Vehicle wading warning method, system and vehicle

Abstract

This invention discloses a method, system, and vehicle for vehicle wading warning, relating to the field of vehicle control. The method includes the following steps: MRM scans the road surface where the vehicle is traveling; calculates a first water depth measurement value based on the echo time difference of millimeter waves; MPC acquires the water surface position relative to the vehicle coordinate system; generates the road surface position relative to the vehicle coordinate system based on an onboard high-precision map; determines a second water depth measurement value based on the height difference between the water surface position and the road surface position; ADCU compares and compensates the first and second water depth measurement values ​​to form a third water depth measurement value, which is then output to ASC; ASC, combined with the vehicle's own parameters, determines whether the vehicle can wade through the water. This invention increases the robustness of the measurement results by obtaining the third water depth measurement value through comparison and compensation; and improves the detection accuracy through the fusion recognition of the millimeter-wave radar module and the multi-functional camera.

Description

Technical Field

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

[0002] The wading ability of a vehicle is an important indicator to measure the quality level of a car. In the case of short-term heavy rainfall, when a vehicle passes through some low-lying waterlogged roads, the driver cannot judge the depth of the water by visual inspection, which may affect the traffic efficiency or cause the vehicle to stall when wading, causing damage to the vehicle. In order to solve this problem, some car companies have proposed a vehicle wading warning system. For example, the Chinese patent with the publication number CN111645598A proposes a vehicle wading depth detection warning system and method. However, the detection elements of this type of system are mostly pressure sensors, distance sensors, ultrasonic sensors, etc. The detection is greatly affected by the propagation medium and the external environment, and there is a problem of inaccurate prediction, resulting in errors in the prediction of the depth of water. For example, when an ultrasonic sensor is used to detect the water depth, the sound wave is transmitted in the air and water. Due to the different media, a physical phenomenon similar to the refraction of light will occur, resulting in inaccurate measurement; for another example, ultrasonic waves cannot distinguish between substances and cannot distinguish between water surfaces and other objects. Therefore, a method or system with higher water depth prediction accuracy is needed to improve the wading ability of vehicles. Summary of the invention

[0003] The purpose of the present invention is to overcome the shortcomings of the above-mentioned background technology and provide a vehicle wading warning method, system and vehicle. The water depth is identified by multi-sensor fusion to improve the detection accuracy.

[0004] In a first aspect, a vehicle wading warning method is provided, comprising the following steps:

[0005] Obtaining a third water depth measurement value determined by comparing and compensating the first water depth measurement value and the second water depth measurement value; the first water depth measurement value is determined by the echo time difference of the millimeter wave scanning the road surface on which the vehicle is traveling; the second water depth measurement value is determined by the height difference between the water surface position and the road surface position;

[0006] Based on the third water depth measurement value and the vehicle's own parameters, it is determined whether the vehicle can wade through the water. If not, a warning message is issued.

[0007] Furthermore, the step of determining the first water depth measurement value by scanning the echo time difference of the road surface on which the vehicle is traveling comprises:

[0008] The first water depth measurement value is obtained by the millimeter wave radar module emitting millimeter waves in real time to scan the road surface on which the vehicle is traveling. Each time a millimeter wave is emitted, the millimeter wave radar module adjusts its layout angle relative to the entire vehicle, and calculates the first water depth measurement value based on the acquired layout angle, road surface inclination angle, and millimeter wave echo time difference.

[0009] Furthermore, the calculation formula of the first water depth measurement value is as follows:

[0010] h1=Δt×V 毫米波 ×sin((α+β)×A)÷2

[0011] In the above formula, h1 is the first water depth measurement value, Δt is the echo time difference, V 毫米波 is the speed of the millimeter wave, α is the layout angle of the millimeter wave radar module, β is the inclination angle of the road surface, and A is the refractive index.

[0012] Furthermore, the step of determining the second water depth measurement value by the height difference between the water surface position and the road surface position comprises:

[0013] The second water depth measurement value is obtained by real-time photographing the vehicle driving road surface by a multi-function camera to obtain the water surface position relative to the whole vehicle coordinate system; the multi-function camera obtains the road surface position relative to the whole vehicle coordinate system generated by the on-board high-precision map; the multi-function camera is calculated based on the height difference between the water surface position and the road surface position.

[0014] Furthermore, the multifunctional camera takes real-time photos of the road surface on which the vehicle is traveling, and the step of obtaining the water surface position relative to the vehicle coordinate system includes:

[0015] The water surface position is obtained by real-time photographing the vehicle driving road surface by the multi-functional camera to obtain the vehicle driving road surface image; the vehicle driving road surface image is combined with the multi-point fitting plane to form the water surface position relative to the whole vehicle coordinate system; the multi-point fitting plane is scanned by the millimeter wave radar module at different positions of the vehicle driving road surface, and is fitted according to the first echo duration of multiple different positions.

[0016] Furthermore, the method also includes the steps of obtaining observation parameters of the entire vehicle, and issuing a water wading warning message when the observation parameters of the entire vehicle reach preset calibration values; wherein the observation parameters of the entire vehicle include rainfall, the slope of the vehicle's driving road, and the vehicle speed.

[0017] Furthermore, the method also includes the steps of comparing the navigation section based on the high-precision map with the third-party information including weather and flooded sections obtained by the Internet of Vehicles terminal or the network management, and if the navigation section matches the flooded section, a water-related warning message is issued.

[0018] Furthermore, the step of determining whether the vehicle can wade through water based on the third water depth measurement value and in combination with the vehicle's own parameters includes:

[0019] Determining whether the sum of the third water depth measurement value and a preset calibrated safety factor value is less than or equal to a minimum value of an active suspension integrated controller air inlet height and an engine exhaust pipe height;

[0020] If so, it is determined that the vehicle can wade through the water;

[0021] If not, it is determined that the vehicle cannot wade through the water.

[0022] Furthermore, when it is determined that the vehicle can wade through water, feasibility information is issued, and the suspension height is controlled based on the feasibility information; wherein the feasibility information includes the wading speed and the chassis wading height.

[0023] Furthermore, when it is determined that the vehicle cannot wade through the water, a warning message is issued, the entire vehicle is braked, or a request for changing the driving route is issued.

[0024] In a second aspect, the present invention provides a vehicle wading warning system, comprising:

[0025] The millimeter wave radar module is used to emit millimeter waves to scan the road surface on which the vehicle is traveling, and calculate a first water depth measurement value based on an echo time difference;

[0026] a multifunctional camera for photographing a road surface on which the vehicle is traveling and determining a second water depth measurement value based on a height difference between a water surface position and a road surface position; and

[0027] The active suspension integrated controller is used to obtain a third water depth measurement value determined by comparing and compensating the first water depth measurement value and the second water depth measurement value, and to determine whether the vehicle can wade through the water in combination with the vehicle's own parameters, and to issue a warning message when the vehicle cannot wade through the water.

[0028] Furthermore, the vehicle wading warning system also includes a vehicle-mounted host, which is used to obtain observation parameters of the entire vehicle. When the observation parameters of the entire vehicle reach preset calibration values, a wading warning message is issued.

[0029] In a third aspect, the present invention provides a vehicle, comprising the above-mentioned vehicle wading warning system.

[0030] Compared with the prior art, the advantages of the present invention are as follows: the millimeter-wave radar module and the multi-function camera are used to detect water depth respectively, and the comparison and compensation are performed to obtain the third water depth measurement value, which increases the robustness of the measurement result; and the fusion recognition of the millimeter-wave radar module and the multi-function camera improves the detection accuracy. In addition, the vehicle-mounted host will not only trigger the wading warning, but also send feasibility information or early warning information to the vehicle-mounted host, so as to facilitate the suspension height control, vehicle braking or request to change the driving route, so as to ensure the safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural schematic diagram of the vehicle wading driving warning system of the present invention.

[0032] Figure 2It is a schematic diagram of the principle of determining a first water depth measurement value of a water depth detection position point by the millimeter wave radar module of the vehicle wading driving warning method of the present invention.

[0033] Figure 3 It is a schematic diagram of the principle of determining a second water depth measurement value of a water depth detection position point by a multifunctional camera or a millimeter wave radar module in the vehicle wading driving warning method of the present invention. DETAILED DESCRIPTION

[0034] Reference will now be made in detail to specific embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Although the present invention will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the present invention to the embodiments described. On the contrary, it is intended to cover changes, modifications and equivalents included in the spirit and scope of the present invention as defined by the appended claims. It should be noted that the method steps described herein can all be implemented by any functional block or functional arrangement, and any functional block or functional arrangement can be implemented as a physical entity or a logical entity, or a combination of the two.

[0035] In order to enable those skilled in the art to better understand the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0036] Note: The example to be introduced below is only a specific example, and is not intended to limit the embodiments of the present invention to the following specific steps, values, conditions, data, sequences, etc. Those skilled in the art can apply the concept of the present invention to construct more embodiments not mentioned in this specification by reading this specification.

[0037] like Figure 1 As shown, the vehicle wading warning system proposed by the present invention includes:

[0038] The vehicle host is used to obtain the observation parameters of the whole vehicle, and when the observation parameters of the whole vehicle reach the preset calibration values, a water wading warning message is issued. It can also be understood that the vehicle host is used to compare the obtained environmental parameters with the preset parameters, and trigger the water wading warning according to the comparison results.

[0039] The millimeter wave radar module is used to send out millimeter waves in real time to scan the road surface on which the vehicle is traveling, and calculate the first water depth measurement value of the water depth detection location point based on the time difference between two consecutive millimeter wave echoes. The millimeter wave radar module can also be regarded as a millimeter wave radar sensor. The millimeter wave radar module is set on the roof.

[0040] The multifunctional camera is used to take real-time photos of the road surface on which the vehicle is traveling and obtain the water surface position relative to the vehicle coordinate system; based on the vehicle-mounted high-precision map, the road surface position relative to the vehicle coordinate system is generated; and the second water depth measurement value of the water depth detection position point is determined according to the height difference between the water surface position and the road surface position. The multifunctional camera is set on the roof of the vehicle.

[0041] The intelligent driving domain controller is used to compare and compensate the first water depth measurement value and the second water depth measurement value to form a third water depth measurement value, and output it to the active suspension integrated controller.

[0042] The active suspension integrated controller is used to determine whether the vehicle can wade through the water according to the third water depth measurement value and the vehicle's own parameters, and send feasibility information or warning information to the vehicle host. In particular, the warning information is sent when the vehicle cannot wade through the water.

[0043] The vehicle's multi-functional camera and millimeter-wave radar module will continuously scan the road surface in real time, combine the layout information of the vehicle's sensors and the vehicle's driving information, and calculate the water accumulation situation on the road ahead through two independent estimation methods. The calculation results are compared and compensated to form a highly reliable water accumulation information input to the active suspension integrated controller so that the active suspension integrated controller can accurately judge and control the suspension height.

[0044] The intelligent driving domain controller simultaneously collects road surface images and millimeter-wave radar point clouds, and the fusion of the two sensors improves the accuracy of road type determination and avoids misidentification of non-flooded roads.

[0045] Based on the same inventive concept, the present invention also proposes a vehicle, including the above-mentioned vehicle wading warning system. Among them, the millimeter wave radar module and the multi-function camera are preferably arranged on the roof. The vehicle wading warning system of the vehicle proposed in this embodiment includes an on-board host, a millimeter wave radar module, a multi-function camera, an intelligent driving domain controller, and an active suspension integrated controller.

[0046] The on-board host compares the acquired environmental parameters with the preset parameters and triggers a wading warning based on the comparison results.

[0047] The millimeter-wave radar module emits millimeter waves in real time to scan the road surface on which the vehicle is traveling, and calculates the first water depth measurement value of the water depth detection location point based on the time difference between two successive millimeter-wave echoes.

[0048] The multifunctional camera takes real-time photos of the road surface on which the vehicle is traveling, and obtains the water surface position relative to the vehicle coordinate system; based on the vehicle-mounted high-precision map, the road surface position relative to the vehicle coordinate system is generated; and the second water depth measurement value of the water depth detection position point is determined according to the height difference between the water surface position and the road surface position. The multifunctional camera is set on the roof of the vehicle.

[0049] The intelligent driving domain controller compares and compensates the first water depth measurement value and the second water depth measurement value to form a third water depth measurement value, and outputs it to the active suspension integrated controller.

[0050] The active suspension integrated controller determines whether the vehicle can wade through the water based on the third water depth measurement value and the vehicle's own parameters, and sends feasibility information or warning information to the on-board host.

[0051] For ease of understanding, the keywords and abbreviations involved in this embodiment are listed one by one:

[0052] ASC (Active Suspension Controller);

[0053] IVI (In-Vehicle Infotainment)

[0054] BCM (Body Control Module);

[0055] GW (Gateway network management);

[0056] T-BOX (Telematics Box vehicle networking terminal);

[0057] MRM (Meter-wave Radar Module)

[0058] MPC (Multi Purpose Camera);

[0059] HDM (High definition map);

[0060] ADCU (Adas Domain Control Unit intelligent driving domain controller);

[0061] RLS (Rain Light Sensor).

[0062] The vehicle wading warning method proposed by the present invention comprises:

[0063] The vehicle host compares the obtained environmental parameters with the preset parameters and determines whether to trigger the wading warning based on the comparison results.

[0064] Specifically include:

[0065] The active suspension integrated controller obtains the observed parameters of the whole vehicle. When the observed parameters of the whole vehicle reach the preset calibration values, it sends a wading warning message to the on-board host, and the on-board host triggers the wading warning; wherein, the observed parameters of the whole vehicle include rainfall, the slope of the vehicle's driving road, and the vehicle speed.

[0066] The vehicle-mounted host will compare the navigation section based on the high-precision map with the third-party information including weather and flooded sections obtained by the Internet of Vehicles terminal or network management. If the navigation section matches the flooded section, the vehicle-mounted host will trigger a water wading warning.

[0067] In other words, ASC will combine the vehicle speed, the slope of the road surface detected by the vehicle's existing ESC, the speed of the vehicle, and the rainfall detected by the sunlight and rain sensor RLS to make an early warning judgment; usually there will be sections of water on rainy days, and waterlogged sections are more likely to occur in low-lying areas with large slopes. If the driver predicts that there will be waterlogging, he will also reduce the speed in advance. Several thresholds can be set here: rainfall ≥ R, slope ≥ A, speed ≤ S; parameters R, A, and S are all preset calibration values; when the above three thresholds are met at the same time, it means that there is a certain probability of encountering a flooded road surface. At this time, ASC will send a warning message to IVI, reminding the driver that there may be a flooded road surface ahead, but it is limited to a reminder and will not take other actions.

[0068] In addition to the three vehicle observation parameters of rainfall, slope and speed, IVI will also receive third-party information about weather and flooded roads from third-party terminals through TBOX / GW. IVI will compare the third-party information with HDM high-precision maps and navigation. If the navigation section matches the flooded section, IVI will also trigger a wading warning for possible passage through flooded roads. Similarly, the wading warning is just a reminder and will not take any other action.

[0069] like Figure 1 As shown, while the vehicle receives and judges the above information, the on-board MPC and MRM will continuously scan the vehicle's driving surface in real time, combine the layout information of the vehicle's sensors and the vehicle's driving information, and calculate the water accumulation situation on the road ahead through two independent budgeting methods. The calculation results are compared and compensated to form a highly reliable water accumulation information input to the ASC, so that the ASC can accurately judge the control suspension height, such as the height of the four air springs.

[0070] ADCU simultaneously collects MPC (image) + MRM (millimeter wave radar point cloud) of the road surface, and the fusion of the two sensors improves the accuracy of road type determination and avoids misidentification of non-flooded roads.

[0071] like Figure 2 As shown, the first estimation principle of water accumulation depth is that the millimeter-wave radar module arranged on the roof emits millimeter waves in real time to scan the road surface on which the vehicle is driving; each time a millimeter wave is emitted, the millimeter-wave radar module adjusts its arrangement angle relative to the entire vehicle, and based on the arrangement angle, the road surface inclination angle and the time difference between the two echoes of the millimeter wave, calculates the first water depth measurement value of the water depth detection position point corresponding to the millimeter wave.

[0072] It should be noted that the millimeter-wave radar module scans the road surface on which the vehicle is driving and can only receive two echoes when there is water on the road surface.

[0073] The millimeter wave radar module scans multiple locations on the road surface where the vehicle is traveling in a short period of time to detect the water depth in a certain area. The MRM is arranged at a variable angle relative to the entire vehicle (the vehicle can be stationary and scan a certain area of ​​the water surface). The distance S of the vehicle relative to the detected water depth position can be calculated by combining the arrangement angle relative to the vehicle body with the road inclination angle (i.e. road slope) recognized by the ESC. This is recorded as scanning point 1. When the MRM adjusts the angle for the second scan, it is recorded as scanning point 2. The two scan results can be converted to the same coordinate system based on the time interval between the two scans of the millimeter wave and the vehicle's driving speed. The water depth coverage at a certain distance in front of the vehicle can be determined. Finally, the first water depth measurement value is obtained. Figure 2 The millimeter wave radar will receive two echoes. Assuming that the echo interval or echo time difference is Δt, the propagation distance of the millimeter wave in the water is (Δt×V 毫米波 )÷2. The calculation formula for the first water depth measurement value corresponding to the water depth detection position point is as follows:

[0074] h1=Δt×V 毫米波 ×sin((α+β)×A)÷2

[0075] In the above formula, h1 is the first water depth measurement value, Δt is the echo time difference, V 毫米波 is the speed of the millimeter wave, α is the layout angle of the millimeter wave radar module, β is the road surface inclination angle, and A is the refractive index. The refractive index can be calculated or given by a known quantity. The refractive index is introduced into the above formula, so that the method of the present invention takes into account the change in the transmission angle of the millimeter wave from the air into the water.

[0076] like Figure 3 As shown in the figure, the second estimation principle of water depth is that the multifunctional camera takes real-time photos of the road surface on which the vehicle is traveling to obtain the water surface position relative to the vehicle coordinate system; based on the vehicle-mounted high-precision map, the road surface position relative to the vehicle coordinate system is generated; and the second water depth measurement value of the water depth detection position point is determined according to the height difference between the water surface position and the road surface position;

[0077] Among them, the multifunctional camera takes real-time photos of the road surface on which the vehicle is traveling, and obtains the water surface position relative to the vehicle coordinate system, including:

[0078] The multifunctional camera captures the road surface on which the vehicle is traveling in real time to obtain images of the road surface on which the vehicle is traveling; the multifunctional camera is also arranged on the roof of the vehicle.

[0079] Each time the millimeter-wave radar module emits a millimeter wave, it adjusts its layout angle relative to the entire vehicle, scans different positions of the vehicle's driving surface, and forms a multi-point fitting plane based on the first echo duration of multiple different positions. The intelligent driving domain controller then combines it with the vehicle's driving surface image obtained by the multi-function camera to form the water surface position relative to the vehicle's coordinate system.

[0080] The second estimation method of the water depth can be determined independently by the multi-function camera without the aid of the millimeter-wave radar module, or can be determined in cooperation with the multi-function camera and the millimeter-wave radar module to be suitable for foggy environments.

[0081] By scanning the water surface position relative to the vehicle coordinate system through MPC and MRM, the millimeter-wave radar can be used to fit multiple points into a surface, and then fit with the image taken by the multi-function camera. At the same time, the vehicle matches the high-precision map provided by HDM with the surrounding environment to generate the road surface condition of the high-precision map relative to the vehicle coordinate system, and the difference between the water surface and the road surface is the water depth. This measurement result is the second water depth measurement value.

[0082] Specifically, each time the millimeter wave radar module emits a millimeter wave, it adjusts the layout angle relative to the entire vehicle, scans different positions of the road surface where the vehicle is traveling, and forms a multi-point fitting plane according to the first echo duration at multiple different positions. The multi-point fitting plane is Figure 3 The intelligent driving domain controller then matches the sampling results of the surrounding environment by the multi-function camera and millimeter wave radar module with the high-precision map. After the matching is completed, the road information in the current vehicle coordinate system is generated. The road information includes the slope or inclination angle of the road, the inclined surface, etc. Figure 3 The long dashed line indicates that the vehicle is located on the long dashed line, the V-shaped long dashed line indicates the waterlogged road surface, and the area enclosed by the long dashed line and the dashed line is the waterlogged area. The distance S of the vehicle relative to the water depth detection position point can be used to locate the specific position, and the second water depth measurement value of the water depth detection position point is determined according to the height difference between the water surface and the road surface.

[0083] The intelligent driving domain controller compares and compensates the first water depth measurement value and the second water depth measurement value to form a third water depth measurement value, and outputs it to the active suspension integrated controller.

[0084] ADCU compares and calibrates the two measurement results. If the measurement results are similar (for example, the difference between the second water depth measurement value and the first water depth measurement value is not greater than 10mm), they are considered valid and the average of the measurement results can be taken as the output. If the measurement results are very different, it is necessary to combine the weather conditions to determine the robustness of each sensor and set different confidence coefficients. The confidence coefficients are preset values ​​and the measurement results are weighted and output. For example, the camera's ability will decrease in heavy rain, and the confidence of the second water depth measurement value can be reduced accordingly.

[0085] The above results should be combined with the analysis of actual test data and sensor detection data to introduce corrections. After all, millimeter waves will undergo refraction changes similar to light when passing through different media, and camera recognition also introduces certain errors. In addition, there are also changes in the vehicle position during the test.

[0086] The active suspension integrated controller determines whether the vehicle can wade through the water based on the third water depth measurement value and the vehicle's own parameters, and sends feasibility information or warning information to the on-board host.

[0087] The steps of the active suspension integrated controller determining whether the vehicle can wade through water based on the third water depth measurement value and the vehicle's own parameters include:

[0088] The active suspension integrated controller determines whether the sum of the third water depth measurement value and a preset calibrated safety factor value is less than or equal to the minimum value of the active suspension integrated controller air intake height and the engine exhaust pipe height;

[0089] If so, it is determined that the vehicle can wade through the water;

[0090] If not, it is determined that the vehicle cannot wade through the water.

[0091] That is, if the third water depth measurement value + calibrated safety factor value (eg: 10mm) ≤ min (ASC air intake height H1, engine exhaust pipe height H2), it is considered safe to wade and the vehicle is determined to be able to wade through. Otherwise, it is considered that there is a risk in wading and the vehicle is determined to be unable to wade through.

[0092] When the active suspension integrated controller determines that the vehicle can wade through water, it sends feasibility information to the on-board host and controls the suspension height based on the feasibility information; wherein the feasibility information includes the wading speed and the chassis wading height.

[0093] When the active suspension integrated controller determines that the vehicle cannot wade through water, it sends a warning message to the vehicle-mounted host, controls the braking of the entire vehicle, or sends a request to change the driving route.

[0094] After ASC receives the third water depth measurement value fed back by ADCU and the distance S of the whole vehicle relative to the detected water depth position, it determines whether the vehicle can pass safely based on the water depth in combination with the vehicle's own parameters, namely the vehicle speed, ASC air intake height H1, engine exhaust pipe height H2 and other information. If the vehicle can pass safely, it will prompt you to reduce the speed (limit the speed below a certain limit) and enter the wading mode to raise the chassis height; if it cannot pass safely, it will prompt you to change the route as wading ahead will cause damage to the vehicle. A safe calibration distance is set for the distance that cannot pass the water depth. When the vehicle is less than the safe calibration distance from the water depth position, the vehicle will be forced to brake, and P will be selected, and a request to change the driving route will be made.

[0095] When ASC receives ADCU's determination that there is no water ahead or the depth of the water is very low and does not affect the vehicle's driving, ASC exits the wading mode and returns to the vehicle body height of the normal driving mode.

[0096] In the description of the present invention, it should be noted that the terms "upper", "lower", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present invention. Unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be a connection between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0097] It should be noted that, in the present invention, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0098] The above description is only a specific embodiment of the present invention, so that those skilled in the art can understand or implement the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features invented herein.

Claims

1. A vehicle wading warning method, characterized in that: The following steps are involved: Obtain a third water depth measurement value determined by comparing and compensating the first water depth measurement value and the second water depth measurement value; the first water depth measurement value is determined by the echo time difference of the millimeter wave scanning the vehicle driving road surface; the second water depth measurement value is determined by the height difference between the water surface position and the road surface position, wherein the water surface position is photographed in real time by a multi-function camera to obtain an image of the vehicle driving road surface; the vehicle driving road surface image is combined with a multi-point fitting plane to form a water surface position relative to the whole vehicle coordinate system; the multi-point fitting plane is scanned by the millimeter wave radar module at different positions of the vehicle driving road surface, and is fitted according to the first echo duration of multiple different positions; Based on the third water depth measurement value and the vehicle's own parameters, it is determined whether the vehicle can wade through the water. If not, a warning message is issued.

2. The vehicle wading warning method according to claim 1, characterized in that: The step of determining the first water depth measurement value by the echo time difference of the millimeter wave scanning the road surface on which the vehicle is traveling comprises: The first water depth measurement value is obtained by the millimeter wave radar module emitting millimeter waves in real time to scan the road surface on which the vehicle is driving. Each time a millimeter wave is emitted, the millimeter wave radar module adjusts its layout angle relative to the entire vehicle, and calculates the first water depth measurement value based on the acquired layout angle, road surface inclination angle, and millimeter wave echo time difference.

3. The vehicle wading warning method according to claim 1, characterized in that: The step of determining the second water depth measurement value by the height difference between the water surface position and the road surface position comprises: The multifunctional camera obtains the road surface position relative to the vehicle coordinate system generated by the on-board high-precision map; the multifunctional camera calculates the height difference between the water surface position and the road surface position.

4. The vehicle wading warning method according to claim 1, characterized in that: The method also includes the steps of obtaining observation parameters of the entire vehicle, and issuing a wading warning message when the observation parameters of the entire vehicle reach preset calibration values; wherein the observation parameters of the entire vehicle include rainfall, the slope of the road on which the vehicle is traveling, and the vehicle speed.

5. The vehicle wading warning method according to claim 1, characterized in that: The step of determining whether the vehicle can wade through water based on the third water depth measurement value and in combination with the vehicle's own parameters includes: Determining whether the sum of the third water depth measurement value and a preset calibrated safety factor value is less than or equal to a minimum value of an active suspension integrated controller air inlet height and an engine exhaust pipe height; If so, it is determined that the vehicle can wade through the water; If not, it is determined that the vehicle cannot wade through water.

6. The vehicle wading warning method according to claim 5, characterized in that: When it is determined that the vehicle can wade through water, feasibility information is issued, and the suspension height is controlled based on the feasibility information; wherein the feasibility information includes the wading speed and the chassis wading height.

7. The vehicle wading warning method according to claim 5, characterized in that: When it is determined that the vehicle cannot wade through the water, a warning message is issued, the entire vehicle is braked, or a request to change the driving route is issued.

8. A vehicle wading warning system, characterized in that: include: The millimeter wave radar module is used to emit millimeter waves to scan the road surface on which the vehicle is traveling, and calculate a first water depth measurement value based on an echo time difference; A multifunctional camera is used to photograph the road surface on which the vehicle is traveling, and determine a second water depth measurement value based on a height difference between a water surface position and a road surface position, wherein the water surface position is photographed in real time by the multifunctional camera on the road surface on which the vehicle is traveling to obtain an image of the road surface on which the vehicle is traveling; the image of the road surface on which the vehicle is traveling is combined with a multi-point fitting plane to form a water surface position relative to a whole vehicle coordinate system; the multi-point fitting plane is scanned by a millimeter wave radar module at different positions of the road surface on which the vehicle is traveling, and is fitted according to the duration of first echoes at multiple different positions; and The active suspension integrated controller is used to obtain a third water depth measurement value determined by comparing and compensating the first water depth measurement value and the second water depth measurement value, and to determine whether the vehicle can wade through the water in combination with the vehicle's own parameters, and to issue a warning message when the vehicle cannot wade through the water.

9. A vehicle, characterized in that: Including the vehicle wading warning system as described in claim 8.

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