurred area of the vehicle tire of the environment where the target vehicle is located, determining the environmental index of the environment where the target vehicle is located; based on the first wading depth calculated based on the relative position relationship between the vehicle wading water level and the target marker, and the second wading depth calculated based on the proportion relationship between the tire exposure area and the tire complete area; based on the wading environmental index, the first calculation weight is given to the first wading depth, and the second calculation weight is given to the second wading depth, when the wading environmental index is greater than or equal to the standard environmental index, the first calculation weight is greater than the second calculation weight, when the wading environmental index is less than the standard environmental index, the first calculation weight is less than the second calculation weight; based on the first wading depth, the first calculation weight, the second wading depth, and the second calculation weight, the wading depth of the target vehicle is determined. In an embodiment of the present application, when the target vehicle drives on a muddy road in a heavy rain, the vehicle wading depth is determined based on the actual environment where the vehicle is located

[0071] First, the accumulated water condition of the environment where the target vehicle is located and the blurred area of the vehicle tire are collected, which is generally caused by the shielding of the tire area by the mud on the wheel. For example, 1 point is given when the accumulated water depth is less than 3 / 4 of the tire, 1 point is given when the accumulated water is clearly visible, and 1 point is given when the vehicle tire area is blurred, and 0 points are given otherwise, to obtain the wading environmental index of the target vehicle. For example, when the standard environmental index is 3, when the environmental index of the target vehicle is less than 3, the first calculation weight is greater than the second calculation weight, and the larger weight is assumed to be 70%, and the smaller weight is assumed to be 30%.

[0072] In one embodiment of the present application, it is determined through detection that the environment index of the target vehicle is 3, and the standard environment index is 3, and then the first calculation weight is set to 70%, and the second calculation weight is set to 30%. Through calculation, the first water depth is 45 cm, and the second water depth is 43 cm, and then the theoretical water depth is 44.4 cm according to the first calculation weight and the second calculation weight, and it is considered that the water depth of the target vehicle is 44.4 cm.

[0073] In another embodiment of the present application, it is determined through detection that the environment index of the target vehicle is 2, and the standard environment index is 3, and then the first calculation weight is set to 30%, and the second calculation weight is set to 70%. Through calculation, the first water depth is 45 cm, and the second water depth is 43 cm, and then the theoretical water depth is 43.6 cm according to the first calculation weight and the second calculation weight, and it is considered that the water depth of the target vehicle is 43.6 cm.

[0074] Figure 3 is a vehicle wading schematic diagram shown in an exemplary embodiment of the present application. As shown in Figure 3 , the image information of one side of the vehicle body is obtained based on the camera system of the vehicle, and the image information indicates that there is a vehicle wading water level line between the vehicle and the ground water, wherein A point is the intersection between the vehicle wading water level line and the vertical coordinate, B point is the intersection between the horizontal line of one of the tire marks and the vertical coordinate, and h is the distance between A point and B point.

[0075] After obtaining the target vehicle wading water level line of the target vehicle, the target vehicle wading depth of the target vehicle is determined by at least one of the following: obtaining a plurality of vehicle marks in the target environment image, and determining a target mark based on the target vehicle wading water level line and the vehicle mark, and determining the target vehicle wading depth according to the positional relationship between the target vehicle wading water level line and the target mark; obtaining the complete area of the tire of the target vehicle, and regarding the part of the tire area above the target vehicle wading water level line as the tire exposed area, and determining the target vehicle wading depth based on the relationship between the tire exposed water area and the complete tire area.

[0076] Obtaining a plurality of vehicle marks in the target environment image, and determining a target mark based on the target vehicle wading water level line and the vehicle mark, and determining the target vehicle wading depth according to the positional relationship between the target vehicle wading water level line and the target mark includes: obtaining a plurality of vehicle marks in the target environment image; determining a plurality of expected marks as the plurality of vehicle marks above the target vehicle wading water level line based on the target vehicle wading water level line; determining a target mark as the vehicle mark closest to the target vehicle among the plurality of expected marks; and determining the target vehicle wading depth based on the target mark and the positional relationship between the target mark and the target vehicle wading water level line.

[0077] Determining the wading depth of the target vehicle based on the positional relationship between the target marker and the water level of the target vehicle includes: obtaining the actual height value of the target marker; determining the distance between the target marker and the water level of the target vehicle as the interval distance; determining the actual interval of the interval distance based on the interval distance and a preset image distance - preset actual distance library; and determining the wading depth of the target vehicle based on the difference between the actual height value of the target marker and the actual interval value.

[0078] In one embodiment of the present invention, according to Figure 3 The image shows the vehicle wading through water. The position of the water level line of the target vehicle is identified as point A. A marker higher than point A and closest to point A is identified as point B. Point B is then designated as the target marker, and its actual height is X1. Based on this image, the distance between the water level line A and the target marker is determined as h. Furthermore, by determining the relationship between image distance and actual distance using the camera's intrinsic and extrinsic parameters, a preset image distance - preset actual distance library is obtained. Based on the interval distance h in the image, the actual interval distance X2 is obtained. The actual height of point A, i.e., the wading depth of the target vehicle, is obtained by calculating the difference between the actual height X1 of point B and the interval distance X2 between point B and point A.

[0079] In one embodiment of the present invention, the tire diameter is 770 mm according to the vehicle tire category "260 / 70R16", the actual height of the target marker is 385 mm, and the actual distance of the interval distance h is 30 mm according to the preset image distance - preset actual distance library. Therefore, the wading depth of the target vehicle is 355 mm.

[0080] The process involves obtaining the complete tire area of ​​the target vehicle and considering the area of ​​the tire above the water level as the exposed tire area. Based on the relationship between the exposed tire area and the complete tire area, the wading depth of the target vehicle is determined by: obtaining the exposed tire area above the water surface and determining the complete tire area based on the vehicle model; determining the tire exposed area ratio based on the exposed tire area and the complete tire area; and determining the target vehicle's wading depth based on the tire exposed area ratio and a preset tire exposed area ratio minus a preset target vehicle wading depth database.

[0081] In one embodiment of the present invention, such as Figure 3As shown, A point is the target vehicle wading water level of the target vehicle, the area of the vehicle tire exposed to the water surface is obtained based on the image, that is, the area above A point, and the relationship between the image area and the actual area is determined through the internal and external parameters of the camera, so as to obtain the actual area of the tire exposed to the water surface of the vehicle, that is, S1, and the complete area of the tire of the vehicle is obtained based on the model of the vehicle tire, that is, S0, so as to obtain the tire exposure area ratio K of the tire. According to the vehicle tire data parameters, the relationship between the area and the height is obtained, so as to determine the preset tire exposure area ratio-preset target vehicle wading depth library, and based on the tire exposure ratio obtained above, the wading area of the target vehicle is obtained.

[0082] In an embodiment of the present application, according to the vehicle wheel model, the complete area S0 of the vehicle tire is 0.47 square meters, and based on the tire exposure area in the image, the actual tire exposure area S1 is 0.235 square meters, that is, the tire exposure area ratio K of the tire is 1 / 2, and according to the preset preset wheel wading area ratio-preset wading depth library, the wading depth of the target vehicle is 385 millimeters.

[0083] Step S240, based on the target vehicle wading depth, determining the wading state of the target vehicle.

[0084] Based on the target vehicle wading depth, the wading state of the target vehicle is determined, including: based on the target vehicle wading depth, determining the target vehicle wading depth value, when the target vehicle wading depth is greater than or equal to a preset first threshold, the target vehicle wading state is determined to be a first level wading; when the target vehicle wading depth is greater than or equal to a preset second threshold, the target vehicle wading state is determined to be a second level wading; the preset first threshold is less than the preset second threshold.

[0085] Figure 4 is a vehicle wading schematic diagram shown by an exemplary embodiment of the present application, as Figure 4 As shown, S1 in the figure is the ground level, S2 is the sloping road, and S3 is the target vehicle wading water level, so it can be seen that when the target vehicle travels on a road with a certain slope, the wading depths of the front and rear tires are different, according to the national standard "Technical Standards for Highway Engineering" (JTGB01-2003), the maximum slope ratio of the road can be obtained, that is, 9%, therefore, the calculation can be obtained, under the condition of the limit slope of the road, the wading depths of the front and rear wheels only exist centimeter level difference, so in the actual application environment, the way including but not limited to reducing the early warning standard or taking the higher wading depth as the early warning is adopted to realize the wheel wading early warning.

[0086] The target vehicle water wading depth determination further comprises: obtaining a plurality of water wading lines of the target vehicle, and determining the plurality of water wading lines as expected water wading lines; determining an expected water wading depth of the target vehicle based on the expected water wading lines, and obtaining a maximum expected water wading depth; and determining the maximum expected water wading depth as the target vehicle water wading depth.

[0087] In one embodiment of the present application, since the target vehicle is running on a slope road section, the water wading depths of the front and rear tires are different, and the greater one is taken as the vehicle water wading depth to complete the vehicle water wading warning. For example, if the front tire water wading depth is 40 cm and the rear tire water wading depth is 48 cm, h 预警 = 45 cm, the rear tire water wading depth of the vehicle is taken as the vehicle water wading depth because the vehicle water wading depth 48 cm is greater than h 预警 = 45 cm, the vehicle is controlled to issue a corresponding warning.

[0088] It should be understood that the same effect as the above scheme can also be achieved by reducing the standard threshold of the water wading warning.

[0089] In one embodiment of the present application, since the target vehicle is running on a slope road section, the water wading depths of the front and rear tires are different. For example, if a preset standard warning depth h 预警 = 45 cm, the warning depth of the vehicle is reduced because the vehicle is running on a slope road section. For example, the warning depth is reduced by 5 cm, and the vehicle is warned when the water wading depth of the vehicle is 40 cm.

[0090] Figure 5 is a vehicle water wading state determination flowchart shown in an exemplary embodiment of the present application.

[0091] As Figure 5 shown, first, the target environment image of the target vehicle is returned, and then it is determined whether the target vehicle is wading based on the environment image. If the target vehicle is not wading, the wading state of the target vehicle is continuously detected. If the target vehicle is wading, the water wading line of the target vehicle is determined, the water wading depth of the target vehicle is determined based on the water wading line of the target vehicle, and the water wading state of the target vehicle is determined based on the obtained water wading depth and a preset threshold.

[0092] In one embodiment of the present application, based on the collected target environment image, it is determined that the target vehicle is not wading, and no response is made, and the target vehicle is normally operated and the wading condition of the target vehicle is continuously detected.

[0093] In one embodiment of the present application, a first threshold h 预警 is preset, a second threshold h 极限 is preset, and h 预警 < h极限 , the target vehicle has waded into water, but does not make any response, runs normally and continuously detects the wading condition of the target vehicle. 涉水 , the target vehicle has waded into water, but does not make any response, runs normally and continuously detects the wading condition of the target vehicle. 涉水 , the target vehicle has waded into water, but does not make any response, runs normally and continuously detects the wading condition of the target vehicle. 预警 , the target vehicle has waded into water, but does not make any response, runs normally and continuously detects the wading condition of the target vehicle. 涉水 , the target vehicle has waded into water, but does not make any response, runs normally and continuously detects the wading condition of the target vehicle. 预警 , the target vehicle has waded into water, but does not make any response, runs normally and continuously detects the wading condition of the target vehicle.

[0094] In an embodiment of the present application, the first threshold value is h 预警 , the second threshold value is h 极限 , and h 预警 < h 极限 , the wading depth of the target vehicle is h 涉水 based on the vehicle wading water level line identification model, the relationship between h 涉水 and h 预警 is compared, and h 涉水 ≥ h 预警 , it is determined that the wading state of the target vehicle is first-level wading.

[0095] In an embodiment of the present application, the first threshold value is h 预警 , the second threshold value is h 极限 , and h 预警 < h 极限 , the wading depth of the target vehicle is h 涉水 based on the vehicle wading water level line identification model, the relationship between h 涉水 and h 预警 is compared, and h 涉水 ≥ h 极限 , it is determined that the wading state of the target vehicle is second-level wading.

[0096] Figure 6 is a block diagram of a vehicle wading state determination device according to an exemplary embodiment of the present application. The device can be applied to the implementation environment shown in Figure 1 , and is specifically configured in the intelligent terminal 103. The device can also be applied to other exemplary implementation environments, and is specifically configured in other devices, and the implementation environment to which the device is applied is not limited in the present embodiment.

[0097] As shown in Figure 6 , the exemplary vehicle wading state determination device includes an image acquisition module 610, a wading determination module 620, a wading depth determination module 630, and a wading state determination module 640.

[0098] The image acquisition module 610 is configured to acquire a target environment image of a target vehicle, the target environment image comprising a vehicle body image of at least one side of the target vehicle; the water wading determination module 620 is configured to determine a target vehicle water wading line of the target vehicle based on the target environment image; the water wading depth determination module 630 is configured to determine a target vehicle water wading depth of the target vehicle based on a positional relationship between the target vehicle water wading line and a preset mark position of the target vehicle; and the water wading state determination module 640 is configured to determine a water wading state of the target vehicle based on the target vehicle water wading depth.

[0099] The camera included in the image acquisition module 610 is a panoramic image camera that is already provided in the vehicle for the driver to observe the surrounding conditions of the vehicle, so that no additional external device needs to be added, thereby saving costs. In addition, during the operation of the vehicle, the vehicle-mounted camera is always in an activated state, so that the water wading condition of the vehicle can be automatically monitored, and a warning can be issued when the water wading depth exceeds the preset threshold, without the need for the driver to actively trigger the water wading depth sensing system.

[0100] It should be noted that the vehicle water wading state determination device provided in the above embodiment and the vehicle water wading state determination method provided in the above embodiment belong to the same concept, and the specific manner in which each module and unit performs operations has been described in detail in the method embodiment, which will not be described here. The road condition refreshing device provided in the above embodiment can be divided into different functional modules to complete the above-described all or part of the functions according to the needs in actual application, and the internal structure of the device is divided into different functional modules to complete the above-described all or part of the functions, which is not limited herein.

[0101] After determining the water wading state of the target vehicle based on the target vehicle water wading depth, the method further includes: when the water wading state of the target vehicle is a first level water wading, issuing a first level alarm to remind the driver that the vehicle has waded into water; and when the water wading state of the target vehicle is a second level water wading, issuing a second level alarm to remind the driver that a part of the vehicle has waded into water.

[0102] Figure 7 is a vehicle water wading alarm device block diagram shown by an exemplary embodiment of the present application.

[0103] As shown in Figure 7 , the vehicle water wading alarm device includes a display module 710, an indicator light module 720, and a speaker module 730.

[0104] The display module 710 includes at least one display screen for issuing a text warning message based on the water wading state of the target vehicle; the indicator light module 720 includes at least two color indicator lights for starting different color indicator lights to issue a light warning message when the target vehicle is in the water wading state; the speaker module 730 includes at least one buzzer for issuing a voice warning message based on the water wading state of the target vehicle.

[0105] In an embodiment of the present application, based on the above judgment condition, it is determined that the water wading state of the target vehicle is level one water wading, and the target vehicle is controlled to issue a level one warning, which includes but is not limited to displaying the current water wading depth through the instrument panel or the central control screen, starting the yellow indicator light at the same time, and issuing a voice broadcast of "the current water depth has exceeded the warning depth, and continuing to drive will cause the risk of engine stall" through the buzzer or the horn to remind the driver to change the driving route in time.

[0106] In an embodiment of the present application, based on the above judgment condition, it is determined that the water wading state of the target vehicle is level two water wading, and the target vehicle is controlled to issue a level two warning, which includes but is not limited to displaying the current water wading depth through the instrument panel or the central control screen, starting the red indicator light at the same time, and issuing a voice broadcast of "the vehicle has begun to enter water in some important parts, please exit the current water area immediately" through the buzzer or the horn to remind the driver to stop immediately and check the vehicle state.

[0107] Figure 8 is a schematic diagram of a vehicle water wading state determination device architecture shown in an exemplary embodiment of the present application; Figure 9 is a schematic diagram of a vehicle water wading state determination device connection relationship shown in an exemplary embodiment of the present application.

[0108] As shown in Figure 8 and Figure 9 , the vehicle water wading state determination device includes: a vehicle-mounted camera module 910 (equivalent to the above-mentioned image acquisition module 610), a vehicle water wading detection module 920 (equivalent to the above-mentioned water wading state determination module 620), a vehicle body height engineering calibration module 930 (equivalent to the above-mentioned water wading depth determination module 630), a vehicle control module 940 (equivalent to the above-mentioned water wading state determination module 640), and a pre-warning alarm module 950 (equivalent to the above-mentioned vehicle water wading warning device). Figure 7

[0109] The vehicle-mounted camera module includes a front-view camera and two side-view cameras, which can ensure all-around monitoring of the water wading state around the vehicle through the image system surrounding the vehicle body. Based on Figure 8 and Figure 9 ​The connection relationship between the vehicle camera module, the vehicle wading detection module, the vehicle body height engineering calibration module, the vehicle control module and the early warning alarm module is as follows: the vehicle camera module is connected with the vehicle wading detection module, the vehicle wading detection module is connected with the vehicle control module, the vehicle control module is connected with the early warning alarm module, and in addition, the vehicle body height engineering calibration module is connected with the vehicle control module.

[0110] Figure 10 It is a vehicle wading warning reaction whole process diagram shown in an exemplary embodiment of the present application.

[0111] As Figure 10 shown, the vehicle wading state is recognized by the camera, and it is decided whether to trigger the vehicle wading depth sensing according to the situation. At the same time, the vehicle control module calculates the vehicle wading depth information in combination with the camera and the vehicle body height engineering calibration system, and judges the current early warning level. When the wading depth is greater than the early warning depth and less than the limit wading depth, the current wading depth is displayed through the instrument panel or the central control screen, and the voice broadcast of "the current water depth has exceeded the early warning depth, and the risk of continued driving will cause the engine to stall" is played through the buzzer or the horn, so as to remind the driver to change the driving route in time. When the wading depth is greater than the limit wading depth, the current wading depth is displayed through the instrument panel or the central control screen, and the voice broadcast of "the vehicle has begun to enter water, please exit the current water area immediately" is played through the buzzer or the horn, so as to remind the driver to stop immediately and check the vehicle state. In addition, the above safety warning broadcast will exist until the vehicle has left the wading environment or the wading depth is not in the above warning range.

[0112] Figure 11 The structural schematic diagram of the computer system of the electronic device suitable for realizing the embodiments of the present application is shown. It should be noted that, Figure 11 The computer system 1000 of the electronic device shown is only an example, and should not bring any limitation to the function and use range of the embodiments of the present application.

[0113] As Figure 11As shown, the computer system 1100 includes a central processing unit (CPU) 1101 which can execute various appropriate actions and processes in accordance with a program stored in a read-only memory (ROM) 1102 or a program loaded from the storage section 1108 into a random access memory (RAM) 1103, such as executing the methods in the above-described embodiments. Various programs and data required for system operation are also stored in the RAM 1103. The CPU 1101, the ROM 1102, and the RAM 1103 are connected to each other through a bus 1104. An input / output (I / O) interface 1105 is also connected to the bus 1104.

[0114] Connected to the I / O interface 1105 are an input section 1106 including a keyboard, a mouse, etc.; an output section 1107 including a display such as a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1108 including a hard disk, etc.; and a communication section 1109 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1109 performs communication processing via a network such as the Internet. A drive 1110 is also connected to the I / O interface 1105 as necessary. A removable recording medium 1111 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc. is attached to the drive 1110 as necessary, so that a computer program read therefrom is installed into the storage section 1108 as necessary.

[0115] In particular, according to embodiments of the present application, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present application include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing a computer program for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via the communication section 1109, and / or installed from the removable recording medium 1111. When the computer program is executed by the central processing unit (CPU) 1101, various functions defined in the systems of the present application are executed.

[0116] It should be noted that the computer-readable medium in the embodiments of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination thereof. The computer-readable storage medium may, for example, be an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or apparatus, or any combination thereof. More specific examples of the computer-readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this application, the computer-readable signal medium can include a data signal propagated in a baseband or as a carrier wave in a propagated data signal, in which the computer-readable computer program is carried. Such a propagated data signal can take on many forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination thereof. The computer-readable signal medium can also be any computer-readable medium other than the computer-readable storage medium, which can send, propagate, or transmit the program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted in any suitable medium, including but not limited to wireless, wired, or the like, or any suitable combination thereof.

[0117] The flowcharts and block diagrams in the drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. Each block in the flowcharts or block diagrams can represent a module, a program segment, or a portion of code, which contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur in a different order than that shown in the figures. For example, two blocks noted in succession can actually be executed substantially concurrently, or they can sometimes be executed in reverse order, depending on the functionality involved. It should also be noted that each block in the flowcharts or block diagrams, and combinations of blocks in the flowcharts or block diagrams, can be implemented by special-purpose hardware-based systems, which perform the specified functions or operations, or can be implemented by a combination of special-purpose hardware and computer instructions.

[0118] The units described in the embodiments of the present application can be implemented in the form of software, or can be implemented in the form of hardware, and the described units can also be arranged in a processor. In some cases, the names of the units do not constitute a limitation on the units themselves.

[0119] Another aspect of the present application also provides a computer readable storage medium, which stores a computer program. When the computer program is executed by a processor of a computer, the computer executes the vehicle water wading state determination method as described above. The computer readable storage medium can be included in the electronic device described in the above embodiments, or can exist separately and not be assembled into the electronic device.

[0120] Another aspect of the present application also provides a computer program product or a computer program, which includes computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the vehicle water wading state determination method provided in the above embodiments.

[0121] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes completed by those skilled in the art without departing from the spirit and technical thought of the present application should be covered by the claims of the present application.

Claims

1. A vehicle wading state determination method characterized by comprising: The method comprises: obtaining a target environment image of a target vehicle, the target environment image comprising a vehicle body image of at least one side of the target vehicle; based on the target environment image, determining a target vehicle wading water level of the target vehicle; based on the position relationship between the target vehicle wading water level and the vehicle marker position of the target vehicle, determining a target vehicle wading depth of the target vehicle; based on the target vehicle wading depth, determining a wading state of the target vehicle; wherein, after obtaining the target vehicle wading water level, determining the target vehicle wading depth comprises at least one of the following: based on the target vehicle wading water level, determining a plurality of vehicle marker positions above the target vehicle wading water level as a plurality of expected marker positions; determining a vehicle marker position closest to the target vehicle among the plurality of expected marker positions as a target marker position; based on the target marker position and the position relationship between the target marker position and the target vehicle wading water level, determining the wading depth of the target vehicle; wherein, obtaining an actual height value of the target marker position, determining the distance between the target marker position and the target vehicle wading water level as an interval distance; based on the interval distance and a preset image distance-pre-set actual distance library, determining the actual interval of the interval distance to obtain an actual interval value; based on the difference between the actual height value of the target marker position and the actual interval value, determining the wading depth of the target vehicle; obtaining a tire exposure area of the target vehicle when the tire is exposed to the water surface, and determining a tire complete area based on the vehicle model of the target vehicle; determining a tire exposure area ratio of the target vehicle based on the tire exposure area and the tire complete area; based on the tire exposure area ratio and a preset tire exposure area ratio-pre-set target vehicle wading depth library, determining the target vehicle wading depth of the target vehicle.

2. The vehicle water wading state determination method according to claim 1, characterized by, Based on the target environment image, the target vehicle wading water level of the target vehicle is obtained, which comprises: obtaining a plurality of sample images of a target vehicle, the sample images comprising vehicle body images of at least one side of the target vehicle; annotating the vehicle wading water level of the sample images to obtain a training sample data set; training an image recognition model through the sample data set, and using the trained image recognition model as a vehicle wading water level recognition model; inputting the target environment image of the target vehicle into the vehicle wading water level recognition model to obtain the wading water level of the target vehicle.

3. The vehicle water wading state determination method according to claim 1, characterized by, If the first and second wading depths are determined, determining the wading depth of the target vehicle further comprises: obtaining the water depth, the water clarity and the tire blur area of the environment where the target vehicle is located to determine the environment index of the environment where the target vehicle is located; based on the relative position relationship between the target vehicle wading water level and the target marker position, determining a first wading depth, and based on the proportional relationship between the tire exposure area and the tire complete area, determining a second wading depth; determine a first weight of the first wading depth and a second weight of the second wading depth based on the wading environment index and the standard environment index, the first weight being greater than the second weight when the wading environment index is greater than or equal to the standard environment index, the first weight being less than the second weight when the wading environment index is less than the standard environment index; determine the wading depth of the target vehicle based on the first wading depth, the first weight, the second wading depth and the second weight.

4. The vehicle water wading state determination method according to claim 1, characterized by, determining the target vehicle wading depth of the target vehicle further includes: obtain a plurality of wading water level lines of the target vehicle, and determine the plurality of wading water level lines as expected wading water level lines; determine an expected wading depth of the target vehicle based on the expected wading water level lines, to obtain a maximum expected wading depth; determine the maximum expected wading depth as the target vehicle wading depth.

5. The vehicle water wading state determination method according to claim 2, characterized by, obtaining the wading water level line of the target vehicle includes: obtain a plurality of target environment images of the target vehicle, input the plurality of target environment images into the vehicle wading water level line identification model to obtain a plurality of vehicle wading water level lines; assign a calculation weight to the plurality of vehicle wading water level lines, obtain a theoretical wading water level line of the plurality of vehicle wading water level lines based on the calculation weight, and regard the theoretical wading water level line as a vehicle wading water level line of the target vehicle.

6. The vehicle water wading state determination method according to claim 2, characterized by, obtaining a plurality of sample images of the target vehicle further includes: obtain an environmental light intensity of an environment in which the target vehicle is located; when the environmental light intensity is lower than a standard light intensity, start a vehicle backup light source to supplement light for the sample images, the vehicle backup light source including a welcome light with a position direction downward.

7. The vehicle water wading state determination method according to claim 2, characterized by, obtaining a plurality of sample images of the target vehicle includes: collect an initial environment image of the target vehicle, and identify a water splash height and a water wave height in the initial environment image; take the maximum value of the water splash height and the water wave height in the initial environment image as a water surface fluctuation value of the initial environment image; when the water surface fluctuation value is less than a standard water surface fluctuation value, retain the initial environment image, and take the retained initial environment image as the target environment image.

8. The vehicle wade determination method of any one of claims 1-7, wherein, before obtaining the target vehicle wading water level line of the target vehicle, further includes: based on the target environment image, determine water accumulation position information of a water accumulation area in the target environment image and tire position information of a target vehicle tire in the target environment image; determine a water accumulation position of the water accumulation area and a tire position of the target vehicle tire based on the water accumulation position information and the tire position information; if the water accumulation area and the area where the tire position is located overlap, it is determined that the target vehicle has waded.

9. The vehicle wade determination method of any one of claims 1-7, wherein, determining the wading state of the target vehicle based on the target vehicle wading depth includes: determine a target vehicle wading depth value based on the target vehicle wading depth, when the target vehicle wading depth is greater than or equal to a preset first threshold value, it is determined that the wading state of the target vehicle is a first level wading; when the target vehicle wading depth is greater than or equal to a preset second threshold value, it is determined that the wading state of the target vehicle is a second level wading; The preset first threshold is less than the preset second threshold.

10. The vehicle water wading state determination method according to claim 9, characterized by, After determining the water wading state of the target vehicle based on the water wading depth of the target vehicle, the method further includes: when the water wading state of the target vehicle is a first level water wading, issuing a first level alarm to remind the driver that the vehicle has waded into water; when the water wading state of the target vehicle is a second level water wading, issuing a second level alarm to remind the driver that the vehicle parts have waded into water.

11. A vehicle wading state determination device characterized by comprising: The device includes: an image acquisition module configured to acquire a target environment image of a target vehicle, the target environment image including a vehicle body image of at least one side of the target vehicle; a water wading determination module configured to obtain a target vehicle water wading level line of the target vehicle based on the target environment image; a water wading depth determination module configured to determine a target vehicle water wading depth of the target vehicle based on a positional relationship between the target vehicle water wading level line and a preset marker position of the target vehicle; a water wading state determination module configured to determine a water wading state of the target vehicle based on the target vehicle water wading depth; After obtaining the target vehicle water wading level line of the target vehicle, the target vehicle water wading depth of the target vehicle is determined by at least one of the following: based on the target vehicle water wading level line, a plurality of vehicle markers above the target vehicle water wading level line are determined as a plurality of expected markers; one of the plurality of expected markers closest to the target vehicle is determined as a target marker; based on the target marker and a positional relationship between the target marker and the target vehicle water wading level line, the water wading depth of the target vehicle is determined; wherein an actual height value of the target marker is obtained, a distance between the target marker and the target vehicle water wading level line is determined as an interval distance; based on the interval distance and a preset image distance-pre-set actual distance library, an actual interval of the interval distance is determined to obtain an actual interval value; based on a difference between the actual height value of the target marker and the actual interval value, the water wading depth of the target vehicle is determined; the tire exposure area of the target vehicle is obtained, and the complete tire area of the target vehicle is determined based on the vehicle model of the target vehicle; the tire exposure area ratio of the target vehicle is determined based on the tire exposure area and the complete tire area; the target vehicle water wading depth of the target vehicle is determined based on the tire exposure area ratio and a preset tire exposure area ratio-pre-set target vehicle water wading depth library.

12. An electronic device, comprising: The electronic device includes: one or more processors; a storage device configured to store one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the vehicle water wading state determination method of any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, A computer program is stored thereon, which, when executed by a processor of a computer, causes the computer to perform the vehicle water wading state determination method of any one of claims 1 to 10.

Images