Alarm methods, devices, electronic equipment and storage media for vehicles in flooded areas

Abstract

This application provides a method, device, electronic device, and storage medium for alarming vehicle wading. First, the vehicle's detection distance is obtained using a first sensor, and road surface information is obtained using a second sensor. The detection distance is the distance between detected road obstacles and the road surface, and the road surface information is an image of the road surface. Next, it is determined whether the detection distance exceeds a preset distance threshold and whether the road surface information is associated with the water surface. If the detection distance exceeds the distance threshold and the road surface information is associated with the water surface, an alarm is triggered. Based on this method, this application combines the vehicle's road surface information to perceive the actual type of road obstacles. Therefore, while obtaining the detection distance, it can determine whether the vehicle is in a real wading scenario, effectively reducing false alarms caused by the presence of other obstacles, improving the accuracy and reliability of wading depth detection, and enhancing the driver's driving experience.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, and in particular to an alarm method, device, electronic equipment, and storage medium for vehicles wading through water. Background Technology

[0002] Wading depth detection is an important technical means used to prevent drivers from intentionally driving into deep water areas when a vehicle is wading, which could lead to water entering the engine or damage to other components.

[0003] In related technologies, ultrasonic radar sensors are used to obtain the detection distance between the water surface and the road surface when a vehicle is driving through water. Once the detection distance exceeds the warning line, an alarm is immediately issued. However, if there are other obstacles higher than the road surface, the above method often produces false alarms, thereby reducing the reliability of the detection and causing some trouble for the driver. Summary of the Invention

[0004] This application provides an alarm method, device, electronic equipment, and storage medium for vehicle wading, which reduces false alarms caused by related technologies and thereby improves the reliability of vehicle wading detection.

[0005] Firstly, this application provides a method for alarming a vehicle that has been submerged in water, including:

[0006] The detection distance of the vehicle is obtained based on the first sensor, wherein the first sensor is an on-board ultrasonic sensor, and the detection distance is the distance between the detected road obstacle and the road surface;

[0007] The road surface information of the vehicle is obtained based on the second sensor, wherein the second sensor is an on-board camera sensor, and the road surface information is image information of the road surface;

[0008] Determine whether the detection distance is greater than a preset distance threshold, and determine whether the road surface information is associated with the water surface;

[0009] If the detection distance is greater than the distance threshold, and the road surface information is associated with the water surface, then an alarm is triggered for the vehicle.

[0010] In one specific implementation, the first sensor is an ultrasonic radar installed below the rearview mirror of the vehicle, and the second sensor is a panoramic imaging device installed at a designated point on the vehicle body.

[0011] In one specific implementation, obtaining the vehicle detection distance based on the first sensor includes:

[0012] In response to the detection of road obstacles whose height exceeds a preset height threshold, the vehicle's detection distance is obtained based on the first sensor.

[0013] In one specific implementation, determining whether the road surface information is associated with the water surface includes:

[0014] An image recognition model is used to extract road surface features from the road surface information, and the recognition result of the road surface obstacle is obtained based on the road surface features. The road surface features include: image features and ripple frequency features of the road surface, and the recognition result includes: the type of the road surface obstacle and its corresponding confidence level.

[0015] If the type of road obstacle is water, and the confidence level is greater than a preset confidence level threshold, then the road information is determined to be associated with water.

[0016] In one specific implementation, initiating the vehicle's alarm includes:

[0017] The detection distance is used as the wading depth of the vehicle, and the wading risk of the vehicle is predicted based on the wading depth.

[0018] Based on the stated risk of water damage, the corresponding alarm for the vehicle is triggered.

[0019] In one specific implementation, after initiating the vehicle's alarm, the method further includes:

[0020] The vehicle is controlled based on the wading depth.

[0021] Secondly, this application provides a vehicle wading alarm device, comprising:

[0022] The first acquisition module is used to obtain the detection distance of the vehicle based on the first sensor, wherein the first sensor is an on-board ultrasonic sensor, and the detection distance is the distance between the detected road obstacle and the road surface;

[0023] The second acquisition module is used to obtain road surface information of the vehicle based on the second sensor, wherein the second sensor is an on-board camera sensor, and the road surface information is image information of the road surface;

[0024] The judgment module is used to determine whether the detection distance is greater than a preset distance threshold and whether the road surface information is associated with the water surface;

[0025] An alarm module is used to initiate a water wading alarm for the vehicle if the detection distance is greater than the distance threshold and the road surface information is associated with the water surface.

[0026] In one specific implementation, the first sensor is an ultrasonic radar installed below the rearview mirror of the vehicle, and the second sensor is a panoramic imaging device installed at a designated point on the vehicle body.

[0027] In one specific implementation, the first acquisition module is used to obtain the vehicle detection distance based on the first sensor, wherein the first acquisition module is configured to:

[0028] In response to the detection of road obstacles whose height exceeds a preset height threshold, the vehicle's detection distance is obtained based on the first sensor.

[0029] In one specific implementation, the determination module for whether the road surface information is associated with the water surface is used to:

[0030] An image recognition model is used to extract road surface features from the road surface information, and the recognition result of the road surface obstacle is obtained based on the road surface features. The road surface features include: image features and ripple frequency features of the road surface, and the recognition result includes: the type of the road surface obstacle and its corresponding confidence level.

[0031] If the type of road obstacle is water, and the confidence level is greater than a preset confidence level threshold, then the road information is determined to be associated with water.

[0032] In one specific implementation, the alarm module is used to initiate the vehicle's alarm.

[0033] The detection distance is used as the wading depth of the vehicle, and the wading risk of the vehicle is predicted based on the wading depth.

[0034] Based on the stated risk of water damage, the corresponding alarm for the vehicle is triggered.

[0035] In one specific implementation, after initiating the vehicle's alarm, the alarm module is further configured to:

[0036] The vehicle is controlled based on the wading depth.

[0037] Thirdly, a vehicle is proposed that is equipped with an alarm device for wading as described in the second aspect above.

[0038] Fourthly, an electronic device is proposed, comprising a processor and a memory, wherein the memory stores program code that, when executed by the processor, causes the processor to perform the steps of the vehicle wading alarm method described in the first aspect.

[0039] Fifthly, a computer-readable storage medium is provided, comprising program code that, when executed on an electronic device, causes the electronic device to perform the steps of the vehicle wading alarm method described in the first aspect.

[0040] The technical effects that this application can achieve are as follows:

[0041] This application provides a method, device, electronic device, and storage medium for alarming vehicle wading. First, the vehicle's detection distance is obtained using a first sensor, and road surface information is obtained using a second sensor. The detection distance is the distance between detected road obstacles and the road surface, and the road surface information is an image of the road surface. Next, it is determined whether the detection distance exceeds a preset distance threshold and whether the road surface information is associated with the water surface. If the detection distance exceeds the distance threshold and the road surface information is associated with the water surface, an alarm is triggered. Based on this method, this application combines the vehicle's road surface information to perceive the actual type of road obstacles. Therefore, while obtaining the detection distance, it can determine whether the vehicle is in a real wading scenario, effectively reducing false alarms caused by the presence of other obstacles, improving the accuracy and reliability of wading depth detection, and enhancing the driver's driving experience. Attached Figure Description

[0042] Figure 1 A schematic diagram of a vehicle wading alarm system provided in an embodiment of this application;

[0043] Figure 2 A schematic diagram of another vehicle wading alarm system provided in an embodiment of this application;

[0044] Figure 3 A flowchart illustrating a vehicle wading alarm method provided in this application embodiment;

[0045] Figure 4 A flowchart is provided for an embodiment of this application;

[0046] Figure 5 A schematic diagram of the structure of a vehicle wading alarm device provided in an embodiment of this application;

[0047] Figure 6 This is a schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0048] The technical solutions of this application 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 this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this invention.

[0049] It should be noted that in the description of this application, "multiple" is understood as "at least two". "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. A connected to B can represent: A and B directly connected, or A and B connected through C. Furthermore, in the description of this application, terms such as "first" and "second" are used only for descriptive purposes and should not be construed as indicating or implying relative importance or order.

[0050] Furthermore, the data collection, dissemination, and use in the technical solution of this application all comply with the requirements of relevant national laws and regulations.

[0051] First, the vehicle wading alarm method provided in this application can be applied to the wading depth detection and alarm scenarios of motor vehicles. Second, the vehicle wading alarm method can be executed on the controller inside the vehicle. The controller can be a separate wading auxiliary controller or integrated into the vehicle's ultrasonic radar (USS) controller or panoramic view monitor (AVM) controller.

[0052] See Figure 1 As shown, it is a schematic diagram of a possible vehicle wading alarm system provided in this application. The schematic diagram includes: a wading assist controller, a panoramic image controller, and a gateway associated with the wading assist controller and the panoramic image controller.

[0053] Specifically, the wading assist controller obtains the vehicle's detection range through various ultrasonic radars mounted on the vehicle. Each ultrasonic radar is used to detect the distance between road obstacles and the road surface. In one specific embodiment, each ultrasonic radar can be mounted below the left and right rearview mirrors of the vehicle to sense the distance between road obstacles located below the vehicle and the road surface.

[0054] The panoramic imaging controller obtains road information about the vehicle through various panoramic imaging devices mounted on the vehicle. These panoramic imaging devices can be electronic devices with image acquisition and processing functions, such as IP cameras (IPCs) or network video recorders (NVRs). In one specific embodiment, each panoramic imaging device can be installed at designated points on the vehicle body, such as below the left and right rearview mirrors or below the high beam headlights. Furthermore, this application does not require a specific number of panoramic imaging devices. For example, in one embodiment, road information related to a certain area around the vehicle during wading can be obtained from the panoramic imaging devices located at four designated points on the four sides of the vehicle body.

[0055] In the aforementioned vehicle wading alarm system, the wading assist controller and the panoramic imaging controller can also transmit data, such as data based on the Controller Area Network (CAN) bus. During system operation, the wading assist controller can also obtain the vehicle's road surface information transmitted by the panoramic imaging controller and then execute subsequent corresponding methods.

[0056] See Figure 2 As shown, this is a schematic diagram of another possible vehicle wading alarm system provided in this application. In this schematic diagram, the panoramic image controller integrates a wading assistance function and is connected to each ultrasonic radar and each panoramic image device. In this vehicle wading alarm system, the detection distance and road information obtained by each ultrasonic radar and each panoramic image device connected to the panoramic image controller can also realize the steps of the above-mentioned vehicle wading alarm method.

[0057] Based on any of the above systems, the vehicle wading alarm method provided in this application will be further elaborated and explained below with reference to the accompanying drawings. Figure 3 As shown, it includes:

[0058] S301: Obtain the vehicle's detection distance based on the first sensor.

[0059] Specifically, the first sensor is an on-board ultrasonic sensor, and the detection distance is the distance between the detected road obstacle and the road surface.

[0060] In one specific implementation, the first sensor is an ultrasonic radar installed below the rearview mirror of the vehicle. That is, ultrasonic radar located below the left and right rearview mirrors of the vehicle is used to detect road obstacles below the vehicle and obtain the distance between the road obstacle and the road surface.

[0061] In one specific implementation, the vehicle detection distance is obtained according to the first sensor as follows: in response to the height of the detected road obstacle being greater than a preset height threshold, the vehicle detection distance is obtained according to the first sensor; that is, the detection distance between the road obstacle and the road surface is only obtained when the height of the detected road obstacle is greater than the preset height threshold (e.g., 30cm), thereby filtering out potholes or low obstacles in the road surface and further improving the accuracy and reliability of the water wading alarm.

[0062] S302: Obtain road information of the vehicle based on the second sensor.

[0063] Specifically, the second sensor is an onboard camera sensor, and the road information is image information of the road surface.

[0064] In one specific implementation, the second sensor is a panoramic imaging device installed at a designated point on the vehicle body, such as a network camera located below the vehicle's rearview mirror.

[0065] S303: Determine whether the detection distance is greater than the preset distance threshold, and determine whether the road surface information is associated with the water surface.

[0066] Specifically, an appropriate distance threshold is set based on the degree of impact of wading depth on vehicle components. For example, to avoid the potential serious impact on vehicle components when the wading depth exceeds 30cm, the distance threshold is set to 30cm, thereby ensuring timely warning of vehicle wading when the wading depth exceeds this distance threshold.

[0067] In one specific implementation, the vehicle's road surface information can be manually observed to determine whether it is associated with water, or image recognition can be used to detect the true type of road obstacles contained in the road surface information and thereby determine whether there is water beneath the vehicle. This includes:

[0068] Step 1: Use an image recognition model to extract road features from the road surface information, and obtain the recognition results of road obstacles based on the road surface features.

[0069] Specifically, the image recognition model can be a built-in algorithm model of the vehicle, such as the built-in algorithm model of the panoramic image controller in the aforementioned vehicle wading alarm system.

[0070] In one specific implementation, the image recognition model described above can be trained using a deep learning algorithm. Specifically, the image recognition model is trained using image samples containing water surfaces to enable the model to extract image features and detect water surface frequencies. After obtaining road surface information, the trained image recognition model is used to extract features from the road surface information to obtain road surface features and corresponding recognition results. The road surface features include: image features of the road surface and ripple frequency features, etc. The recognition results include: the type of road surface obstacle and its corresponding confidence level, etc. That is, the image recognition model is used to extract real image feature points and water surface frequencies from the road surface information, and to analyze whether the real type of road surface obstacle is water.

[0071] Step 2: If the type of road obstacle is water surface and the confidence level is greater than the preset confidence level threshold, then determine that the road information is associated with the water surface.

[0072] Specifically, when the type of road obstacle is water and the confidence level is greater than the preset confidence level threshold, the road information is determined to be associated with the water surface. That is, based on the recognition results given by the image recognition model, it is determined that the road obstacle under the vehicle is water and the vehicle is wading through water.

[0073] S304: If the detection distance is greater than the distance threshold and the road surface information is associated with the water surface, then an alarm for the vehicle will be initiated.

[0074] Specifically, when road surface information is associated with water surface information, i.e. when a vehicle is wading through water, the detection distance is determined as the required wading depth of the vehicle, and the vehicle's alarm is triggered accordingly.

[0075] In one specific implementation, the vehicle's wading risk is predicted based on the wading depth, and a corresponding alarm is triggered based on the wading risk.

[0076] For example, if the wading depth exceeds 30cm but does not exceed 40cm, it is predicted that wading through water may pose a low risk to components such as the engine, and the vehicle will issue a low-risk alarm; if the wading depth exceeds 40cm but does not exceed 50cm, it is predicted that wading through water may pose a high risk to components such as the engine, and the vehicle will issue a high-risk alarm.

[0077] For further details, please refer to [link / reference]. Figure 4 The diagram shown illustrates a flowchart of the above steps provided in this application. In one specific embodiment, after initiating a vehicle alarm, the method further includes: performing vehicle control based on the wading depth. Optionally, the wading depth is sent to a vehicle-related system so that the vehicle-related system can perform vehicle control based on the wading depth.

[0078] Furthermore, based on the same technical concept, this application also provides a vehicle wading alarm device, which is used to implement the above-described method flow of the embodiments of this application. See also... Figure 5 As shown, the device includes: a first acquisition module 501, a second acquisition module 502, a judgment module 503, and an alarm module 504, wherein:

[0079] The first acquisition module 501 is used to obtain the detection distance of the vehicle based on the first sensor, wherein the first sensor is an on-board ultrasonic sensor, and the detection distance is the distance between the detected road obstacle and the road surface;

[0080] The second acquisition module 502 is used to obtain road surface information of the vehicle based on the second sensor, wherein the second sensor is an on-board camera sensor, and the road surface information is image information of the road surface;

[0081] The judgment module 503 is used to determine whether the detection distance is greater than a preset distance threshold and whether the road surface information is associated with the water surface;

[0082] The alarm module 504 is used to initiate a water wading alarm for the vehicle if the detection distance is greater than the distance threshold and the road surface information is associated with the water surface.

[0083] In one specific implementation, the first sensor is an ultrasonic radar installed below the rearview mirror of the vehicle, and the second sensor is a panoramic imaging device installed at a designated point on the vehicle body.

[0084] In one specific implementation, the first acquisition module 501 is used to obtain the vehicle detection distance based on the first sensor, wherein the first acquisition module 501 is configured to:

[0085] In response to the detection of road obstacles whose height exceeds a preset height threshold, the vehicle's detection distance is obtained based on the first sensor.

[0086] In one specific implementation, the determination module 503 is used to determine whether the road surface information is associated with the water surface.

[0087] An image recognition model is used to extract road surface features from the road surface information, and the recognition result of the road surface obstacle is obtained based on the road surface features. The road surface features include: image features and ripple frequency features of the road surface, and the recognition result includes: the type of the road surface obstacle and its corresponding confidence level.

[0088] If the type of road obstacle is water, and the confidence level is greater than a preset confidence level threshold, then the road information is determined to be associated with water.

[0089] In one specific implementation, the alarm module 504, which initiates the vehicle's alarm, is used to:

[0090] The detection distance is used as the wading depth of the vehicle, and the wading risk of the vehicle is predicted based on the wading depth.

[0091] Based on the stated risk of water damage, the corresponding alarm for the vehicle is triggered.

[0092] In one specific implementation, after initiating the vehicle's alarm, the alarm module 504 is further configured to:

[0093] The vehicle is controlled based on the wading depth.

[0094] Based on the same inventive concept as the embodiments described above, this application also provides a vehicle equipped with any of the vehicle wading alarm devices described above. In one embodiment, the vehicle can be any motor vehicle, such as an autonomous driving vehicle, and by combining detection distance and road surface information, the accuracy and reliability of wading depth detection are improved.

[0095] Based on the same inventive concept as the embodiments described above, this application also provides an electronic device that can be used for vehicle flooding alarms. In one embodiment, the electronic device can be a server, a terminal device, or other electronic equipment. In this embodiment, the structure of the electronic device can be as follows: Figure 6 As shown, it includes a memory 601, a communication interface 603, and one or more processors 602.

[0096] The memory 601 is used to store computer programs executed by the processor 602. The memory 601 may mainly include a program storage area and a data storage area. The program storage area may store the operating system and programs required to run instant messaging functions, etc.; the data storage area may store various instant messaging information and operation instruction sets, etc.

[0097] Memory 601 may be volatile memory, such as random-access memory (RAM); memory 601 may also be non-volatile memory, such as read-only memory, flash memory, hard disk drive (HDD), or solid-state drive (SSD); or memory 601 may be any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto. Memory 601 may be a combination of the above-described memories.

[0098] The processor 602 may include one or more central processing units (CPUs) or digital processing units, etc. The processor 602 is used to implement the aforementioned vehicle flooding alarm method when calling the computer program stored in the memory 601.

[0099] Communication interface 603 is used to communicate with terminal devices and other servers.

[0100] This application embodiment does not limit the specific connection medium between the memory 601, the communication interface 603, and the processor 602. This application embodiment... Figure 6 The memory 601 and the processor 602 are connected via a bus 604, and the bus 604 is in Figure 6 The connections between other components are shown in thick lines only and are not intended to be limiting. The 604 bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, Figure 6 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0101] Based on the same inventive concept, this application also provides a storage medium storing computer instructions that, when executed on a computer, cause the computer to perform the vehicle wading alarm method described above.

[0102] It should be noted that although several units or sub-units of the device have been mentioned in the detailed description above, this division is merely exemplary and not mandatory. In fact, according to embodiments of this application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units.

[0103] Furthermore, although the operations of the method of this application are described in a specific order in the accompanying drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, certain steps may be omitted, multiple steps may be combined into one step, and / or one step may be broken down into multiple steps.

[0104] This application provides a method, device, electronic device, and storage medium for alarming vehicle wading. First, the vehicle's detection distance is obtained using a first sensor, and road surface information is obtained using a second sensor. The detection distance is the distance between detected road obstacles and the road surface, and the road surface information is an image of the road surface. Next, it is determined whether the detection distance exceeds a preset distance threshold and whether the road surface information is associated with the water surface. If the detection distance exceeds the distance threshold and the road surface information is associated with the water surface, an alarm is triggered. Based on this method, this application combines the vehicle's road surface information to perceive the actual type of road obstacles. Therefore, while obtaining the detection distance, it can determine whether the vehicle is in a real wading scenario, effectively reducing false alarms caused by the presence of other obstacles, improving the accuracy and reliability of wading depth detection, and enhancing the driver's driving experience.

[0105] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0106] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a server, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0107] Program code for performing the operations of this application can be written using any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computing device, partially on the user's device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0108] In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0109] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0110] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0111] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A method of alerting of a vehicle wading, characterized by, include: In response to the detection of a road obstacle whose height exceeds a preset height threshold, the vehicle's detection distance is obtained based on a first sensor, wherein the first sensor is an on-board ultrasonic sensor, and the detection distance is the distance between the detected road obstacle and the road surface. The road surface information of the vehicle is obtained based on the second sensor, wherein the second sensor is an on-board camera sensor, and the road surface information is image information of the road surface; The system determines whether the detection distance is greater than a preset distance threshold, and uses an image recognition model to extract road surface features from the road surface information. Based on the road surface features, it obtains the recognition result of the road surface obstacle. The image recognition model is trained using image samples containing water surfaces. The road surface features include: image features of the road surface and ripple frequency features. The recognition result includes the type of road surface obstacle and its corresponding confidence level. If the detection distance is greater than the distance threshold, and the identification result indicates that the type of road obstacle is water, and the confidence level of the identification result is greater than the preset confidence threshold, then the road information is determined to be associated with water. When determining the association between the road surface information and the water surface, the detection distance is used as the wading depth of the vehicle, and the wading risk of the vehicle is predicted based on the wading depth; the wading risk includes low risk alarm and high risk alarm. Based on the aforementioned water wading risk, after initiating a water wading alarm for the vehicle, the water wading depth is sent to the vehicle-wide system so that the vehicle-wide system can perform vehicle-wide control based on the water wading depth.

2. The method of claim 1, wherein, The first sensor is an ultrasonic radar installed below the rearview mirror of the vehicle, and the second sensor is a panoramic imaging device installed at a designated point on the vehicle body.

3. A device for alerting of a vehicle wading, characterized in that include: The first acquisition module is used to obtain the vehicle's detection distance based on a first sensor in response to the detection of a road obstacle height that is greater than a preset height threshold. The first sensor is an on-board ultrasonic sensor, and the detection distance is the distance between the detected road obstacle and the road surface. The second acquisition module is used to obtain road surface information of the vehicle based on the second sensor, wherein the second sensor is an on-board camera sensor, and the road surface information is image information of the road surface; The judgment module is used to determine whether the detection distance is greater than a preset distance threshold, and to use an image recognition model to extract road surface features from the road surface information, and to obtain the recognition result of the road surface obstacle based on the road surface features; wherein, the image recognition model is trained using image samples containing water surface; the road surface features include: image features of the road surface and ripple frequency features; the recognition result includes the type of road surface obstacle and its corresponding confidence level; An alarm module is used to determine that the road information is associated with a water surface if the detection distance is greater than the distance threshold, the identification result indicates that the type of road obstacle is water, and the confidence level of the identification result is greater than a preset confidence level threshold; when determining that the road information is associated with a water surface, the detection distance is used as the wading depth of the vehicle, and the wading risk of the vehicle is predicted based on the wading depth; the wading risk includes low-risk alarm and high-risk alarm; after initiating the wading alarm of the vehicle based on the wading risk, the wading depth is sent to the vehicle association system so that the vehicle association system can perform vehicle control based on the wading depth.

4. A vehicle characterized by comprising: The vehicle is equipped with an alarm device for water immersion as described in claim 3.

5. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the method as described in any one of claims 1-2.

6. A computer-readable storage medium having stored thereon a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1-2.

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