Vehicle wading driving prompting method, electronic equipment and vehicle

Abstract

The invention provides a vehicle wading driving prompting method, electronic equipment and a vehicle, which are applied to the technical field of vehicle intelligent control, and the method comprises the following steps: in response to starting of a wading mode, obtaining wading road section information in a vehicle driving direction; determining a water inflow risk and / or a collision risk when the vehicle passes through the wading road section based on the wading road section information; executing a first driving prompt strategy in response to determining that the vehicle has the water entering risk when passing through the wading road section; and in response to determining that the collision risk exists when the vehicle passes through the wading road section, executing a second driving prompt strategy. According to the method, a driver is effectively helped to cope with the water entering risk caused by the wading road section, the safety of the vehicle and passengers is guaranteed, driving is safer and more controllable in the complex water area environment, meanwhile, the driver is effectively helped to cope with the collision risk in the wading road section, and the safety performance of the vehicle and the strain capacity of the driver are improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle intelligent control technology, and in particular to a vehicle wading driving prompt method, electronic equipment and vehicle. Background Art

[0002] Although traditional four-wheel drive off-road vehicles can cope with rugged mountain or desert environments to a certain extent, their performance is not up to the task in complex and changeable water environments, such as rivers, lakes and shallow sea areas. When driving in water environments, vehicles not only have to deal with water levels of different depths, but also have to deal with various underwater obstacles, such as aquatic plants, rocks, and sunken wood. Obstacles may cause damage to the vehicle and endanger driving safety. Summary of the invention

[0003] In view of this, the purpose of this application is to propose a vehicle wading driving reminder method, electronic equipment and vehicle to prevent the vehicle from being damaged when driving on a wading section of road, thereby affecting driving safety.

[0004] Based on the above purpose, the present application provides a vehicle wading driving prompt method, including:

[0005] In response to the wading mode being turned on, obtaining wading road section information in the driving direction of the vehicle;

[0006] Determining the water ingress risk and / or collision risk of the vehicle when passing through the water-wading section based on the water-wading section information;

[0007] In response to determining that there is a risk of water intrusion when the vehicle passes through a flooded road section, executing a first driving prompt strategy;

[0008] In response to determining that there is a risk of collision when the vehicle passes through a wading section, a second driving prompt strategy is executed.

[0009] Based on the same inventive concept, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable by the processor, wherein the processor implements the method as described above when executing the computer program.

[0010] Based on the same inventive concept, the present application also provides a vehicle, which includes the above-mentioned electronic device.

[0011] As can be seen from the above, the vehicle wading driving prompt method, electronic device and vehicle provided by the present application, wherein the method includes: in response to the wading mode being turned on, obtaining the wading section information in the vehicle's driving direction; determining the water ingress risk and / or collision risk of the vehicle when passing through the wading section based on the wading section information; in response to determining that there is a water ingress risk when the vehicle passes through the wading section, executing the first driving prompt strategy; effectively helping the driver to deal with the water ingress risk brought by the wading section, ensuring the safety of the vehicle and passengers, and making driving safer and controllable in a complex water environment; in response to determining that there is a collision risk when the vehicle passes through the wading section, executing the second driving prompt strategy; effectively helping the driver to deal with the collision risk in the wading section, and making specific driving suggestions according to the specific situation of the obstacle, such as reducing the speed, changing the driving path to completely avoid the obstacle, thereby significantly reducing the possibility of a collision and improving the vehicle's safety performance and the driver's adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solutions in the present application or related technologies, the drawings required for use in the embodiments or related technical descriptions are briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0013] Figure 1 The process diagram of the vehicle wading driving prompt method in the embodiment of the present application is as follows Figure 1 ;

[0014] Figure 2 The process diagram of the vehicle wading driving prompt method in the embodiment of the present application is as follows Figure 2 ;

[0015] Figure 3 The process diagram of the vehicle wading driving prompt method in the embodiment of the present application is as follows Figure 3 ;

[0016] Figure 4 This is a schematic diagram of a vehicle wading driving reminder device according to an embodiment of the present application;

[0017] Figure 5 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0018] In order to make the objectives, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0019] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should be the usual meanings understood by people with ordinary skills in the field to which the present application belongs. The "first", "second" and similar words used in the embodiments of the present application do not represent any order, quantity or importance, but are only used to distinguish different components. "Including" or "comprising" and similar words mean that the elements or objects appearing in front of the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0020] In the related technologies, with the continuous advancement of science and technology and the continuous pursuit of human beings to explore unknown environments, the traditional automobile industry is also gradually developing in the direction of intelligence and multi-functionality. Especially in the field of off-road vehicles, with the development of more and more expedition activities and environmental protection tasks, the ability of vehicles to travel in complex terrains has received great attention. Although traditional four-wheel drive off-road vehicles can cope with rugged mountain or desert environments to a certain extent, their performance is not up to the task in complex and changeable water environments, such as rivers, lakes and shallow sea areas. When driving in a water environment, the vehicle not only has to face water levels of different depths, but also has to deal with various underwater obstacles, such as aquatic plants, stones, and sunken wood. These obstacles may cause damage to the vehicle or cause vehicle traps. Therefore, how to drive safely and effectively in water has become an urgent problem to be solved. Although some off-road vehicles on the market are equipped with wading functions, most of them only rely on the mechanical structure design of the vehicle, such as raising the position of the intake system to prevent water from entering the engine, or preventing water intrusion by increasing the sealing of the body. Although these methods provide solutions to a certain extent, in actual operation, the wading ability of vehicles is still limited due to the lack of accurate perception of the underwater environment and intelligent decision-making support. In addition, the navigation and obstacle avoidance of existing vehicles in water mainly rely on the driver's experience and intuitive judgment, which is prone to errors in poor visibility or complex underwater environments. Moreover, traditional sensors such as cameras and radars have limited detection capabilities underwater and it is difficult to effectively obtain underwater obstacle information.

[0021] Based on the above problems, the applicant found that: in response to the activation of the wading mode, the wading section information in the driving direction of the vehicle is obtained; based on the wading section information, the water ingress risk and / or collision risk of the vehicle when passing through the wading section is determined; in response to determining that there is a water ingress risk when the vehicle passes through the wading section, the first driving prompt strategy is executed; in response to determining that there is a collision risk when the vehicle passes through the wading section, the second driving prompt strategy is executed. It effectively helps the driver to deal with the water ingress risk brought by the wading section, ensures the safety of the vehicle and passengers, makes driving safer and more controllable in complex water environments, and effectively helps the driver to deal with the collision risk in the wading section, improving the safety performance of the vehicle and the driver's adaptability.

[0022] The embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0023] This application provides a vehicle wading driving prompt method, such as Figure 1 As shown, in some embodiments, the method is executed by a vehicle controller or a data processor independently provided by the vehicle controller. The subsequent embodiments are all illustrated by taking the vehicle controller as an example; the method includes:

[0024] S101, in response to the wading mode being turned on, obtaining wading road section information in the driving direction of the vehicle;

[0025] In specific implementation, when the vehicle enters the wading mode, the sensor (such as sonar sensor) is activated to obtain the information of the wading section in front of the vehicle. Including but not limited to water level, underwater terrain and obstacles. Among them, the sonar sensor can detect underwater objects and terrain by emitting sound waves and receiving their echoes. By analyzing these echoes, a three-dimensional underwater terrain map can be constructed to identify obstacles that may pose a threat to vehicle driving, such as stones, sunken wood or deep pits, and the water level of the current water area will also be measured and recorded. After obtaining the information of these wading sections, the wading section information can be processed and analyzed in real time to evaluate the safety of the vehicle passing through this section of water.

[0026] S102, determining the water ingress risk and / or collision risk of the vehicle when passing through the water-wading section based on the water-wading section information;

[0027] In specific implementation, the water level of the wading section can be detected by sonar sensors. If the water level exceeds the maximum safe wading depth of the vehicle (usually provided by the vehicle manufacturer), it will directly lead to a high risk of water ingress. Exceeding this safe depth, water may enter the key components of the vehicle such as the engine and electrical system, causing damage or causing the vehicle to stall. Sonar sensors can also detect underwater obstacles such as rocks, sunken wood or other objects, and by analyzing the size, shape and location of these obstacles, assess whether they may pose a threat to vehicle driving. For example, large fixed obstacles may damage the vehicle chassis or cause the vehicle to get stuck.

[0028] S103A, in response to determining that there is a risk of water intrusion when the vehicle passes through a flooded section, executing a first driving prompt strategy;

[0029] In specific implementation, when the risk of water ingress is detected in the wading mode, the first driving prompt strategy will be adopted, the purpose of which is to minimize or avoid potential damage caused by water entering the vehicle by prompting the driver how to drive the vehicle in the current wading section, such as immediately issuing a warning to the driver to notify the risk of water ingress, usually displaying a specific warning message such as "Warning: High Risk of Water Ingress" through the vehicle's dashboard or central control screen; at the same time, the water level and recommended safety measures can also be displayed to help the driver make decisions. If it is judged that the vehicle can pass safely but needs to be operated with caution, the driver can be advised to reduce the speed. Driving at a low speed can reduce the generation of water waves, thereby reducing the risk of water splashing into the engine compartment; the driver can also be guided to use specific driving skills, such as continuous and stable throttle control, to maintain the stability and power of the vehicle in the water; if the detected water level is too high and exceeds the safe wading depth of the vehicle, the vehicle's navigation system can be activated to provide the driver with a safe detour route and suggest the driver to avoid the section; in some advanced-configuration vehicles, the vehicle's physical configuration can be automatically adjusted, such as raising the vehicle's suspension height, to increase wading capabilities and reduce water contact with the bottom of the vehicle. The first driving prompt strategy can effectively help drivers deal with the risk of water intrusion caused by flooded sections, ensure the safety of vehicles and passengers, and make driving in complex water environments safer and more controllable.

[0030] S103B: In response to determining that there is a risk of collision when the vehicle passes through a wading section, executing a second driving prompt strategy.

[0031] In specific implementation, when a collision risk is detected in the wading mode, the second driving prompt strategy will be adopted to prevent the vehicle from colliding with underwater or surface obstacles, ensuring that the vehicle can safely pass through the wading section to avoid vehicle damage or occupant injury caused by collision. For example, a warning is immediately issued to the driver to notify that there is a collision risk ahead, usually through the vehicle's dashboard or central control screen to display a specific warning message, such as "Warning: Obstacle ahead"; visual information of the obstacle can also be provided on the vehicle's display screen, including its size, shape, location and recommended obstacle avoidance strategy, which helps the driver better understand the situation and respond quickly; if the obstacle is small and the location allows safe detour, the driver can be guided to slow down and detour the obstacle. If the obstacle is large or difficult to detour, the driver can be advised to stop and wait for further instructions, or find other feasible routes, such as evaluating whether there is a feasible detour route to avoid the risk of collision. The second driving prompt strategy can effectively help the driver deal with the risk of collision in the wading section, improve the safety performance of the vehicle and the driver's ability to respond.

[0032] In this embodiment, by real-time monitoring of the water level and underwater obstacles, the driver can be guided to take appropriate measures when there is a risk of water ingress, thereby avoiding or minimizing the entry of water into key components of the vehicle, such as the engine and electrical system, and preventing the vehicle from stalling or being damaged; at the same time, the driver can be identified and reminded of underwater or surface obstacles, such as rocks, sunken wood, etc., and helped to respond quickly through visual displays and specific obstacle avoidance strategies, thereby avoiding or reducing vehicle damage or occupant injuries caused by collisions.

[0033] Based on the following embodiments, a detailed description is given on how to determine the collision risk of a vehicle when passing through a wading section based on the wading section information, so as to more accurately assess the collision risk when passing through the wading section, thereby reducing the possibility of a collision.

[0034] In some embodiments, the vehicle includes a sonar sensor, the water-wading section information includes an underwater height of an obstacle and a water level height acquired by the sonar sensor, and determining the collision risk of the vehicle when passing through the water-wading section based on the water-wading section information includes:

[0035] In response to determining that the underwater height of the obstacle is less than the water level, determining the underwater height of the obstacle as a target obstacle height, and determining the collision risk of the vehicle when passing through the wading section according to the target obstacle height;

[0036] In specific implementation, the role of the sonar sensor is to detect obstacles in the water in front of the vehicle and obtain the underwater height of the obstacles and the water level of the wading section. The sonar sensor determines the height of underwater obstacles by emitting sound waves and receiving echoes. When the underwater height of the obstacle is less than the current water level, it indicates that the obstacle is partially or completely submerged in water. At this time, the underwater height of the obstacle is regarded as the target obstacle height, and the collision risk is assessed based on the target obstacle height. If it is determined that there is a collision risk, specific driving prompt measures will be taken to help the driver pass the wading section, reduce collision accidents caused by obstacles, and thus protect the safety of the vehicle and passengers.

[0037] In response to determining that the underwater height of the obstacle is equal to the water level height, determining the above-water height of the obstacle, determining the sum of the underwater height and the above-water height as a target obstacle height, and determining the collision risk of the vehicle when passing through the wading section according to the target obstacle height;

[0038] The above-water height refers to the height of the obstacle above the water surface.

[0039] In specific implementation, when the underwater height of the obstacle is determined by the sonar sensor to be equal to the current water level, it indicates that the top of the obstacle is flush with the water surface. In order to comprehensively evaluate the potential impact of the obstacle on the vehicle's driving, it is necessary to further obtain the water height of the obstacle, that is, the part of the obstacle protruding from the water surface. At this time, other sensing technologies, such as lidar or millimeter-wave radar, can be used to measure the water height of the obstacle. The sensor can accurately measure objects above the water surface and provide detailed information about the part of the obstacle protruding from the water surface. Once the water height of the obstacle is obtained, this height is added to the underwater height to obtain the total height of the obstacle, that is, the target obstacle height. According to the target obstacle height, the collision risk of the obstacle to the vehicle will be evaluated. If there is a risk of collision, the driver can be warned and recommended to take preventive measures, such as slowing down, changing the driving path, or stopping to wait for the obstacle to be removed. In this way, a variety of sensor technologies can be effectively used to comprehensively evaluate the potential risks of obstacles in the water and on the water surface, thereby improving the safety of the vehicle in complex water environments and ensuring the safety of drivers and passengers.

[0040] In this embodiment, by accurately measuring the underwater height of obstacles through sonar sensors, and combining other sensor technologies to measure the water height of obstacles above the water surface, the actual size and position of obstacles can be fully understood, so that the vehicle can more accurately assess the risk of collision when passing through wading sections. After obtaining complete height information of obstacles, specific driving suggestions can be made according to the specific situation of the obstacles, such as reducing speed, changing the driving path, or avoiding obstacles completely, thereby significantly reducing the possibility of collision, allowing vehicles to respond to various challenges in waters more intelligently and effectively, ensuring the safety of drivers and passengers, and protecting vehicles from damage.

[0041] Based on the following embodiments, how to determine the water height of the obstacle is described in detail to more accurately evaluate the potential impact of the obstacle on vehicle driving, thereby improving the safety of the vehicle passing through the wading section.

[0042] In some embodiments, Figure 2 As shown, the determining the water height of the obstacle includes:

[0043] S201, obtaining the underwater position of the obstacle;

[0044] In specific implementation, sonar sensors detect underwater objects by emitting sound waves and receiving the echoes of these sound waves. When encountering obstacles, the sound waves will be reflected back to the sensor. By analyzing the time delay and intensity of these echoes, the distance and relative position of the obstacles can be determined, and obstacles can be effectively detected even in turbid water. The collected sonar data needs to be processed by a special algorithm to accurately calculate the location of the obstacles. It usually includes signal processing techniques such as filtering and noise elimination to improve the accuracy and reliability of the position data. This data is converted into coordinate information to depict the specific location of the obstacles underwater. The sonar sensor data can also be used to build a three-dimensional model of underwater obstacles, which not only helps to more intuitively understand the shape and size of the obstacles, but also more accurately evaluate their potential impact on the vehicle. Through the above steps, the underwater position of the obstacles can be effectively obtained, providing the necessary basic information for subsequent water height measurement and overall risk assessment.

[0045] S202: Perform obstacle identification on the water surface at a position corresponding to the underwater position to obtain the water height of the obstacle.

[0046] In specific implementation, once the underwater position of the obstacle is determined by the sonar sensor, the vehicle sensor on the water surface (such as lidar or millimeter-wave radar) needs to be aimed at the corresponding position to accurately capture the part of the obstacle above the water surface. For example, lidar measures the distance and shape of the object by emitting laser pulses and receiving the reflected laser. When the laser beam hits the obstacle, the height of the obstacle protruding from the water surface can be calculated by analyzing the time and intensity of the reflected laser.

[0047] In this embodiment, after the sonar sensor obtains the underwater position of the obstacle, the vehicle sensor is used to detect and identify the obstacle at a position corresponding to the underwater position on the water surface to obtain the water height of the obstacle. The underwater height and the water height are summed to obtain the total height of the obstacle. The total height of the obstacle is accurately obtained by combining the sonar sensor with other sensors of the vehicle, which helps to more accurately evaluate the potential impact of the obstacle on vehicle driving, thereby improving safety.

[0048] Based on the following embodiments, how to determine the collision risk of a vehicle when passing through a wading section according to the target obstacle height is described in detail, so as to help the driver react in advance after noticing the obstacle, reduce control errors caused by obstacles, and improve driving safety.

[0049] In some embodiments, determining the collision risk of a vehicle when passing through a wading section according to the height of the target obstacle includes:

[0050] In response to the target obstacle height being greater than or equal to the preset obstacle height, it is determined that there is a risk of collision when the vehicle passes through the wading section.

[0051] In specific implementation, the preset obstacle height is usually set based on the vehicle's designed wading depth, chassis ground clearance and other relevant safety parameters. The preset obstacle height represents the maximum obstacle height that the vehicle can safely pass (for example, the preset obstacle height can be set to 80% of the vehicle chassis ground clearance); the setting of the preset obstacle height takes into account the vehicle's safety margin and potential uncertainties to ensure the vehicle's driving safety in complex environments. After the target height of the obstacle is determined, the target height is compared with the preset obstacle height. If the target obstacle height is greater than or equal to the preset obstacle height, it indicates that there is a significant risk of collision when the vehicle passes through the section, because the obstacle may contact the bottom of the vehicle or cause other forms of collision damage; for example, a large rock that is higher than the water surface may directly damage the vehicle's chassis or affect the vehicle's stability. Based on the assessment of collision risk, the safety of the vehicle and its occupants can be ensured.

[0052] In this embodiment, by determining that the target obstacle height is greater than or equal to the preset obstacle height, it is determined that there is a risk of collision when the vehicle passes through the wading section. After the driver knows that there is a potential high obstacle ahead, he can react in advance, such as slowing down, stopping, or finding a safe detour. This not only reduces emergency braking or control errors caused by sudden obstacles, but also improves the overall driving stability and comfort.

[0053] Based on the following embodiments, how to execute the second driving prompt strategy is described in detail to ensure that the vehicle can safely pass through the wading section and improve the driving safety of the vehicle in a complex water environment.

[0054] In some embodiments, executing the second driving prompt strategy includes:

[0055] In response to the width between the obstacle and the road edge being greater than the width of the vehicle, displaying the outline information and position information of the obstacle to the user, and prompting the user to avoid the obstacle to pass through the wading section;

[0056] In specific implementation, firstly, the position and outline of the obstacle are accurately identified by using sensors such as sonar sensors. Once the obstacle is identified, this information is displayed to the driver on the display interface of the vehicle, usually through a graphical interface. The outline and position of the obstacle will be clearly displayed on the navigation map of the vehicle or a special safety monitoring interface. Based on the width analysis between the obstacle and the edge of the road, it is judged that the vehicle has enough space to safely bypass the obstacle. At this time, specific driving suggestions are provided to the driver, such as slowing down, slightly adjusting the driving direction, etc., to help the driver safely avoid the obstacle. The prompt may include visual and sound warnings to ensure that the driver can receive the information and respond in time. For example, the system may issue a voice prompt of "Please slightly adjust the direction to the right (or left) to avoid the obstacle ahead." When the driver performs the obstacle avoidance operation, the distance and relative position between the vehicle and the obstacle will continue to be monitored in real time to ensure that the vehicle passes safely. If the driver's response does not meet the safety expectations of the system, it may issue a warning again or intervene through the vehicle's auxiliary driving system when necessary, such as automatically adjusting the vehicle's driving path. In this way, it can effectively help the driver to safely avoid obstacles in wading sections and reduce vehicle damage or occupant injuries that may be caused by collision with obstacles.

[0057] In response to the width between the obstacle and the road edge being less than or equal to the vehicle width, the state of the obstacle in water is determined, and in response to determining that the obstacle is in a floating state, the user is prompted to pass at a preset vehicle speed.

[0058] In specific implementation, obstacles are first detected by sensors such as sonar sensors, especially their behavior and stability in the water, including analyzing whether the obstacle moves or floats on the water surface, which can be judged by observing the change in the position of the obstacle relative to the fixed background. If the obstacle is determined to be a floating object, its potential impact on the vehicle's driving will be further evaluated. Floating objects are usually easier to handle than fixed obstacles because they may move with the water flow, providing an opportunity for the vehicle to pass. After determining that the obstacle is floating, specific driving suggestions will be made to the driver based on the performance of the vehicle and the water flow conditions. If the assessment shows that the vehicle can pass safely, it is recommended that the driver drive slowly at a certain preset speed, which can minimize the impact of the water flow on the vehicle and the potential collision of the obstacle with the vehicle; the preset speed is usually set low to ensure that the driver has enough time and space to deal with emergencies (for example, the preset speed can be set to 5km / h). At the same time, driving at a low speed helps reduce splashes and reduce potential damage to the vehicle's electrical system and engine. When the driver takes action to pass the obstacle, the status of the vehicle and the location of the obstacle are continuously monitored. If the position of the obstacle changes or the driving conditions of the vehicle become unfavorable, the situation will be re-evaluated immediately and the driving advice will be updated. If necessary, the vehicle's assisted driving function may intervene, such as automatically adjusting the speed or slightly adjusting the direction, to help the driver pass more safely. In this way, the driver can be effectively guided to drive safely in complex wading environments, especially when facing floating obstacles that are difficult to bypass, which significantly improves the driving safety and efficiency of the vehicle in complex environments.

[0059] In this embodiment, the position and shape of obstacles are accurately identified, and specific obstacle avoidance suggestions are provided to help the driver effectively avoid obstacles that may cause damage to the vehicle or injury to passengers. For floating obstacles, the position and state changes can be monitored in real time, and driving suggestions can be adjusted accordingly to ensure that the vehicle can pass safely, which significantly improves the driving safety and efficiency of the vehicle in complex water environments, while reducing the driver's operating burden and improving the driving experience.

[0060] Based on the following embodiments, how to determine the state of an obstacle in water is described in detail to accurately judge whether the obstacle is in a floating state, help the driver make more reasonable driving decisions, and avoid unnecessary collisions or injuries.

[0061] In some embodiments, determining the state of the obstacle in water includes:

[0062] acquiring a distance between the obstacle and the road surface, and in response to the distance being greater than or equal to a preset distance, determining that the obstacle is in a floating state; or,

[0063] The relative position between the obstacle and the road surface is acquired, and in response to a change in the relative position between the obstacle and the road surface, it is determined that the obstacle is in a floating state.

[0064] During specific implementation, the distance between the obstacle and the road surface is obtained. If the distance between the obstacle and the road surface is greater than or equal to a preset distance (exemplarily, the preset distance can be set to 10CM), the obstacle is judged to be in a floating state. Or, the relative position between the obstacle and the road surface is obtained. If the position of the obstacle changes significantly relative to the road surface, such as moving with the water flow, it indicates that the obstacle is not fixed underwater, but is in a floating state. Obstacles in a floating state usually pose less threat to vehicles because they may change position with the flow. Once it is determined that the obstacle is in a floating state, the driver can be advised to pass slowly at a lower speed to avoid the impact of water flow caused by fast driving, which may cause floating objects to hit the vehicle. The above steps can effectively identify and handle floating obstacles in wading sections, ensure that vehicles can safely pass through complex water environments, and significantly improve the driving safety and reliability of vehicles under special road conditions.

[0065] In this embodiment, by measuring the distance between the obstacle and the road surface or monitoring its position change, it is possible to accurately determine whether the obstacle is in a floating state. Accurate state recognition helps the driver make more reasonable driving decisions and avoid unnecessary collisions or injuries. Floating obstacles may move with the water flow. After understanding the floating state of the obstacle, the driver is advised to pass at a lower speed, which helps to reduce the impact of the water flow on the vehicle and reduce the risk of obstacle collision caused by rapid passage. Specific obstacle avoidance suggestions can also be provided on how to safely bypass or wait for floating obstacles to move away, which enhances the vehicle's obstacle avoidance capabilities in complex water environments; it not only significantly improves the vehicle's driving safety and reliability under special road conditions, but also optimizes the driving strategy, reduces the driver's operating burden, and improves the overall driving experience.

[0066] Based on the following embodiments, a detailed description is given on how to determine the risk of water ingress when a vehicle passes through a flooded section based on the flooded section information. Timely and accurate risk assessment helps prevent water ingress to the vehicle due to excessively high water levels, avoids potential vehicle damage and occupant safety issues, and significantly improves the driving safety of the vehicle on flooded sections.

[0067] In some embodiments, the vehicle includes a sonar sensor, the water-wading section information includes a water level acquired by the sonar sensor, and determining the water ingress risk when the vehicle passes through the water-wading section based on the water-wading section information includes:

[0068] In response to the water level being greater than or equal to a preset water level, it is determined that there is a risk of water ingress when the vehicle passes through a flooded section.

[0069] In specific implementation, the sonar sensor measures the water level by emitting sound waves and receiving echoes. The sound waves will be reflected back to the sensor when encountering the water surface. By analyzing the time delay and intensity of these echoes, the current water level can be accurately determined. The preset water level is usually set based on the vehicle's designed wading depth and other relevant safety parameters. The preset water level represents the maximum water level that the vehicle can safely pass through. If it exceeds this height, the vehicle may face the risk of water ingress. The preset water level takes into account the waterproof ability of the vehicle, including the door seal, engine compartment protection and waterproof design of the electrical system (exemplarily, the preset water level can be set to 30% of the vehicle height). After the current water level is obtained by the sonar sensor, this height is compared with the preset water level. If the measured water level is greater than or equal to the preset water level, it is judged that there is a risk of water ingress when the vehicle passes through the section, because the water level may exceed the vehicle's safe wading depth, causing water to enter the vehicle, affecting the vehicle's operation and the safety of the occupants. Based on the risk assessment of the water level, corresponding safety measures will be taken, and specific driving tips will be provided to the driver to ensure that the vehicle can drive safely in a complex water environment.

[0070] In this embodiment, after the current water level height is obtained by the sonar sensor, this height is compared with the preset water level height. When the measured water level height is greater than or equal to the preset water level height, it can be determined that there is a risk of water ingress when the vehicle passes through the section. Timely and accurate risk assessment helps prevent water ingress into the vehicle due to excessively high water levels, avoids potential vehicle damage and occupant safety issues, significantly improves the vehicle's driving safety and efficiency on flooded sections, while reducing the driver's operating burden and improving the overall driving experience.

[0071] Based on the following embodiments, how to execute the first driving prompt strategy is described in detail to provide risk assessment and driving prompts based on actual road conditions, to help the driver intuitively understand the conditions of the waters he is about to enter, so as to make reasonable driving choices and reduce the driver's uncertainty when facing invisible or uncertain water conditions.

[0072] In some embodiments, Figure 3 As shown, the execution of the first driving prompt strategy includes:

[0073] S301, obtaining the length of the road section where the water level is greater than or equal to the preset water level;

[0074] In specific implementation, the water level at different points can be continuously measured and recorded by scanning along a predetermined route using a sonar sensor. The sonar sensor transmits sound waves and receives echoes, and determines the water level based on the reflection time and intensity of the sound waves. The collected water level data is analyzed to identify areas where the water level is greater than or equal to the preset water level. This data is usually processed and mapped into the vehicle's navigation system to accurately depict the sections of the road with higher water levels and obtain the length of the sections where the water level is greater than or equal to the preset water level.

[0075] S302: In response to the length of the road section being less than a preset length, displaying the water level of the road section and contour information of the road section to the user in real time, and prompting the user to pass through at a preset speed.

[0076] In specific implementation, when it is determined that the length of the road section is less than the preset length, the water level height and section contour information of the wading section can be displayed in real time on the display interface of the vehicle, helping the driver to have an intuitive understanding of the waters that are about to enter, so as to make more reasonable driving decisions. The section contour information usually includes the width of the road surface and the environmental characteristics on both sides of the road section. If the road surface is narrow or there are obstacles on both sides, the driver needs to drive more carefully to avoid damage to the vehicle. The driver is prompted to pass at a preset speed. The preset speed is usually low in order to reduce the agitation of the water by the vehicle and reduce the risk of splashing water, thereby reducing the possibility of water ingress (for example, the preset speed can be set to 5km / h). Driving at a low speed also helps the driver to better control the vehicle, especially when the water flow is strong or the road surface is unstable. In this way, the safety of the vehicle in complex or dangerous road conditions is greatly improved.

[0077] In this embodiment, the sonar sensor accurately measures the water level and determines the length of the road section with high water level, which can provide a risk assessment based on the actual road conditions, helping the driver to make safer driving decisions in the wading section. The water level and section profile information of the wading section are displayed in real time on the vehicle's display interface to help the driver intuitively understand the conditions of the water area he is about to enter, so as to make reasonable driving choices. It reduces the driver's guesswork and uncertainty when facing invisible or uncertain water conditions. During driving, the water level changes and road conditions can be continuously monitored, and driving suggestions can be updated in a timely manner to ensure that the driver can adjust the driving strategy according to the latest situation, thereby improving the driving safety and efficiency of the vehicle in the wading section.

[0078] It should be noted that the method of the embodiment of the present application can be performed by a single device, such as a computer or server. The method of this embodiment can also be applied to a distributed scenario and completed by multiple devices cooperating with each other. In the case of such a distributed scenario, one of the multiple devices can only perform one or more steps in the method of the embodiment of the present application, and the multiple devices will interact with each other to complete the described method.

[0079] It should be noted that the above describes some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the above embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0080] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a vehicle wading driving reminder device.

[0081] refer to Figure 4 The vehicle wading driving prompting device comprises:

[0082] An acquisition module 701 is configured to acquire water-wading road section information in the driving direction of the vehicle in response to the water-wading mode being turned on;

[0083] The judgment module 702 is configured to determine the water ingress risk and / or collision risk of the vehicle when passing through the water-wading section based on the water-wading section information; in response to determining that there is a water ingress risk when the vehicle passes through the water-wading section, execute a first driving prompt strategy; in response to determining that there is a collision risk when the vehicle passes through the water-wading section, execute a second driving prompt strategy.

[0084] Further, the determination module 702 is specifically used for:

[0085] In response to determining that the underwater height of the obstacle is less than the water level, determining the underwater height of the obstacle as a target obstacle height, and determining the collision risk of the vehicle when passing through the wading section according to the target obstacle height;

[0086] In response to determining that the underwater height of the obstacle is equal to the water level height, determining the above-water height of the obstacle, determining the sum of the underwater height and the above-water height as a target obstacle height, and determining the collision risk of the vehicle when passing through the wading section according to the target obstacle height;

[0087] The above-water height refers to the height of the obstacle above the water surface.

[0088] Furthermore, the judging module 702 is further configured to:

[0089] Acquire the underwater position of the obstacle;

[0090] Obstacle identification is performed on the water surface at a position corresponding to the underwater position to obtain the above-water height of the obstacle.

[0091] Furthermore, the judging module 702 is further configured to:

[0092] In response to the target obstacle height being greater than or equal to the preset obstacle height, it is determined that there is a risk of collision when the vehicle passes through the wading section.

[0093] Furthermore, the judging module 702 is further configured to:

[0094] In response to the width between the obstacle and the road edge being greater than the width of the vehicle, displaying the outline information and position information of the obstacle to the user, and prompting the user to avoid the obstacle to pass through the wading section;

[0095] In response to the width between the obstacle and the road edge being less than or equal to the vehicle width, the state of the obstacle in water is determined, and in response to determining that the obstacle is in a floating state, the user is prompted to pass at a preset vehicle speed.

[0096] Furthermore, the judging module 702 is further configured to:

[0097] acquiring a distance between the obstacle and the road surface, and in response to the distance being greater than or equal to a preset distance, determining that the obstacle is in a floating state; or,

[0098] The relative position between the obstacle and the road surface is acquired, and in response to a change in the relative position between the obstacle and the road surface, it is determined that the obstacle is in a floating state.

[0099] Furthermore, the judging module 702 is further configured to:

[0100] In response to the water level being greater than or equal to a preset water level, it is determined that there is a risk of water ingress when the vehicle passes through a flooded section.

[0101] Furthermore, the judging module 702 is further configured to:

[0102] Obtaining the length of the road section where the water level is greater than or equal to the preset water level;

[0103] In response to the length of the road section being less than a preset length, the water level of the road section and contour information of the road section are displayed to the user in real time, and the user is prompted to pass through at a preset vehicle speed.

[0104] For the convenience of description, the above device is described in terms of functions divided into various modules. Of course, when implementing the present application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0105] The device of the above-mentioned embodiment is used to implement the corresponding vehicle wading driving prompt method in any of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0106] Based on the same inventive concept, corresponding to any of the above-mentioned embodiments and methods, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the vehicle wading driving prompt method described in any of the above embodiments is implemented.

[0107] Figure 5 A more specific schematic diagram of the hardware structure of an electronic device provided in this embodiment is shown, and the device may include: a processor 1010, a memory 1020, an input / output interface 1030, a communication interface 1040, and a bus 1050. The processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040 are connected to each other through the bus 1050 in the device.

[0108] The processor 1010 can be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this specification.

[0109] The memory 1020 may be implemented in the form of ROM (Read Only Memory), RAM (Random Access Memory), static storage device, dynamic storage device, etc. The memory 1020 may store an operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1020 and are called and executed by the processor 1010.

[0110] The input / output interface 1030 is used to connect the input / output module to realize information input and output. The input / output module can be configured in the device as a component (not shown in the figure), or it can be externally connected to the device to provide corresponding functions. The input device may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output device may include a display, a speaker, a vibrator, an indicator light, etc.

[0111] The communication interface 1040 is used to connect a communication module (not shown) to realize communication interaction between the device and other devices. The communication module can realize communication through a wired mode (such as USB, network cable, etc.) or a wireless mode (such as mobile network, WIFI, Bluetooth, etc.).

[0112] The bus 1050 includes a path that transmits information between the various components of the device (eg, the processor 1010, the memory 1020, the input / output interface 1030, and the communication interface 1040).

[0113] It should be noted that, although the above device only shows the processor 1010, the memory 1020, the input / output interface 1030, the communication interface 1040 and the bus 1050, in the specific implementation process, the device may also include other components necessary for normal operation. In addition, it can be understood by those skilled in the art that the above device may also only include the components necessary for implementing the embodiments of the present specification, and does not necessarily include all the components shown in the figure.

[0114] The electronic device of the above-mentioned embodiment is used to implement the corresponding vehicle wading driving prompt method in any of the above-mentioned embodiments, and has the beneficial effects of the corresponding method embodiment, which will not be repeated here.

[0115] Based on the same inventive concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a non-transitory computer-readable storage medium, wherein the non-transitory computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the computer to execute the vehicle wading driving prompt method as described in any of the above embodiments.

[0116] The computer-readable medium of this embodiment includes permanent and non-permanent, removable and non-removable media, and information storage can be implemented by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, read-only compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device.

[0117] The computer instructions stored in the storage medium of the above embodiments are used to enable the computer to execute the vehicle wading driving prompt method described in any of the above embodiments, and have the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0118] Based on the same concept, corresponding to any of the above-mentioned embodiment methods, the present application also provides a computer program product, including computer program instructions. When the computer program instructions are run on a computer, the computer executes the method described in any of the above embodiments, which has the beneficial effects of the corresponding method embodiments and will not be repeated here.

[0119] It is understandable that before using the technical solutions of each embodiment of the present disclosure, the type, scope of use, usage scenarios, etc. of the personal information involved will be informed to the user in an appropriate manner, and the user's authorization will be obtained.

[0120] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly remind the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can independently choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0121] As an optional but non-limiting implementation, in response to receiving the user's active request, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0122] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0123] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of the different aspects of the embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0124] In addition, to simplify the description and discussion, and in order not to make the embodiments of the present application difficult to understand, the known power supply / ground connection with the integrated circuit (IC) chip and other components may or may not be shown in the provided drawings. In addition, the device can be shown in the form of a block diagram to avoid making the embodiments of the present application difficult to understand, and this also takes into account the fact that the details of the implementation of these block diagram devices are highly dependent on the platform to be implemented in the embodiments of the present application (that is, these details should be fully within the scope of understanding of those skilled in the art). In the case of elaborating specific details (e.g., circuits) to describe exemplary embodiments of the present application, it is obvious to those skilled in the art that the embodiments of the present application can be implemented without these specific details or when these specific details are changed. Therefore, these descriptions should be considered to be illustrative rather than restrictive.

[0125] Although the present application has been described in conjunction with specific embodiments of the present application, many replacements, modifications and variations of these embodiments will be apparent to those skilled in the art from the foregoing description. For example, other memory architectures (e.g., dynamic RAM (DRAM)) may use the embodiments discussed.

[0126] The embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A vehicle wading driving prompt method, characterized in that: include: In response to the wading mode being turned on, obtaining wading road section information in the driving direction of the vehicle; Determining the water ingress risk and / or collision risk of the vehicle when passing through the water-wading section based on the water-wading section information; In response to determining that there is a risk of water intrusion when the vehicle passes through a flooded road section, executing a first driving prompt strategy; In response to determining that there is a risk of collision when the vehicle passes through a wading section, a second driving prompt strategy is executed.

2. The vehicle wading driving prompt method according to claim 1, characterized in that: The vehicle includes a sonar sensor, the water-wading section information includes an underwater height of an obstacle and a water level height acquired by the sonar sensor, and determining a collision risk when the vehicle passes through the water-wading section based on the water-wading section information includes: In response to determining that the underwater height of the obstacle is less than the water level, determining the underwater height of the obstacle as a target obstacle height, and determining the collision risk of the vehicle when passing through the wading section according to the target obstacle height; In response to determining that the underwater height of the obstacle is equal to the water level height, determining the above-water height of the obstacle, determining the sum of the underwater height and the above-water height as a target obstacle height, and determining the collision risk of the vehicle when passing through the wading section according to the target obstacle height; The above-water height refers to the height of the obstacle above the water surface.

3. The vehicle wading driving prompt method according to claim 2, characterized in that: Determining the water height of the obstacle includes: Obtaining the underwater position of the obstacle; Obstacle identification is performed on the water surface at a position corresponding to the underwater position to obtain the above-water height of the obstacle.

4. The vehicle wading driving prompt method according to claim 2, characterized in that: The step of determining the collision risk of a vehicle passing through a wading section according to the height of the target obstacle includes: In response to the target obstacle height being greater than or equal to the preset obstacle height, it is determined that there is a risk of collision when the vehicle passes through the wading section.

5. The vehicle wading driving prompt method according to claim 4, characterized in that: The executing the second driving prompt strategy comprises: In response to the width between the obstacle and the road edge being greater than the width of the vehicle, displaying the outline information and position information of the obstacle to the user, and prompting the user to avoid the obstacle to pass through the wading section; In response to the width between the obstacle and the road edge being less than or equal to the vehicle width, the state of the obstacle in water is determined, and in response to determining that the obstacle is in a floating state, the user is prompted to pass at a preset vehicle speed.

6. The vehicle wading driving prompt method according to claim 5, characterized in that: The determining the state of the obstacle in the water comprises: acquiring a distance between the obstacle and the road surface, and in response to the distance being greater than or equal to a preset distance, determining that the obstacle is in a floating state; or, The relative position between the obstacle and the road surface is acquired, and in response to a change in the relative position between the obstacle and the road surface, it is determined that the obstacle is in a floating state.

7. The vehicle wading driving prompt method according to claim 1, characterized in that: The vehicle includes a sonar sensor, the water-wading section information includes a water level acquired by the sonar sensor, and determining the water ingress risk when the vehicle passes through the water-wading section based on the water-wading section information includes: In response to the water level being greater than or equal to a preset water level, it is determined that there is a risk of water ingress when the vehicle passes through a flooded section.

8. The vehicle wading driving prompt method according to claim 7, characterized in that: The executing of the first driving prompt strategy comprises: Obtaining the length of the road section where the water level is greater than or equal to the preset water level; In response to the length of the road section being less than a preset length, the water level of the road section and contour information of the road section are displayed to the user in real time, and the user is prompted to pass through at a preset vehicle speed.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the program, the method according to any one of claims 1 to 8 is implemented.

10. A vehicle, characterized in that: The vehicle comprises the electronic device as claimed in claim 9.

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