A vehicle water immersion detection method and device, electronic equipment and storage medium

Abstract

The application provides a vehicle water immersion detection method and device, electronic equipment and a storage medium. The method comprises the following steps: acquiring rainwater amount data in an environment where a target vehicle is located when the target vehicle is in a camping mode; detecting a water level depth of a bottom of the target vehicle when the rainwater amount data meets a first set requirement; and determining whether the target vehicle has a water immersion risk according to the water level depth and attitude feature data of the vehicle. The application can timely and accurately detect the water immersion condition of the vehicle in the camping mode, so that personnel can timely take risk avoidance measures.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and more specifically, to a method, apparatus, electronic device, and storage medium for detecting water immersion in vehicles. Background Technology

[0002] With the advancement of technology, vehicles are becoming increasingly intelligent, and people's demands for vehicles are constantly increasing, especially the requirements for vehicle comfort. For example, a camping mode can be set up in a vehicle, which can maintain air circulation and a comfortable temperature inside the vehicle, as well as provide interior lighting, music playback, internet access, games, and charging, making it suitable for situations where people want to rest inside the vehicle.

[0003] However, with the arrival of the rainy season, water levels in some areas will rise rapidly. If people camping outdoors encounter rain while sleeping, their vehicles may be submerged due to the rapidly rising water levels. Submerged vehicles may cause safety hazards such as aging and cracking of wiring, and damage to the engine due to water entering it. It may also pose a personal danger.

[0004] Currently, to avoid vehicle flooding, the main approach relies on the owner's personal experience and the advice of other experienced individuals. However, during camping trips, owners or other experienced individuals may not be able to make timely judgments, thus failing to take objective and timely precautions and potentially causing unnecessary losses. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a method, device, electronic device and storage medium for detecting water damage to vehicles, which can detect the water damage of vehicles in camping mode in a timely and accurate manner, so that people can take timely evasive action.

[0006] In a first aspect, embodiments of this application provide a method for detecting water immersion in a vehicle, the method comprising:

[0007] When the target vehicle is in camping mode, acquire rainfall data in the environment where the target vehicle is located;

[0008] If the rainfall data meets the first preset requirement, the water level depth at the bottom of the target vehicle is detected;

[0009] Based on the water level depth and vehicle posture characteristics data, it is determined whether the target vehicle is at risk of being submerged in water.

[0010] In one optional embodiment of this application, a lidar is provided at the bottom of the target vehicle, and a first millimeter-wave radar and a second millimeter-wave radar are provided at the front and rear of the target vehicle, respectively.

[0011] The step of detecting the water level depth at the bottom of the target vehicle includes:

[0012] The laser radar is used to monitor the first depth of water accumulation on the road surface where the target vehicle is located;

[0013] The first millimeter-wave radar and the second millimeter-wave radar monitor the second and third water depths in the environment where the target vehicle is located.

[0014] The water level depth at the bottom of the target vehicle is fitted based on the first water depth, the second water depth, and the third water depth.

[0015] In one optional embodiment of this application, a camera is provided at the bottom of the target vehicle;

[0016] The step of detecting the water level depth at the bottom of the target vehicle further includes:

[0017] Acquire images of the underside of the target vehicle captured by a camera at the bottom of the vehicle;

[0018] The water level is obtained based on the image of the vehicle's undercarriage and the height of the vehicle's wheels;

[0019] The water level depth at the bottom of the target vehicle is obtained by averaging the fitted water level depth and the water level height.

[0020] In one optional embodiment of this application, the step of determining whether the target vehicle is at risk of being submerged in water based on the water level depth and the vehicle's attitude characteristic data includes:

[0021] Determine the chassis height, pitch angle, and roll angle of the target vehicle;

[0022] An algorithmic analysis is performed on the chassis height, pitch angle, roll angle of the target vehicle, and the water depth to obtain the shortest distance between the water depth and the chassis of the target vehicle.

[0023] If the nearest distance between the water level and the chassis of the target vehicle is less than a preset distance threshold, then the target vehicle is determined to be at risk of being submerged in water.

[0024] In one optional embodiment of this application, the method further includes:

[0025] When it is determined that the target vehicle is at risk of being flooded, a vehicle flooding warning message is sent.

[0026] In one optional embodiment of this application, the method further includes:

[0027] If the rainfall data meets the second set requirement, stop detecting the water depth at the bottom of the target vehicle.

[0028] In one optional embodiment of this application, the first setting requirement includes the rainfall data being greater than a preset rainfall threshold;

[0029] The second setting requirement includes that the rainfall data shows no increasing trend within a preset time period.

[0030] Secondly, embodiments of this application provide a vehicle water immersion detection device, the device comprising:

[0031] The data acquisition module is used to acquire rainfall data in the environment where the target vehicle is located when the target vehicle is in camping mode.

[0032] The water level detection module is used to detect the water level depth at the bottom of the target vehicle when the rainfall data meets the first set requirements.

[0033] The water immersion determination module is used to determine whether the target vehicle is at risk of being submerged in water based on the water level depth and the vehicle's posture characteristics data.

[0034] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the memory via the bus, and when the machine-readable instructions are executed by the processor, the steps of the method described above are performed.

[0035] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the method described above.

[0036] This application provides a method, device, electronic device, and storage medium for detecting vehicle flooding. The method includes: acquiring rainfall data of the environment in which the target vehicle is located when the target vehicle is in camping mode; detecting the water depth at the bottom of the target vehicle when the rainfall data meets a first preset requirement; and determining whether the target vehicle is at risk of flooding based on the water depth and the vehicle's posture characteristics. This application can detect the flooding status of vehicles in camping mode in a timely and accurate manner, enabling personnel to take timely evasive action.

[0037] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0038] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 A flowchart illustrating a method for detecting water immersion in a vehicle, as provided in this application embodiment;

[0040] Figure 2 This is a schematic diagram of the structure of a vehicle water immersion detection device provided in an embodiment of this application;

[0041] Figure 3 This is a schematic diagram of another vehicle water immersion detection device provided in an embodiment of this application;

[0042] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. Based on the embodiments of this application, every other embodiment obtained by those skilled in the art without inventive effort falls within the scope of protection of this application.

[0044] With the advancement of technology, vehicles are becoming increasingly intelligent, and people's demands for vehicles are constantly rising, especially the requirements for user comfort. For example, vehicles are equipped with a camping mode, which can maintain air circulation and a comfortable temperature inside the vehicle, as well as provide interior lighting, music playback, internet access, gaming, and charging, suitable for situations where people stay in the vehicle to rest. However, with the arrival of the rainy season, water levels in some areas rise rapidly. If people camping outdoors encounter rain while sleeping, the rapidly rising water level may cause the vehicle to be submerged. Submerged vehicles may cause safety hazards such as aging and cracking of wiring, and damage to the engine due to water entering the engine, and may also pose personal danger.

[0045] Currently, to avoid vehicle flooding, the main approach relies on the owner's personal experience and the advice of other experienced individuals. However, during camping trips, owners or other experienced individuals may not be able to make timely judgments, thus failing to take objective and timely precautions and potentially causing unnecessary losses.

[0046] Based on this, embodiments of this application provide a method, device, electronic device, and storage medium for detecting water damage to vehicles, which can detect the water damage status of vehicles in camping mode in a timely and accurate manner, so that people can take timely evasive action.

[0047] Please see Figure 1 , Figure 1 A method for detecting water damage to a vehicle, as provided in this application embodiment, includes:

[0048] S101. When the target vehicle is in camping mode, obtain the rainfall data of the environment where the target vehicle is located.

[0049] Here, the vehicle can be preset with various application modes, such as energy-saving mode, normal mode, sport mode, camping mode, rest mode, car wash mode, and dog mode. Camping mode, in particular, maintains air circulation and a comfortable temperature inside the vehicle, while also providing interior lighting, music playback, internet access, gaming, and charging capabilities—suitable for passengers to rest inside. The target vehicle refers to the vehicle currently in camping mode.

[0050] In step S101, when the target vehicle is in camping mode, the rainfall data of the environment in which the target vehicle is located can be obtained through a rain sensor. The rain sensor can be installed behind the windshield. The rain sensor on the vehicle is an electronic sensor used to measure the amount of rainfall and has good sensitivity and practicality.

[0051] S102. If the rainfall data meets the first set requirement, detect the water depth at the bottom of the target vehicle.

[0052] In one embodiment, the rainfall data meeting the first preset requirement includes the rainfall sensor detecting rainfall in the environment where the target vehicle is located; in another embodiment, the rainfall data meeting the first preset requirement includes the rainfall data acquired by the rainfall sensor being greater than a preset rainfall threshold.

[0053] When the rainfall data meets the first set requirements, the methods for detecting the water depth under the target vehicle include the following aspects:

[0054] Firstly, a lidar is installed at the bottom of the target vehicle, and a first millimeter-wave radar and a second millimeter-wave radar are installed at the front and rear of the target vehicle, respectively; step S102 specifically includes:

[0055] Step 10211: Monitor the first water depth on the road surface where the target vehicle is located using lidar;

[0056] Step 10221: Monitor the second and third water depths in the environment where the target vehicle is located using the first and second millimeter-wave radars;

[0057] Step 10231: Based on the first water depth, the second water depth, and the third water depth, fit the water level depth at the bottom of the target vehicle.

[0058] In steps 10211 to 10231, due to the high accuracy of the lidar, it is directly installed on the bottom of the target vehicle to monitor the first water depth on the road surface where the target vehicle is located. Because millimeter-wave radar has strong penetration capabilities and is less affected by weather conditions, the first and second millimeter-wave radars are installed in front of and behind the target vehicle, respectively, to monitor the second and third water depths in the environment where the target vehicle is located.

[0059] In one embodiment, the step of fitting the water level depth at the bottom of the target vehicle based on the first water depth, the second water depth, and the third water depth specifically includes: determining multiple highest water accumulation points corresponding to the first water depth, the second water depth, and the third water depth, respectively; determining the relative position coordinates of each water accumulation point and the vehicle; determining the coordinates of each water accumulation point on the map based on the relative position coordinates and the vehicle's position coordinates on the map, thereby obtaining the height information of each point included in the water accumulation area formed by the water accumulation points; obtaining the depth distribution information of each point in the water accumulation area from the height coordinate difference between each water accumulation point and each point in the water accumulation area; drawing a water depth map of the water accumulation area based on the depth distribution information; and analyzing the water level depth at the bottom of the target vehicle based on the water depth map.

[0060] The above method can accurately fit the water level depth at the bottom of the target vehicle based on the first, second, and third water depths, with high precision.

[0061] Secondly: A camera is installed at the bottom of the target vehicle; step S102 specifically includes:

[0062] Step 10212: Obtain the underside image of the target vehicle captured by the camera at the bottom of the vehicle.

[0063] In step 10212, the camera mounted on the bottom of the vehicle can be installed in the middle of the bottom of the vehicle to achieve 360° all-around shooting. The under-vehicle image refers to the image or video captured by the camera, and the image content includes the ground, water surface, wheels, part of the chassis, and other objects within the camera's field of view. Furthermore, the time interval for capturing images can be continuous or a round of shooting at fixed intervals.

[0064] Step 10222: Obtain the water level depth based on the image of the vehicle's undercarriage and the height of the vehicle's wheels.

[0065] In step 10222, the water level depth refers to the height of the accumulated water at the location where the target vehicle is parked, based on the ground surface, in the current environment. Since the water on the ground is not always static but exhibits fluctuating waves, the highest point is chosen as the water level height when determining the specific water level.

[0066] For example, let's take the highest point of the accumulated water as the water level height. First, the position of the wheels is identified based on the image of the vehicle's underside captured by the camera. The height of the wheels above the water surface is determined from the image of the vehicle's underside. Assuming that the current water level is fluctuating, the water level line will intersect the wheels at two points. Assuming that the rightmost intersection point in the image is higher than the leftmost intersection point, the area below the rightmost intersection point can be considered as water. Therefore, by subtracting the height of the wheel above the water surface from the height of the wheel above the water surface, the current water level height can be calculated.

[0067] Thirdly: A lidar is installed on the bottom of the target vehicle, a first millimeter-wave radar and a second millimeter-wave radar are installed at the front and rear of the target vehicle respectively, and a camera is installed on the bottom of the target vehicle; Step S102 specifically includes:

[0068] Step 10213: Monitor the first water depth on the road surface where the target vehicle is located using lidar;

[0069] Step 10223: Monitor the second and third water depths in the environment where the target vehicle is located using the first and second millimeter-wave radars;

[0070] Step 10233: Based on the first water depth, the second water depth, and the third water depth, fit the water level depth at the bottom of the target vehicle;

[0071] Step 10243: Obtain the underside image of the target vehicle captured by the camera at the bottom of the vehicle;

[0072] Step 10253: Obtain the water level based on the image of the vehicle's undercarriage and the height of the vehicle's wheels;

[0073] Step 10263: Calculate the average of the fitted water depth and water height at the bottom of the target vehicle to obtain the water depth at the bottom of the target vehicle.

[0074] The descriptions of steps 10213 to 10233 can be found in the descriptions of steps 10211 to 10231, and the descriptions of steps 10243 to 10253 can be found in the descriptions of steps 10212 to 10222. They will not be repeated here.

[0075] In step 10263, the average of the fitted water depth and water height at the bottom of the target vehicle is calculated to obtain the water depth at the bottom of the target vehicle. This makes the calculated water depth at the bottom of the target vehicle more accurate.

[0076] S103. Based on the water level depth and vehicle attitude characteristics data, determine whether the target vehicle is at risk of being submerged in water.

[0077] In this embodiment of the application, step S103 specifically includes:

[0078] Step 1031: Determine the target vehicle's chassis height, pitch angle, and roll angle;

[0079] Here, a vehicle dynamics model conforming to the driving characteristics of the target vehicle is established. Real-time and accurate estimation of the vehicle's roll and pitch angles is achieved using the Recursive Least Squares (RLS) method with a forgetting factor. This can be accomplished with only low-cost onboard sensors, resulting in low cost. The chassis height of the target vehicle is a value predetermined at the time of manufacture.

[0080] Step 1032: Perform algorithmic analysis on the target vehicle's chassis height, pitch angle, roll angle, and water depth to obtain the closest distance between the water depth and the target vehicle's chassis.

[0081] The minimum distance between the target vehicle's chassis and the ground is calculated by taking the target vehicle's chassis height, pitch angle, and roll angle. The difference between this minimum distance and the water depth is then used to obtain the closest distance between the water depth and the target vehicle's chassis.

[0082] Step 1033: If the closest distance between the water level and the chassis of the target vehicle is less than a preset distance threshold, then the target vehicle is determined to be at risk of being submerged in water.

[0083] In an optional embodiment, the method further includes sending a vehicle flooding warning when it is determined that the target vehicle is at risk of being flooded.

[0084] Here, vehicle flood warning information can be displayed on the screen inside the vehicle. The screen can be lit up to alert the occupants that the target vehicle is at risk of being flooded, or a voice prompt can be given to alert the occupants that the target vehicle is at risk of being flooded, so that the occupants can move the target vehicle in time and take timely evasive action.

[0085] In an optional embodiment, the method in this application further includes: if the rainfall data meets the second set requirement, stopping the detection of the water level depth at the bottom of the target vehicle.

[0086] Here, the second setting requirement includes that the rainfall data shows no increasing trend within a preset time period. In other words, if the rain sensor detects that the rain has stopped, the rain sensor's detection function will be turned off.

[0087] This application provides a method for detecting water damage to a vehicle. The method includes: acquiring rainfall data in the environment where the target vehicle is located while it is in camping mode; detecting the water depth at the bottom of the target vehicle if the rainfall data meets a first preset requirement; and determining whether the target vehicle is at risk of water damage based on the water depth and the vehicle's posture characteristics. This application can detect the water damage status of vehicles in camping mode in a timely and accurate manner, enabling personnel to take timely evasive action.

[0088] Based on the same inventive concept, this application also provides a vehicle water immersion detection device corresponding to the vehicle water immersion detection method. Since the principle of the device in this application is similar to the above-mentioned vehicle water immersion detection method in this application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0089] Please see Figure 2 and Figure 3 , Figure 2 This is a schematic diagram of the structure of a vehicle water immersion detection device provided in an embodiment of this application. Figure 3 This is a schematic diagram of a vehicle water immersion detection device provided in an embodiment of this application. Figure 2 As shown, the device 200 includes:

[0090] The data acquisition module 201 is used to acquire rainfall data in the environment where the target vehicle is located when the target vehicle is in camping mode.

[0091] The water level detection module 202 is used to detect the water level depth at the bottom of the target vehicle when the rainfall data meets the first preset requirements.

[0092] The water immersion determination module 203 is used to determine whether the target vehicle is at risk of being submerged in water based on the water level depth and the vehicle's posture characteristics data.

[0093] In one optional embodiment of this application, a lidar is provided at the bottom of the target vehicle, and a first millimeter-wave radar and a second millimeter-wave radar are provided at the front and rear of the target vehicle, respectively.

[0094] The water level detection module 202 is specifically used for:

[0095] The laser radar is used to monitor the first depth of water accumulation on the road surface where the target vehicle is located;

[0096] The first millimeter-wave radar and the second millimeter-wave radar monitor the second and third water depths in the environment where the target vehicle is located.

[0097] The water level depth at the bottom of the target vehicle is fitted based on the first water depth, the second water depth, and the third water depth.

[0098] In one optional embodiment of this application, a camera is provided at the bottom of the target vehicle;

[0099] The water level detection module 202 is also specifically used for:

[0100] Acquire images of the underside of the target vehicle captured by a camera at the bottom of the vehicle;

[0101] The water level is obtained based on the image of the vehicle's undercarriage and the height of the vehicle's wheels;

[0102] The water level depth at the bottom of the target vehicle is obtained by averaging the fitted water level depth and the water level height.

[0103] In one optional embodiment of this application, the water immersion determination module 203 is specifically used for:

[0104] Determine the chassis height, pitch angle, and roll angle of the target vehicle;

[0105] An algorithmic analysis is performed on the chassis height, pitch angle, roll angle of the target vehicle, and the water depth to obtain the shortest distance between the water depth and the chassis of the target vehicle.

[0106] If the nearest distance between the water level and the chassis of the target vehicle is less than a preset distance threshold, then the target vehicle is determined to be at risk of being submerged in water.

[0107] Furthermore, such as Figure 3 As shown, the device 200 further includes an information sending module 204, which is used for:

[0108] When it is determined that the target vehicle is at risk of being flooded, a vehicle flooding warning message is sent.

[0109] In an optional embodiment of this application, the device 200 further includes a stop detection module 205, which is used to:

[0110] If the rainfall data meets the second set requirement, stop detecting the water depth at the bottom of the target vehicle.

[0111] In one optional embodiment of this application, the first setting requirement includes the rainfall data being greater than a preset rainfall threshold;

[0112] The second setting requirement includes that the rainfall data shows no increasing trend within a preset time period.

[0113] This application provides a vehicle flooding detection device. When the target vehicle is in camping mode, it acquires rainfall data of the environment in which the target vehicle is located. If the rainfall data meets a first preset requirement, it detects the water depth at the bottom of the target vehicle. Based on the water depth and the vehicle's posture characteristics, it determines whether the target vehicle is at risk of flooding. This application can detect the flooding status of vehicles in camping mode in a timely and accurate manner, enabling personnel to take timely evasive action.

[0114] Please see Figure 4 , Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Figure 4 As shown, the electronic device 400 includes a processor 401, a memory 402, and a bus 403.

[0115] The memory 402 stores machine-readable instructions executable by the processor 401. When the electronic device 400 is running, the processor 401 communicates with the memory 402 via the bus 403. When the machine-readable instructions are executed by the processor 401, they can perform the operations described above. Figure 1 The steps of the vehicle water immersion detection method in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0116] This application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, can perform the above-described actions. Figure 1 The steps of the vehicle water immersion detection method in the method embodiment shown are described in detail in the method embodiment, and will not be repeated here.

[0117] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0118] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the shown or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0119] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0120] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0121] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0122] Finally, it should be noted that the above-described embodiments are merely specific implementations of this application, used to illustrate the technical solutions of this application, and not to limit them. The scope of protection of this application is not limited thereto. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art can still modify or easily conceive of changes to the technical solutions described in the foregoing embodiments, or make equivalent substitutions for some of the technical features, within the scope of the technology disclosed in this application. Such modifications, changes, or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for detecting water damage to vehicles, characterized in that, A lidar is installed on the bottom of the target vehicle, and a first millimeter-wave radar and a second millimeter-wave radar are installed at the front and rear of the target vehicle, respectively. A camera is also installed on the bottom of the target vehicle; the method includes: When the target vehicle is in camping mode, acquire rainfall data in the environment where the target vehicle is located; When the rainfall data meets the first preset requirement, the first water depth on the road surface where the target vehicle is located is monitored by the lidar; the second and third water depths in the environment where the target vehicle is located are monitored by the first and second millimeter-wave radars; the water level depth at the bottom of the target vehicle is fitted based on the first, second, and third water depths; an image of the bottom of the vehicle captured by a camera at the bottom of the target vehicle is obtained; the water level height is obtained based on the bottom image and the wheel height of the vehicle; the average of the fitted water level depth at the bottom of the target vehicle and the water level height is calculated to obtain the water level depth at the bottom of the target vehicle. Based on the water level depth and vehicle posture characteristics data, it is determined whether the target vehicle is at risk of being submerged in water.

2. The method according to claim 1, characterized in that, The step of determining whether the target vehicle is at risk of being submerged in water based on the water level depth and vehicle attitude characteristic data includes: Determine the chassis height, pitch angle, and roll angle of the target vehicle; An algorithmic analysis is performed on the chassis height, pitch angle, roll angle of the target vehicle, and the water depth to obtain the shortest distance between the water depth and the chassis of the target vehicle. If the nearest distance between the water level and the chassis of the target vehicle is less than a preset distance threshold, then the target vehicle is determined to be at risk of being submerged in water.

3. The method according to claim 1, characterized in that, The method further includes: When it is determined that the target vehicle is at risk of being flooded, a vehicle flooding warning message is sent.

4. The method according to claim 1, characterized in that, The method further includes: If the rainfall data meets the second set requirement, stop detecting the water depth at the bottom of the target vehicle.

5. The method according to claim 4, characterized in that, The first setting requirement includes that the rainfall data is greater than a preset rainfall threshold; The second setting requirement includes that the rainfall data shows no increasing trend within a preset time period.

6. A vehicle water immersion detection device, characterized in that, A lidar is installed on the bottom of the target vehicle; a first millimeter-wave radar and a second millimeter-wave radar are installed at the front and rear of the target vehicle, respectively; a camera is installed on the bottom of the target vehicle; the device includes: The data acquisition module is used to acquire rainfall data in the environment where the target vehicle is located when the target vehicle is in camping mode. The water level detection module is used to monitor the first water depth on the road surface where the target vehicle is located using the lidar when the rainfall data meets a first preset requirement; monitor the second and third water depths in the environment where the target vehicle is located using the first and second millimeter-wave radars; fit the water level depth at the bottom of the target vehicle based on the first, second, and third water depths; acquire an image of the bottom of the target vehicle captured by a camera at the bottom of the vehicle; obtain the water level height based on the bottom image and the wheel height of the vehicle; and calculate the average of the fitted water level depth at the bottom of the target vehicle and the water level height to obtain the water level depth at the bottom of the target vehicle. The water immersion determination module is used to determine whether the target vehicle is at risk of being submerged in water based on the water level depth and the vehicle's posture characteristics data.

7. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the electronic device is in operation, the processor communicates with the memory via the bus, and the processor executes the machine-readable instructions to perform the steps of the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the method as described in any one of claims 1 to 5.

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