Method, system, medium and device for automatically starting a rescue mode when a vehicle falls into water

Abstract

This invention discloses a method, system, medium, and device for automatically activating a rescue mode when a car falls into water. The method includes the following steps: acquiring the target location information of the vehicle in a target scene; when the location in the target location information is detected to be a water area, it is determined that the vehicle is in an initial state of falling into water; if the vehicle is determined to be in an initial state of falling into water, it is determined whether the vehicle has fallen into water based on a water detection algorithm; if the vehicle has fallen into water, it is controlled to execute the rescue mode through a rescue subsystem; the rescue mode can be executed quickly, improving the survival rate of occupants.

Description

Technical Field

[0001] This invention relates to the field of automobile submersion technology, and in particular to a method, system, medium and device for automatically activating rescue mode when a car falls into water. Background Technology

[0002] With social development, the ownership rate of automobiles has been increasing year by year, and there are more and more cars on the road. However, facing complex road conditions and traffic, the number of traffic accidents involving automobiles is also increasing. Traditional automobile safety mainly emphasizes how to avoid collisions when participating in road traffic, or how to protect the occupants in the event of a collision. However, it lacks sufficient attention and consideration regarding automobile safety in scenarios such as vehicles falling into water, and how to help occupants escape in an emergency and reduce casualties.

[0003] In reality, accidents involving vehicles falling into water while crossing bridges, lake embankments, or culverts are frequent due to complex geographical environments or improper driver operation, resulting in significant casualties and property damage. Furthermore, occupants of vehicles submerged in water are often unable to make the correct decisions regarding opening doors and windows in a state of panic. Therefore, designing a system that automatically opens doors and windows when a vehicle falls into water is a pressing issue that needs to be addressed. Summary of the Invention

[0004] The present invention provides a method, system, medium and device for automatically activating the rescue mode when a car falls into water, which can quickly execute the rescue mode and improve the survival rate of the occupants.

[0005] Firstly, a method for automatically activating the rescue mode when a car falls into water is provided, including the following steps:

[0006] Obtain the target location information of the vehicle in the target scene;

[0007] When the location in the target positioning information is detected to be a water area, it is determined that the vehicle is in the initial state of falling into the water.

[0008] If it is determined that the vehicle is in the initial stage of falling into the water, then the water falling detection algorithm is used to determine whether the vehicle has fallen into the water.

[0009] If it is determined that a vehicle has fallen into the water, the rescue subsystem is controlled to execute the rescue mode.

[0010] According to the first aspect, in the first possible implementation of the first aspect, the step of "determining whether a vehicle has fallen into water based on a water-falling detection algorithm" specifically includes the following steps:

[0011] The vehicle's current acceleration and current angular velocity are obtained, and the vehicle's attitude is determined to be abnormal based on the current acceleration, the current angular velocity, and the threshold information associated with the target positioning information.

[0012] If the vehicle's posture is abnormal, the vehicle's current posture is obtained based on the vehicle's current acceleration and current angular velocity, and compared with the target positioning information to determine whether the vehicle meets the conditions for falling into the water.

[0013] If the vehicle meets the conditions for falling into the water, then the attitude angle of the vehicle when it falls into the water is predicted based on the current attitude of the vehicle and the lane elevation information in the target positioning information.

[0014] Acquire vehicle body geometry parameters and underwater depth information of each liquid level sensor;

[0015] Based on the vehicle's attitude angle when it fell into the water, the vehicle's body geometric parameters, and the depth information of each liquid level sensor underwater, information on the doors and windows that were not flooded is obtained.

[0016] According to the first possible implementation of the first aspect, in the second possible implementation of the first aspect, the step of "determining whether the vehicle attitude is abnormal based on the vehicle's current acceleration, the vehicle's current angular velocity, and the threshold information associated with the target positioning information" specifically includes the following steps:

[0017] The target positioning information is associated with vehicle acceleration threshold and vehicle angular velocity threshold;

[0018] When the vehicle's current acceleration is greater than or equal to the vehicle's acceleration threshold and the vehicle's current angular velocity is greater than or equal to the vehicle's angular velocity threshold, the vehicle's attitude is determined to be abnormal.

[0019] According to the first possible implementation of the first aspect, in the third possible implementation of the first aspect, the step of "if the vehicle posture is abnormal, then the current vehicle posture is obtained based on the current vehicle acceleration and the current vehicle angular velocity, and compared with the target positioning information to determine whether the vehicle meets the conditions for falling into the water" specifically includes the following steps:

[0020] If the vehicle's attitude is abnormal, the current vehicle acceleration and current vehicle angular velocity are calculated based on the quaternion attitude algorithm to obtain the current vehicle attitude.

[0021] When it is detected that the current posture of the vehicle does not conform to the road features in the target positioning information and the vehicle deviates from the lane in the target positioning information, it is determined that the vehicle meets the conditions for falling into the water.

[0022] According to the first possible implementation of the first aspect, in the fourth possible implementation of the first aspect, after the step of "if the vehicle meets the conditions for falling into the water, then predict the attitude angle of the vehicle when it falls into the water based on the current attitude of the vehicle and the lane elevation information in the target positioning information", the following steps are specifically included:

[0023] The location information of the water immersion sensors deployed on the vehicle is obtained, and the alarm time interval of each water immersion sensor is predicted based on the attitude angle of the vehicle when it falls into the water and the location information of the water immersion sensors deployed on the vehicle.

[0024] Obtain the actual alarm time interval for each water immersion sensor;

[0025] When the actual alarm time interval of each water immersion sensor is within the preset error range as the predicted alarm time interval of each water immersion sensor is detected, it is determined that the vehicle has fallen into the water.

[0026] According to the first aspect, in the fourth possible implementation of the first aspect, the step of "obtaining the target location information of the vehicle in the target scene" specifically includes the following steps:

[0027] The system acquires camera image information of the vehicle in the target scene, and selects the target positioning information with the highest similarity from a preset high-precision map library based on a similarity algorithm to match the camera image information.

[0028] According to the first possible implementation of the first aspect, in the fourth possible implementation of the first aspect, the step of "controlling the rescue subsystem to execute the rescue mode" specifically includes the following steps:

[0029] The execution unit in the control and rescue subsystem opens the doors and windows that have not been flooded, turns on the hazard lights, and issues an alarm.

[0030] The communication unit in the control and rescue subsystem dials emergency rescue calls and uploads target location information and camera image information to the emergency rescue cloud platform.

[0031] Secondly, a system for automatically activating rescue mode when a car falls into water is provided, including:

[0032] The target location acquisition module is used to acquire the target location information of the vehicle in the target scene;

[0033] The initial judgment module is communicatively connected to the target positioning acquisition module, and is used to determine that the vehicle is in the initial water-falling state when the location in the target positioning information is detected to be a water area.

[0034] A water-falling detection module, communicatively connected to the initial detection module, is used to determine whether the vehicle has actually fallen into the water based on a water-falling detection algorithm if the initial water-falling state is detected; and,

[0035] The execution module is communicatively connected to the water-falling judgment module and is used to control the rescue subsystem to execute the rescue mode if it is determined that the vehicle has fallen into the water.

[0036] Thirdly, a storage medium is provided on which a computer program is stored, characterized in that, when the computer program is executed by a processor, it implements the method for automatically activating the rescue mode when a car falls into water as described above.

[0037] Fourthly, an electronic device is provided, including a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, characterized in that, when the processor runs the computer program, it implements the automatic activation method for the rescue mode when a car falls into water as described above.

[0038] Compared with existing technologies, the advantages of this invention are as follows: When vehicles cross bridges, lake embankments, or culverts filled with water, accidents frequently occur due to complex geographical environments or improper driver operation, resulting in significant casualties and property damage. Furthermore, occupants of vehicles submerged in water are often unable to make the correct decisions regarding opening doors and windows in a state of panic. Therefore, this invention uses a water-detection algorithm to determine if a vehicle has fallen into water. If it does, the invention controls the rescue subsystem to execute a rescue mode. Thus, this invention can quickly execute a rescue mode, increasing the chances of occupant survival. Attached Figure Description

[0039] Figure 1 This is a flowchart illustrating an embodiment of a method for automatically activating a rescue mode when a car falls into water according to the present invention;

[0040] Figure 2 This is a flowchart illustrating another embodiment of the method for automatically activating the rescue mode when a car falls into water according to the present invention.

[0041] Figure 3 This is a schematic diagram showing the installation positions of the various components of the present invention;

[0042] Figure 4 This is a schematic diagram of the structure of an automatic rescue mode activation system for a car that has fallen into water, according to the present invention. Detailed Implementation

[0043] Referring now to specific embodiments of the invention, examples of which are illustrated in the accompanying drawings. Although the invention will be described in conjunction with specific embodiments, it will be understood that it is not intended to limit the invention to the described embodiments. Rather, it is intended to cover variations, modifications, and equivalents included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein can 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 both.

[0044] To enable those skilled in the art to better understand the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] Note: The examples described below are merely specific examples and are not intended to limit the embodiments of the present invention to the specific steps, values, conditions, data, order, etc. Those skilled in the art can utilize the concept of the present invention to construct more embodiments not mentioned herein by reading this specification.

[0046] See Figure 1 As shown, this embodiment of the invention provides a method for automatically activating the rescue mode when a car falls into water, applied to a central control unit, including the following steps:

[0047] S100, obtain the target location information of the vehicle in the target scene;

[0048] S200, when the location in the target positioning information is detected to be a water area, it is determined that the vehicle is in the initial state of falling into the water;

[0049] S300: If it is determined that the vehicle is in the initial stage of falling into the water, it will determine whether the vehicle has fallen into the water based on the water falling detection algorithm.

[0050] If the S400 determines that a vehicle has fallen into the water, it controls the rescue subsystem to execute the rescue mode.

[0051] Specifically, in this embodiment, accidents involving vehicles falling into water frequently occur when passing over bridges, lake embankments, or culverts due to complex geographical environments or improper driver operation, resulting in significant casualties and property damage. Furthermore, occupants of vehicles in water are often unable to make the correct decisions regarding opening doors and windows in a state of panic. Therefore, this invention uses a water-fall detection algorithm to determine if a vehicle has fallen into water. If it is determined that the vehicle has fallen into water, the rescue subsystem is controlled to execute a rescue mode. Thus, this invention can quickly execute a rescue mode, increasing the chances of occupant survival.

[0052] Preferably, in another embodiment of this application, the step of "S100, obtaining the target location information of the vehicle in the target scene" specifically includes the following steps:

[0053] The system acquires camera image information of the vehicle in the target scene, and selects the target positioning information with the highest similarity from a preset high-precision map library based on a similarity algorithm to match the camera image information.

[0054] Specifically, in this embodiment, the central control unit is equipped with a GPS positioning chip. The GPS chip receives one frame of GPS satellite data per second to calculate the vehicle's current location information. The GPS chip integrates inertial navigation function, so even in areas where satellite signals cannot be covered, such as culverts and tunnels, it can still provide positioning services through inertial navigation function. However, due to IMU track calculation errors and GPS errors itself, the accuracy can only reach the meter level.

[0055] The central control unit is equipped with a high-precision map module, which imports the absolute positioning information obtained by the GNSS system into the high-precision map and obtains the environmental features corresponding to the location information from the preset high-precision map database.

[0056] The central control unit is equipped with an active safety camera. It extracts real-time environmental features around the vehicle from the camera image data and compares them with preset environmental features in a high-precision map library. This allows it to obtain more accurate information about the vehicle's location, lane, and surrounding obstacles in the current scenario. Lane information includes lane boundaries, slope, curvature, heading, etc., with positioning accuracy down to the centimeter level.

[0057] The camera image is a photo of the surrounding environment of the vehicle's current location. The calibrated photos already exist in the high-precision map database and are associated with environmental feature information. The comparison between the camera image and the calibrated image is based on a similarity algorithm. The associated feature information of the calibrated image with the highest similarity is used as the vehicle's target positioning information in the target scene.

[0058] Therefore, the central control unit achieves accurate positioning by matching environmental features. When the vehicle's current location is determined to be in a water area or a flooded road area, the central control unit will activate the water detection algorithm in advance.

[0059] See also Figure 2 As shown, preferably, in another embodiment of this application, the step "S300, determining whether the vehicle has fallen into the water based on the water-falling detection algorithm" specifically includes the following steps:

[0060] S310, obtain the vehicle's current acceleration and current angular velocity, and determine whether the vehicle's attitude is abnormal based on the vehicle's current acceleration, the vehicle's current angular velocity, and the threshold information associated with the target positioning information;

[0061] S320, if the vehicle posture is abnormal, the current vehicle posture is obtained based on the current vehicle acceleration and the current vehicle angular velocity, and compared with the target positioning information to determine whether the vehicle meets the conditions for falling into the water.

[0062] S330, if the vehicle meets the conditions for falling into the water, then predict the attitude angle of the vehicle when it falls into the water based on the current attitude of the vehicle and the lane elevation information in the target positioning information.

[0063] For example: Given the elevation information h of the lane, the time t of falling into the water can be calculated using the free fall formula h = 1 / 2gt^2;

[0064] To predict the vehicle's attitude angle when it falls into the water after time t, the vehicle's current angular velocity w0 and current attitude angle rad0 are substituted into the body coordinates to calculate the vehicle's attitude angle rad1 when it falls into the water after time t, where rad1 = w0 * t + rad0.

[0065] S340 acquires vehicle body geometry parameters and underwater depth information of each liquid level sensor.

[0066] S350: Based on the vehicle's attitude angle when it fell into the water, the vehicle's body geometric parameters, and the depth information of each liquid level sensor underwater, obtain the information of the doors and windows that have not been flooded.

[0067] Specifically, the method for solving the coordinates of other locations (door and window points)

[0068] For a regular 3D object such as a cuboid, if the coordinates (x0, y0, z0) of one vertex are known, the algorithm for the body coordinates (x, y, z) of other positions (door and window points) on the 3D object is: x = x0 + l; y = y0 + w; z = z0 + h.

[0069] Where l, w, and h represent the geometric relationship between the vehicle sensors and the doors and windows, and are known quantities.

[0070] For complex geometric models, more complex algorithms or software are required, such as OpenGL or DirectX in computer graphics, to calculate coordinates.

[0071] Using the liquid level sensor that first falls into the water as the common origin of the body coordinate system and the reference coordinate system, the coordinates of other liquid level sensors in the body coordinate system (calculated using OpenGL or DirectX in computer graphics) are converted into coordinates (x, y, z) of the reference coordinate system according to the matrix rotation algorithm (with the water entry attitude angle as the input of the matrix rotation algorithm). The z value is the difference in liquid level between the door / window point and the origin of the coordinate system. This directly determines whether the door / window point is on the water surface, thus providing information on doors and windows that have not entered the water.

[0072] If the level sensor does not alarm and the pitch and roll angles are 0, and the tire pressure signal is abnormal, then all four wheels are in water, and doors and windows can be opened.

[0073] Preferably, in another embodiment of this application, the step "S310, determining whether the vehicle attitude is abnormal based on the vehicle's current acceleration, the vehicle's current angular velocity, and the threshold information associated with the target positioning information" specifically includes the following steps:

[0074] The target positioning information is associated with vehicle acceleration threshold and vehicle angular velocity threshold;

[0075] When the vehicle's current acceleration is greater than or equal to the vehicle's acceleration threshold and the vehicle's current angular velocity is greater than or equal to the vehicle's angular velocity threshold, the vehicle's attitude is determined to be abnormal.

[0076] Specifically, in this embodiment, the central control unit is equipped with a three-axis gyroscope and a three-axis accelerometer; the processor of the central control unit obtains the real-time angular velocities of the vehicle along the X, Y, and Z axes by accessing the relevant register information in the three-axis gyroscope; the processor of the central control unit obtains the real-time acceleration of the vehicle along the X, Y, and Z axes by accessing the corresponding register information in the three-axis accelerometer.

[0077] Meanwhile, the angular velocity data of the gyroscope can be corrected using acceleration data to eliminate errors. This requires the use of software algorithms, such as Kalman filtering and complementary filtering algorithms.

[0078] Therefore, the central control unit collects data from the three-axis gyroscope and three-axis accelerometer at that moment to obtain the vehicle's current acceleration and current angular velocity, and compares them with the vehicle acceleration threshold and vehicle angular velocity threshold respectively to determine whether they exceed the preset threshold.

[0079] Preferably, in another embodiment of this application, the step "S320, if the vehicle attitude is abnormal, then obtain the current vehicle attitude based on the current vehicle acceleration and the current vehicle angular velocity, and compare it with the target positioning information to determine whether the vehicle meets the conditions for falling into the water" specifically includes the following steps:

[0080] S321, If ​​the vehicle attitude is abnormal, the current vehicle acceleration and the current vehicle angular velocity are calculated based on the quaternion attitude algorithm to obtain the current vehicle attitude;

[0081] S322, when it is detected that the current posture of the vehicle does not conform to the road features in the target positioning information and the vehicle deviates from the lane in the target positioning information, it is determined that the vehicle meets the conditions for falling into the water.

[0082] Specifically, in this embodiment, if the vehicle attitude is abnormal, the attitude is calculated based on the current acceleration and current angular velocity of the vehicle using the quaternion attitude algorithm to obtain the Euler angles. Then, the attitude angles are obtained by converting the Euler angles, which are the angles between the body coordinate system and the geographic coordinate system, including pitch angle, yaw angle and roll angle.

[0083] When it is detected that the current posture of the vehicle does not conform to the road features in the target positioning information and the vehicle deviates from the lane in the target positioning information, it is determined that the vehicle meets the conditions for falling into the water.

[0084] Preferably, in another embodiment of this application, after the step "S330, if the vehicle meets the conditions for falling into the water, predict the attitude angle of the vehicle when it falls into the water based on the current attitude of the vehicle and the lane elevation information in the target positioning information", the following steps are specifically included:

[0085] The location information of the water immersion sensors deployed on the vehicle is obtained, and the alarm time interval of each water immersion sensor is predicted based on the attitude angle of the vehicle when it falls into the water and the location information of the water immersion sensors deployed on the vehicle.

[0086] Obtain the actual alarm time interval for each water immersion sensor;

[0087] When the actual alarm time interval of each water immersion sensor is within the preset error range as the predicted alarm time interval of each water immersion sensor is detected, it is determined that the vehicle has fallen into the water.

[0088] Specifically, in this embodiment, since there are many sensors deployed on the vehicle body, the sensor data may contain errors, so it is necessary to eliminate the possibility of accidental water ingress.

[0089] See also Figure 3 As shown, since the angle at which a vehicle falls into the water is uncertain, in order to collect information about the vehicle falling into the water from any angle as soon as possible, sensors are placed at the bottom, top, front, rear, left, and right sides of the vehicle. The advantage is that it covers the entire vehicle, and any point on each contour that falls into the water can be detected.

[0090] The central control unit will instruct the data acquisition unit to collect and upload sensor data deployed at various locations on the vehicle body. The specific implementation method is as follows:

[0091] The acquisition unit periodically collects sensor data, timestamps it, and stores it in local memory. When the acquisition unit processor receives a request from the central control unit to collect sensor data, the acquisition module processor will execute the acquisition requests for the water immersion sensor, liquid level sensor, and tire pressure sensor respectively, obtaining the current status and data of the sensors. Subsequently, the processor sends the timestamped real-time acquisition data and local historical data to the central control unit.

[0092] To address the time synchronization issue among modules and ensure the consistency and accuracy of sensor data timestamps and system time, the acquisition unit and central control unit must support the high-precision time synchronization protocol gPTP, and the acquisition unit must be equipped with an RTC that can write the calibrated time to the local reference clock RTC.

[0093] The uploaded data includes at least sensor attribute information and parameter information. The attribute information includes location identification parameters and sensor type, while the parameter information refers to register values ​​or value values.

[0094] The central control unit analyzes the attributes and parameters of the water immersion sensors based on the latest and historical data, determining which sensors generate water immersion alarms, the order of alarms, and the time interval between them.

[0095] Based on the relative location information of the water immersion sensors, the alarm sequence and time interval of the corresponding water immersion sensors are calculated and used as preset conditions.

[0096] The method for determining the coordinates of a water immersion sensor is as follows:

[0097] For a regular 3D object such as a cuboid, if the coordinates (x0, y0, z0) of one vertex are known, the algorithm for determining the body coordinates (x, y, z) of the other vertices (sensors) on the 3D object is as follows:

[0098] x=x0+l

[0099] Y = y0 + w

[0100] Z = z0 + h

[0101] Where l, w, and h represent the geometric relationship between the water immersion sensors and are known quantities.

[0102] For complex geometric models, more complex algorithms or software are required, such as OpenGL or DirectX in computer graphics, to calculate coordinates.

[0103] Using the first water immersion sensor as the common origin of both the body coordinate system and the reference coordinate system, the coordinates of the other water immersion sensors in the body coordinate system (calculated using OpenGL or DirectX in computer graphics) are converted into coordinates (x, y, z) in the reference coordinate system using a matrix rotation algorithm. The value of z directly reflects the order in which the sensors fell into the water. Furthermore, the time t of each sensor's fall into the water can be obtained using the free-fall formula Z + H = 1 / 2gt^2, and the time interval can be calculated, where H represents the lane elevation information.

[0104] Therefore, by comparing the preset conditions obtained from the vehicle body posture calculation, it is determined that the vehicle has fallen into the water, thus eliminating false triggering.

[0105] Preferably, in another embodiment of this application, the step of "S400, controlling the rescue subsystem to execute the rescue mode" specifically includes the following steps:

[0106] S410 controls the execution unit in the rescue subsystem to open the doors and windows that have not been flooded, turn on the hazard lights, and issue an alarm.

[0107] The S420 controls the communication unit in the rescue subsystem to make emergency rescue calls and upload target location information and camera image information to the emergency rescue cloud platform.

[0108] Specifically, in this embodiment, the central control unit formulates a door and window opening strategy based on the vehicle's water ingress area information, that is, to automatically open the doors and windows that have not been flooded, thereby maximizing the escape time for vehicle occupants.

[0109] The actuator receives a notification from the central control unit and controls the corresponding door and window motors to open the doors and windows.

[0110] The central control unit is equipped with a 4G / 5G module, microphone, and speaker, and automatically dials emergency rescue numbers via cellular network.

[0111] The central control unit uploads the vehicle's current location information to the emergency rescue platform via a 4G / 5G network.

[0112] The central control unit uploads information about the vehicle's surrounding environment captured by the vehicle's cameras to the emergency rescue platform via a 4G / 5G network.

[0113] The central control unit controls the vehicle to automatically turn on its hazard lights.

[0114] The central control unit controls the vehicle to automatically play rescue audio. The external speakers play distress calls, while the internal speakers play alert audio, reminding passengers to unfasten their seatbelts and indicating which door or window to use for escape.

[0115] See also Figure 4 As shown, this embodiment of the invention also provides an automatic rescue mode activation system (central control unit) when a car falls into water, including:

[0116] The target location acquisition module is used to acquire the target location information of the vehicle in the target scene;

[0117] The initial judgment module is communicatively connected to the target positioning acquisition module, and is used to determine that the vehicle is in the initial water-falling state when the location in the target positioning information is detected to be a water area.

[0118] A water-falling detection module, communicatively connected to the initial detection module, is used to determine whether the vehicle has actually fallen into the water based on a water-falling detection algorithm if the initial water-falling state is detected; and,

[0119] The execution module is communicatively connected to the water-falling judgment module and is used to control the rescue subsystem to execute the rescue mode if it is determined that the vehicle has fallen into the water.

[0120] Specifically, this embodiment corresponds one-to-one with the above method embodiments. The functions of each module have been described in detail in the corresponding method embodiments, so they will not be repeated here.

[0121] This invention also provides an automatic rescue mode activation system when a car falls into water, including:

[0122] The central control unit includes a processor, memory, interface chips, modules, sensors, and peripherals. The memory stores computer programs that can run on the processor, which executes these programs. The interface chips include CAN / LIN and Ethernet. The CAN / LIN interface chip enables CAN / LIN bus communication between various units within the system, while Ethernet is used for time synchronization between systems and the transmission of sensor data. Modules include a high-precision map module, a GPS module, and a 4G / 5G module. Sensors include a 3-axis gyroscope and a 3-axis accelerometer. Peripherals include a speaker, microphone, camera, and hazard lights.

[0123] The detection unit includes a processor, memory, interface chip, RTC module, and sensors. The memory stores computer programs related to data acquisition and communication. The processor executes these programs to acquire and upload sensor data. The interface chip includes CAN / LIN and Ethernet. The CAN / LIN interface chip enables CAN / LIN bus communication between units within the system, while Ethernet is used for time synchronization between systems and the transmission of sensor data. The RTC module provides accurate timestamps, and the sensor module generates data on water immersion, liquid level, and tire pressure.

[0124] The execution unit includes a processor, memory, a CAN / LIN interface chip, a driver, and peripherals. The memory stores computer programs related to motor control and communication; the processor executes these programs to control the motor; the CAN / LIN interface chip enables CAN / LIN bus communication between various units within the system; the driver amplifies weak control signals into current signals that directly drive the motor; and the peripherals include door and window motors.

[0125] Therefore, this invention relies on high-precision maps to provide prior conditions, and leverages the high computing power of the processor and the redundant deployment of sensors. Its advantages lie in the fact that the processor's predictions based on front-end sensor data, verified by subsequent-end sensor data, improve the accuracy of the judgments. Furthermore, triggered sensor data acquisition improves the system's efficiency-to-power ratio. Finally, by combining current intelligent vehicle electronic and electrical architectures and utilizing existing hardware architectures for intelligent cockpits and autonomous driving domain control, it requires minimal modifications and is easy to implement.

[0126] Therefore, this invention uses a water-fall detection algorithm to determine whether a vehicle has fallen into water. If the vehicle is found to be in water, the rescue subsystem is controlled to execute the rescue mode. Thus, this invention can quickly execute the rescue mode and improve the chances of survival for occupants.

[0127] Based on the same inventive concept, embodiments of this application also provide a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements all or part of the method steps of the above method.

[0128] The present invention can implement all or part of the processes in the above methods, or it can be accomplished by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0129] Based on the same inventive concept, embodiments of this application also provide an electronic device, including a memory and a processor. The memory stores a computer program that runs on the processor. When the processor executes the computer program, it implements all or part of the method steps described above.

[0130] The processor can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor can be a microprocessor or any conventional processor. The processor is the control center of the computer device, connecting all parts of the computer device through various interfaces and lines.

[0131] Memory can be used to store computer programs and / or modules. The processor performs various functions of the computer device by running or executing the computer programs and / or modules stored in the memory, and by accessing data stored in the memory. Memory can primarily include a program storage area and a data storage area. The program storage area can store the operating system and at least one application program required for a function (e.g., sound playback, image playback, etc.); the data storage area can store data created based on the use of the mobile phone (e.g., audio data, video data, etc.). Furthermore, memory can include high-speed random access memory, and can also include non-volatile memory, such as hard disks, RAM, plug-in hard disks, SmartMedia Cards (SMC), Secure Digital (SD) cards, Flash Cards, at least one disk storage device, flash memory device, or other volatile solid-state storage devices.

[0132] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, servers, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention 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 and optical storage) containing computer-usable program code.

[0133] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), servers, and computer program products according to embodiments of the invention. 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 machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0134] 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.

[0135] 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.

[0136] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A method for automatically activating a rescue mode when a car falls into water, characterized in that, Includes the following steps: Obtain the target location information of the vehicle in the target scene; the step of obtaining the target location information of the vehicle in the target scene specifically includes the following steps: The system acquires camera image information of the vehicle in the target scene, and selects the target positioning information with the highest similarity from a preset high-precision map library based on a similarity algorithm to match the camera image information. When the location in the target positioning information is detected to be a water area, it is determined that the vehicle is in the initial state of falling into the water. If it is determined that the vehicle is in the initial stage of falling into the water, then the water falling detection algorithm is used to determine whether the vehicle has fallen into the water. The step of determining whether a vehicle has fallen into water based on the water-fall detection algorithm specifically includes the following steps: The vehicle's current acceleration and current angular velocity are obtained, and the vehicle's attitude is determined to be abnormal based on the current acceleration, the current angular velocity, and the threshold information associated with the target positioning information. If the vehicle's posture is abnormal, the vehicle's current posture is obtained based on the vehicle's current acceleration and current angular velocity, and compared with the target positioning information to determine whether the vehicle meets the conditions for falling into the water. If the vehicle meets the conditions for falling into the water, then the attitude angle of the vehicle when it falls into the water is predicted based on the current attitude of the vehicle and the lane elevation information in the target positioning information. Acquire vehicle body geometry parameters and underwater depth information of each liquid level sensor; Based on the vehicle's attitude angle when it fell into the water, the vehicle's body geometric parameters, and the depth information of each liquid level sensor underwater, information on the doors and windows that were not flooded was obtained. If the vehicle's posture is abnormal, the current posture of the vehicle is obtained based on its current acceleration and angular velocity, and compared with the target positioning information to determine whether the vehicle meets the conditions for falling into the water. This step specifically includes the following steps: If the vehicle's attitude is abnormal, the current vehicle acceleration and current vehicle angular velocity are calculated based on the quaternion attitude algorithm to obtain the current vehicle attitude. When it is detected that the current posture of the vehicle does not conform to the road features in the target positioning information and the vehicle deviates from the lane in the target positioning information, it is determined that the vehicle meets the conditions for falling into the water. If it is determined that a vehicle has fallen into the water, the rescue subsystem is controlled to execute the rescue mode.

2. The method for automatically activating the rescue mode when a car falls into water as described in claim 1, characterized in that, The step of determining whether the vehicle attitude is abnormal based on the vehicle's current acceleration, the vehicle's current angular velocity, and the threshold information associated with the target positioning information specifically includes the following steps: The target positioning information is associated with vehicle acceleration threshold and vehicle angular velocity threshold; When the vehicle's current acceleration is greater than or equal to the vehicle's acceleration threshold and the vehicle's current angular velocity is greater than or equal to the vehicle's angular velocity threshold, the vehicle's attitude is determined to be abnormal.

3. The method for automatically activating the rescue mode when a car falls into water as described in claim 1, characterized in that, If the vehicle meets the conditions for falling into the water, then after predicting the vehicle's attitude angle at the time of falling into the water based on the vehicle's current attitude and the lane elevation information in the target positioning information, the specific steps include: The location information of the water immersion sensors deployed on the vehicle is obtained, and the alarm time interval of each water immersion sensor is predicted based on the attitude angle of the vehicle when it falls into the water and the location information of the water immersion sensors deployed on the vehicle. Obtain the actual alarm time interval for each water immersion sensor; When the actual alarm time interval of each water immersion sensor is within the preset error range as the predicted alarm time interval of each water immersion sensor is detected, it is determined that the vehicle has fallen into the water.

4. The method for automatically activating the rescue mode when a car falls into water as described in claim 1, characterized in that, The rescue control subsystem executes the rescue mode steps, specifically including the following steps: The execution unit in the control and rescue subsystem opens the unwater-damaged vehicle doors and windows, turns on the hazard lights, and issues an alarm. The communication unit in the control and rescue subsystem dials emergency rescue calls and uploads target location information and camera image information to the emergency rescue cloud platform.

5. A system for automatically activating a rescue mode when a car falls into water, using the method for automatically activating a rescue mode when a car falls into water as described in any one of claims 1-4, characterized in that, include: The target location acquisition module is used to acquire the target location information of the vehicle in the target scene; The initial judgment module is communicatively connected to the target positioning acquisition module, and is used to determine that the vehicle is in the initial water-falling state when the location in the target positioning information is detected to be a water area. A water-falling detection module, communicatively connected to the initial detection module, is used to determine whether the vehicle has actually fallen into the water based on a water-falling detection algorithm if the initial water-falling state is detected; and, The execution module is communicatively connected to the water-falling judgment module and is used to control the rescue subsystem to execute the rescue mode if it is determined that the vehicle has fallen into the water.

6. A storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the method for automatically activating the rescue mode when a car falls into water as described in any one of claims 1 to 4.

7. An electronic device comprising a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor, characterized in that, When the processor runs the computer program, it implements the method for automatically activating the rescue mode when a car falls into water as described in any one of claims 1 to 4.

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