Intelligent emergency escape system and method for automobile falling into water based on posture recognition

Abstract

The invention discloses an automobile falling-into-water intelligent emergency escape system and method based on posture recognition, and belongs to the technical field of automobile safety systems. The posture recognition module obtains angular velocity and acceleration data of the vehicle in real time through a vehicle-mounted gyroscope and an acceleration sensor, calculates the pitch angle and the roll angle of the vehicle, and recognizes the falling posture of the vehicle in real time. The escape control module dynamically generates an escape instruction according to the posture, controls a car door / car window and a safety belt to be unlocked, and flatly places a seat at the same time; the lighting and voice prompt module starts lighting and provides voice escape guidance in a low-light environment; the automatic alarm module sends a position signal when the vehicle falls into water and cancels the alarm after escaping from danger; the standby control module switches the standby power supply when the main power supply fails. According to the method, the falling state and posture can be accurately recognized, the escape scheme is dynamically generated, the passenger escape success rate and the system reliability are improved, and the method is suitable for the vehicle escape requirement in the complex falling environment.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle safety, and in particular to an intelligent emergency escape system and method for a car falling into water based on posture recognition. Background Art

[0002] When a vehicle falls into water, the doors and windows are difficult to open due to the rapid increase in the water pressure difference between the inside and outside of the vehicle. The driver and passengers often face great difficulty in escaping due to emergencies in the early stage of falling into water, which poses a serious threat to the life safety of the people in the car. There are some solutions in the prior art to improve the efficiency of escaping from water. For example, some vehicles are equipped with airbag systems or intelligent escape systems that automatically unlock doors and windows when a fall into water is detected. However, these technologies have significant deficiencies in dealing with complex falling into water postures and emergencies: Publication (publication) number CN215663329U discloses a vehicle drowning escape device and a vehicle, which provides protection for passengers by triggering airbags. However, when the vehicle enters the water head-down, the deployment of the airbags may cause the passengers to be pressed between the seats and the airbags, preventing the passengers from escaping through the doors or windows. At the same time, the solution fails to provide personalized escape instructions for different postures and lacks a posture analysis mechanism.

[0003] Publication (publication) number CN114715065A discloses a car falling into water safety intelligent self-rescue system, which triggers the unlocking of windows, doors and trunk through water level detection. However, this solution only performs a fixed unlocking operation after detecting that the vehicle has fallen into water, and fails to select a suitable escape channel according to the specific posture of the vehicle (such as the front of the car facing down, the rear of the car facing down, etc.). When the front of the car falls into the water, unlocking the front door or front window may accelerate the water ingress and sinking of the vehicle, increasing the difficulty of escape.

[0004] Some existing technologies only provide door and window unlocking functions, but lack backup power supply, dynamic path adjustment, escape lighting and voice prompt functions. In the event of main power failure or insufficient light, occupants may find it difficult to identify the escape direction in time, thus delaying their escape.

[0005] The above-mentioned deficiencies of the prior art limit the effectiveness of the vehicle water escape system, especially in different postures and complex environments, the escape rate of the occupants is difficult to guarantee. Summary of the invention

[0006] In view of the problems in the prior art such as lack of judgment on falling-into-water posture, single escape path and insufficient auxiliary functions, the present invention provides an intelligent emergency escape system and method for automobile falling-into-water based on posture recognition. Through the collaborative work of multiple sensors, the specific water entry posture of the vehicle, such as the front of the vehicle facing down, the rear of the vehicle facing down, horizontal or inverted entering the water, can be quickly identified when a vehicle falls into water. Appropriate escape instructions are generated according to different postures to ensure that the occupants in the vehicle can choose the best escape path.

[0007] In order to achieve the above object, the present invention is implemented by the following technical solutions: The intelligent emergency escape system for vehicles falling into water based on posture recognition includes: The water level detection module is used to detect in real time whether the vehicle is in a state of falling into water; A posture recognition module is used to obtain the angular velocity and acceleration data of the vehicle in real time through the on-board gyroscope and acceleration sensor, calculate the pitch angle and roll angle of the vehicle based on the angular velocity and acceleration data, and recognize the vehicle's falling posture in real time; An escape control module, used to receive the vehicle's falling-into-water state and posture, and issue an escape command based on the falling-into-water posture; A seat belt control module, configured to automatically unlock the seat belt after receiving an escape command from the escape control module; The door / window control module is used to control the opening and closing states of the doors and windows in different water-falling postures based on the escape command of the escape control module, and provide an escape exit; A seat control module, used to lay down the seats in the vehicle after receiving the escape command from the escape control module; Lighting and voice prompt module, used to automatically turn on the waterproof lighting after the vehicle falls into the water, automatically adjust the lighting brightness according to the underwater light conditions, and provide voice escape guidance; Automatic alarm module, used to automatically send the vehicle position signal to the external rescue center when it is determined that the vehicle is in a state of falling into water, and automatically cancel the alarm signal when it is detected that the vehicle is in shallow water or not falling into water; The backup control module is used to automatically switch to the backup power supply when the main power supply of the vehicle fails, ensuring the normal operation of the escape control module, seat belt control module, door / window control module, lighting and alarm functions.

[0008] Preferably, the water level detection module comprises: A water level sensing unit is used to detect the water level change outside the vehicle in real time, determine that the vehicle is in a water-falling state when the water level change reaches a preset threshold, and generate a water level signal when the vehicle falls into water; The water level signal transmission unit is used to send the water level signal to the escape control module.

[0009] Preferably, the gesture recognition module includes: The on-board gyroscope and acceleration sensor are used to obtain the vehicle's angular velocity and acceleration data in three axes in real time; Attitude smoothing unit, used to calculate the vehicle's pitch angle through time series smoothing technology and roll angle , the formula is as follows: ; ; in: is the smoothing coefficient, and its value range is [0, 1]; , , The acceleration sensor is , , Acceleration data collected on the axis; is the pitch angle of the vehicle at time t; is the pitch angle of the vehicle at time t-1; is the rolling angle of the vehicle at time t; is the rolling angle of the vehicle at time t-1; Adaptive threshold calculation unit, used to adjust the vehicle's center of gravity height and vehicle length Dynamically adjust the pitch angle threshold and the threshold of the roll angle , the formula is as follows: ; ; in: and are the basic thresholds for pitch angle and roll angle respectively; is the adjustment factor; The water-falling posture judgment unit is used to judge the water-falling posture of the vehicle according to the water-falling posture judgment rule based on the pitch angle and the roll angle calculated by the posture smoothing processing unit and the threshold calculated by the adaptive threshold calculation unit. The water-falling posture judgment rule is specifically: When the pitch angle exceeds the positive threshold and the roll angle is within the normal range, it is judged as "the vehicle is facing down"; When the pitch angle is less than the negative threshold and the roll angle is within the normal range, it is judged as "the rear of the vehicle is facing down"; When the pitch angle and roll angle are both within the normal range, it is judged as "level entry into water"; When the roll angle exceeds the threshold, it is judged as "inverted into water".

[0010] Preferably, the gesture recognition module further comprises: Dynamic adjustment unit, used to adjust the pitch angle calculated by dynamic adjustment algorithm according to vehicle speed and environmental changes and roll angle The dynamic adjustment algorithm specifically includes:

[0011] in: and are the pitch angle and roll angle of the vehicle at time t after correction respectively; is the regulating factor; is the vehicle speed; is the water flow velocity; Adjustment function for path curvature; is the acceleration correction term; Path curvature adjustment function The calculation formula is:

[0012] in: is the curvature displacement along the path The rate of change of and They are the proportional coefficient of curvature adjustment and the weight coefficient of the rate of change respectively; Acceleration correction The calculation formula is:

[0013] in: is the vehicle displacement; and are the proportional gain coefficient and the differential gain coefficient respectively; is the current speed of the vehicle displacement; is the acceleration of vehicle displacement; The correction results are the corrected pitch angle and roll angle, which are directly input into the escape control module for dynamically generating escape commands.

[0014] Preferably, the posture recognition module includes a Kalman filter unit for performing Kalman filter processing on the output data of the vehicle-mounted gyroscope and the acceleration sensor, and the Kalman filter unit is implemented by the following steps: Input the angular velocity and acceleration data obtained by the vehicle-mounted gyroscope and acceleration sensor; Predicting and updating the angular velocity and acceleration data by using a Kalman filter algorithm to calculate an optimal estimate; Dynamically adjust the Kalman gain to reduce noise interference and improve the calculation accuracy of pitch and roll angles.

[0015] Preferably, the escape control module includes: An escape instruction generating unit, used to generate a corresponding escape instruction based on the falling-into-water posture, comprising: When the car is facing down, open the trunk, rear doors and high windows, unlock the seat belts and lay the seats flat; With the rear of the car facing down, open the front door window or sunroof, unlock the seat belts and lay the seats flat; When entering the water horizontally, open the front and rear doors and high windows, unlock the seat belts and lay the seats flat; When entering the water upside down, open the high side windows, unlock the seat belts and lay the seats flat; The airbag control unit is used to deflate the airbags through the quick-deflation valve if the vehicle falls into water and the airbags are deployed; Auxiliary window opening trigger unit, including: A water pressure sensing trigger device is used to detect the water pressure level through a water pressure sensor when the electronic control system fails or the water pressure makes it difficult to open the window. When the water pressure reaches the set threshold, the mechanical window opening device is automatically activated; A backup power supply unit is used to provide short-term power to the window control system to perform automatic window opening operations in the event of a main power failure; High-pressure gas-assisted window opening device, used to release high-pressure gas to push the designated window to open a crack when the electronic control system fails; The window breaking auxiliary design presets a window breaking point at the lower left corner of the window on the side where the passenger seat is located, and is equipped with an emergency window breaking button.

[0016] Preferably, the seat belt control module comprises a posture linkage unlocking unit for automatically unlocking the seat belts of all occupants after the escape control module receives the falling-into-water posture of the vehicle.

[0017] Preferably, the lighting and voice prompt module includes: The emergency step-by-step guidance unit is used to provide passengers with step-by-step voice escape guidance in different water-falling postures, including prompting the best escape direction, operating steps for unlocking the exit, and safety precautions during the escape process; The visual guidance unit is used to activate high-brightness waterproof indicator lights at the escape direction position in the vehicle, highlighting the recommended escape exits and escape routes.

[0018] Preferably, the automatic alarm module comprises: A position signal sending unit is used to immediately send a real-time position signal of the vehicle to an external rescue center when it is detected that the vehicle is in a water-falling state; The water level and posture linkage monitoring unit is used to determine whether the vehicle is in shallow water or safe state based on the information of the water level sensor and the posture recognition module. If it is detected that the vehicle is out of danger, the alarm signal is automatically cancelled; The backup power supply guarantee unit is used to ensure that the position signal sending unit can continue to send distress signals to the outside in the event of a vehicle main power failure.

[0019] The emergency escape method of the vehicle falling into water intelligent emergency escape system based on posture recognition includes the following steps: Step S1: Real-time detection of water level changes outside the vehicle, when the water level change reaches a preset threshold, it is determined that the vehicle is in a state of falling into water, and a water level signal is generated when the vehicle falls into water, thereby triggering the determination of the vehicle's falling into water posture; Step S2: using the vehicle-mounted gyroscope and acceleration sensor to obtain the angular velocity and acceleration data of the vehicle in three-axis directions, calculating the pitch angle and roll angle of the vehicle based on the angular velocity and acceleration data, and identifying the vehicle's falling posture in real time, wherein the falling posture includes the vehicle head facing down, the vehicle tail facing down, horizontal entry into the water, or inverted entry into the water; Step S3: generating an escape command according to the falling-into-water posture, unlocking the seat belts of all passengers and adjusting the seats to a flat state, and controlling the opening and closing state of the doors or windows according to the falling-into-water posture of the vehicle; Step S4: After the vehicle falls into the water, the waterproof lighting is automatically turned on, the lighting brightness is automatically adjusted according to the underwater light conditions, and voice escape guidance is provided; Step S5: automatically sending a real-time location signal to an external rescue center when it is determined that the vehicle is in a state of falling into water, and automatically canceling the alarm signal after the vehicle is out of danger; Step S6: When the main power supply fails, it automatically switches to the backup power supply to ensure the normal operation of each functional module of the system.

[0020] Compared with the prior art, the invention has the following beneficial effects: the invention uses a posture recognition module to collect three-axis angular velocity and acceleration data in real time using a vehicle-mounted gyroscope and an acceleration sensor, and combines time series smoothing technology and an adaptive threshold dynamic adjustment algorithm to achieve high-precision calculation of the vehicle's pitch angle and roll angle, so that different falling-into-water postures can be accurately judged, and the accuracy and dynamic adaptability of posture recognition are significantly improved. Through the escape control module, escape instructions are dynamically generated according to the vehicle's real-time falling-into-water posture, and the operation of doors, windows and seat belts is accurately controlled to provide the best escape channel for the occupants, avoiding failures caused by fixed escape path design. For complex environments (such as low-light environments, main power failure, etc.), the invention designs a multi-module collaboration mechanism, including a lighting and voice prompt module that can automatically adjust the brightness according to the real-time light conditions, and guide the occupants to complete the escape operation through voice; the backup control module quickly switches to the backup power supply when the main power supply fails, ensuring the continuous operation of the system, greatly improving the reliability of the system in extreme environments. The present invention uses an automatic alarm module to immediately send the real-time location information of the vehicle to an external rescue center after detecting that the vehicle has fallen into the water. It also has a water level and posture linkage monitoring function, and can automatically cancel the alarm signal after the vehicle is out of danger to avoid waste of resources. The modules such as the water level detection module, the posture recognition module, and the escape control module have a high degree of collaboration. The water level detection module triggers the posture recognition module to start, calculate the vehicle posture in real time, generate escape instructions based on the posture, and control the windows and lighting modules in a linkage manner. The system responds faster and more efficiently. The multi-module collaborative design and dynamic adjustment capabilities of the present invention ensure that the occupants can quickly identify the escape route and safely leave the vehicle, while reducing the dangers caused by the influx of water, significantly improving the success rate and safety of the occupants' escape. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them: Figure 1 It is a schematic diagram of the overall structure of the system of the present invention; Figure 2 Schematic diagram of the structure of the gesture recognition module in the embodiment of the present invention; Figure 3 Schematic diagram of the process of the escape control module in an embodiment of the present invention; Figure 4 Schematic diagram of the structure of the auxiliary window opening triggering unit in an embodiment of the present invention; Figure 5 It is a schematic diagram of the emergency escape method flow of the present invention. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution of the embodiment of the present invention will be clearly and completely described below in conjunction with the drawings of the embodiment of the present invention. Obviously, the described embodiment is a part of the embodiment of the present invention, not all of the embodiments. Based on the described embodiment of the present invention, all other embodiments obtained by ordinary technicians in this field belong to the scope of protection of the present invention.

[0023] Example 1

[0024] like Figure 1 As shown in FIG. 1 , an embodiment of the present invention is provided, which provides an intelligent emergency escape system for a car falling into water based on gesture recognition, including: The water level detection module is used to detect in real time whether the vehicle is in a state of falling into water; Specifically, the water level detection module includes: A water level sensing unit is used to detect the water level change outside the vehicle in real time, determine that the vehicle is in a water-falling state when the water level change reaches a preset threshold, and generate a water level signal when the vehicle falls into water; The water level signal transmission unit is used to send the water level signal to the escape control module.

[0025] In ordinary urban vehicles, the default water level threshold is set at 15 cm. When the water level reaches this height and remains for more than 2 seconds, the water level sensing unit generates a water level signal. If the water level exceeds 10 cm within 1 second (rapid rise), the signal is triggered immediately.

[0026] In off-road vehicles or high-chassis vehicles, the water level threshold is set at 25 cm, and is dynamically adjusted based on the water flow rate and vehicle acceleration information to avoid misjudgment due to short-term water accumulation.

[0027] In this embodiment, if Figure 2 As shown, the posture recognition module is used to obtain the angular velocity and acceleration data of the vehicle in real time through the on-board gyroscope and acceleration sensor, calculate the pitch angle and roll angle of the vehicle based on the angular velocity and acceleration data, and recognize the vehicle's falling posture in real time; The gesture recognition module includes: The on-board gyroscope and acceleration sensor are used to obtain the vehicle's angular velocity and acceleration data in three axes in real time; Attitude smoothing unit, used to calculate the vehicle's pitch angle through time series smoothing technology and roll angle , the formula is as follows: ; ; in: is the smoothing coefficient, and its value range is [0, 1]; , , The acceleration sensor is , , Acceleration data collected on the axis; is the pitch angle of the vehicle at time t; is the pitch angle of the vehicle at time t-1; is the rolling angle of the vehicle at time t; is the rolling angle of the vehicle at time t-1; Adaptive threshold calculation unit, used to adjust the vehicle's center of gravity height and vehicle length Dynamically adjust the pitch angle threshold and the threshold of the roll angle , the formula is as follows: ; ; in: and are the basic thresholds for pitch angle and roll angle respectively; is the adjustment factor; The water-falling posture judgment unit is used to judge the water-falling posture of the vehicle according to the water-falling posture judgment rule based on the pitch angle and the roll angle calculated by the posture smoothing processing unit and the threshold calculated by the adaptive threshold calculation unit. The water-falling posture judgment rule is specifically: When the pitch angle exceeds the positive threshold and the roll angle is within the normal range, it is judged as "the vehicle is facing down"; When the pitch angle is less than the negative threshold and the roll angle is within the normal range, it is judged as "the rear of the vehicle is facing down"; When the pitch angle and roll angle are both within the normal range, it is judged as "level entry into water"; When the roll angle exceeds the threshold, it is judged as "inverted into water".

[0028] As an optional implementation of this embodiment, the gesture recognition module further includes: Dynamic adjustment unit, used to adjust the pitch angle calculated by dynamic adjustment algorithm according to vehicle speed and environmental changes and roll angle The dynamic adjustment algorithm specifically includes:

[0029] in: and are the pitch angle and roll angle of the vehicle at time t after correction respectively; is the regulating factor; is the vehicle speed; is the water flow velocity; Adjustment function for path curvature; is the acceleration correction term; Path curvature adjustment function The calculation formula is:

[0030] in: is the curvature displacement along the path The rate of change of and They are the proportional coefficient of curvature adjustment and the weight coefficient of the rate of change respectively; Acceleration correction The calculation formula is:

[0031] in: is the vehicle displacement; and are the proportional gain coefficient and the differential gain coefficient respectively; is the current speed of the vehicle displacement; is the acceleration of vehicle displacement; The correction results are the corrected pitch angle and roll angle, which are directly input into the escape control module for dynamically generating escape commands.

[0032] In the above optional implementation, the posture recognition module includes a Kalman filter unit, which is used to perform Kalman filter processing on the output data of the vehicle-mounted gyroscope and the acceleration sensor, and the Kalman filter unit is implemented by the following steps: Input the angular velocity and acceleration data obtained by the vehicle-mounted gyroscope and acceleration sensor; Predicting and updating the angular velocity and acceleration data by using a Kalman filter algorithm to calculate an optimal estimate; Dynamically adjust the Kalman gain to reduce noise interference and improve the calculation accuracy of pitch and roll angles.

[0033] As an optional implementation of this embodiment, Figure 3 As shown, the escape control module is used to receive the vehicle's falling-into-water state and posture, and issue an escape command based on the falling-into-water posture; Specifically, the escape control module includes: An escape instruction generating unit, used to generate a corresponding escape instruction based on the falling-into-water posture, comprising: When the car is facing down, open the trunk, rear doors and high windows, unlock the seat belts and lay the seats flat; With the rear of the car facing down, open the front door window or sunroof, unlock the seat belts and lay the seats flat; When entering the water horizontally, open the front and rear doors and high windows, unlock the seat belts and lay the seats flat; When entering the water upside down, open the high side windows, unlock the seat belts and lay the seats flat; The airbag control unit is used to deflate the airbags through the quick-deflation valve if the vehicle falls into water and the airbags are deployed; Auxiliary window opening trigger unit, including: A water pressure sensing trigger device is used to detect the water pressure level through a water pressure sensor when the electronic control system fails or the water pressure makes it difficult to open the window. When the water pressure reaches the set threshold, the mechanical window opening device is automatically activated; A backup power supply unit is used to provide short-term power to the window control system to perform automatic window opening operations in the event of a main power failure; High-pressure gas-assisted window opening device, used to release high-pressure gas to push the designated window to open a crack when the electronic control system fails; The window breaking auxiliary design presets a window breaking point at the lower left corner of the window on the side where the passenger seat is located, and is equipped with an emergency window breaking button. After the escape control module determines that the vehicle is in an inverted state through the posture recognition module, it instructs the window control module to preferentially open the high-position window on the side close to the water surface. This design makes full use of the changes in the gravity direction and water flow pressure when the vehicle is inverted to avoid the problem of low-position exit failure caused by excessive water pressure.

[0034] The airbag control unit is used to deflate the airbags through the quick-deflation valve if the vehicle falls into water and the airbags are deployed; like Figure 4 As shown, the auxiliary window opening trigger unit includes: A water pressure sensing trigger device is used to detect the water pressure level through a water pressure sensor when the electronic control system fails or the water pressure is too high, making it difficult to open the window. When the water pressure reaches the set threshold, the mechanical window opening device is automatically activated; A backup power supply unit is used to provide short-term power to the window control system to perform automatic window opening operations in the event of a main power failure; High-pressure gas-assisted window opening device, used to release high-pressure gas to push the designated window to open a crack when the electronic control system fails; Window breaking assistance design, with specific window breaking areas near the occupants and an emergency window breaking button; The window breaking assist design is triggered by a high-pressure gas booster. The device is equipped with a water pressure sensing trigger, which is activated only when the vehicle water pressure reaches the set threshold (for example, 0.3MPa) and the system detects that the window cannot be opened normally. To prevent accidental touches, multiple sensors are required to confirm that the vehicle is in a water-falling state before the window breaking device is triggered, including water level detection, posture judgment, and window opening failure signals. At the same time, the passenger emergency window breaking button is designed near the seat, and a mechanical protection cover is added to prevent misoperation.

[0035] The escape control module works closely with other system modules (such as the posture recognition module, seat belt control module, and door / window control module) to ensure the consistency of the actions of each unit through distributed control logic. For example, after generating an escape command, the system will first unlock the seat belt to free up space for the occupants to move, and at the same time activate the door / window opening and closing control and seat flattening operation to avoid affecting the escape efficiency due to incorrect operation sequence. In addition, when the electronic control system fails completely, the auxiliary window opening trigger unit continues to complete the window opening task through a backup power supply or mechanical device to ensure the emergency availability of the entire system.

[0036] As an optional implementation of this embodiment, the seat belt control module is used to automatically unlock the seat belt after receiving the escape command from the escape control module; In this optional implementation, the seat belt control module includes a posture linkage unlocking unit, which is used to automatically unlock the seat belts of all occupants after the escape control module receives the falling-into-water posture of the vehicle.

[0037] In this optional implementation, the door / window control module is used to control the opening and closing states of the doors and windows in different water-falling postures based on the instructions of the escape control module, so as to provide an escape exit; In this optional implementation, the seat control module is used to lay the seat in the vehicle flat after receiving the escape command from the escape control module; In this optional implementation, the lighting and voice prompt module is used to automatically turn on the waterproof lighting after the vehicle falls into the water, automatically adjust the lighting brightness according to the underwater light conditions, and provide voice escape guidance; As an optional implementation of this embodiment, the lighting and voice prompt module includes: The emergency step-by-step guidance unit is used to provide passengers with step-by-step voice escape guidance in different water-falling postures, including prompts for the best escape direction, operating steps to unlock the exit, and safety precautions during the escape process, helping passengers to complete the escape operation in an emergency in an orderly manner; The visual guidance unit is used to activate the high-brightness waterproof indicator light at the escape direction position in the vehicle, highlighting the recommended escape exits and escape routes, so that passengers can quickly identify the exit location in low-light conditions.

[0038] Furthermore, an automatic alarm module is used to automatically send a vehicle position signal to an external rescue center when it is determined that the vehicle is in a state of falling into water, and automatically cancel the alarm signal when it is detected that the vehicle is in a state of shallow water or not falling into water; In this optional implementation, the automatic alarm module includes: A position signal sending unit is used to immediately send a real-time position signal of the vehicle to an external rescue center when it is detected that the vehicle is in a water-falling state; The water level and posture linkage monitoring unit is used to determine whether the vehicle is in shallow water or safe based on the information from the water level sensor and posture recognition module. If it is detected that the vehicle is out of danger, the alarm signal is automatically cancelled to reduce unnecessary waste of rescue resources; The alarm cancellation unit determines whether the vehicle is out of danger by combining information from the water level detection module and the posture recognition module. For example, when the water level sensor detects that the water level has dropped below 0.1 meters and the posture recognition module does not detect a tilt or flip state, the module cancels the alarm signal. To prevent false cancellations caused by water level fluctuations, the system has a built-in 3-second delay logic to ensure that the alarm is canceled only after the conditions are stable.

[0039] The backup power supply protection unit is used to switch to the backup power supply when the main power supply of the vehicle fails, to ensure the normal operation of the escape control module, seat belt control module, door / window control module, lighting and alarm functions.

[0040] The backup power supply unit uses a lithium polymer battery pack with a capacity of no less than 3000mAh to ensure that the system can continue to supply power for at least 15 minutes after the main power fails. The module has a built-in power status monitoring unit that dynamically allocates power supply priorities by detecting battery power, temperature, and charge and discharge status to ensure the continuous operation of the escape control module, seat belt control module, and alarm module.

[0041] Example 2

[0042] like Figure 5 As shown in FIG. 1 , an embodiment of the present invention is provided, which provides an emergency escape method of an intelligent emergency escape system for a car falling into water based on gesture recognition, comprising the following steps: Step S1: Real-time detection of water level changes outside the vehicle, when the water level change reaches a preset threshold, it is determined that the vehicle is in a state of falling into water, and a water level signal is generated when the vehicle falls into water, thereby triggering the determination of the vehicle's falling into water posture; Step S2: using the vehicle-mounted gyroscope and acceleration sensor to obtain the angular velocity and acceleration data of the vehicle in three-axis directions, calculating the pitch angle and roll angle of the vehicle based on the angular velocity and acceleration data, and identifying the vehicle's falling posture in real time, wherein the falling posture includes the vehicle head facing down, the vehicle tail facing down, horizontal entry into the water, or inverted entry into the water; Step S3: generating an escape command according to the falling-into-water posture, unlocking the seat belts of all passengers and adjusting the seats to a flat state, and controlling the opening and closing state of the doors or windows according to the falling-into-water posture of the vehicle; Step S4: After the vehicle falls into the water, the waterproof lighting is automatically turned on, the lighting brightness is automatically adjusted according to the underwater light conditions, and voice escape guidance is provided; Step S5: automatically sending a real-time location signal to an external rescue center when it is determined that the vehicle is in a state of falling into water, and automatically canceling the alarm signal after the vehicle is out of danger; Step S6: When the main power supply fails, it automatically switches to the backup power supply to ensure the normal operation of each functional module of the system.

[0043] Example 3

[0044] This embodiment demonstrates how the system copes with complex vehicle-falling-into-water scenarios, including factors such as posture changes, low-light environments, and main power failure, and provides intelligent and efficient escape support through the collaborative work of emergency response functions.

[0045] When the vehicle first enters the water, the system detects that the vehicle is in a horizontal position through the posture recognition module. The escape control module then generates a preliminary escape command, automatically unlocks the front and rear doors and windows, and provides multiple escape route options. As the vehicle enters the water, the posture gradually changes to the head downward, and the posture recognition module updates the vehicle's posture information in real time. At this time, the system dynamically adjusts the escape command according to the changing posture of falling into the water, closes the front windows and front doors, and preferentially opens the trunk or rear windows to slow down the flow of water into the car and provide a safe rear escape channel for the occupants.

[0046] As the vehicle gradually sinks, the light inside the car significantly decreases. The system automatically activates the waterproof lighting and adjusts the light brightness according to the real-time lighting conditions to ensure that the occupants can clearly identify the escape route in low-light environments. At the same time, the voice prompt module provides personalized escape guidance based on the changes in the vehicle's posture. For example, when the vehicle's posture turns head downward, the system will use voice prompts to guide the occupants to move to the back row and find the trunk as an escape route, ensuring that the occupants will not lose their way due to posture changes in difficult situations.

[0047] In addition, after the vehicle falls into the water, the automatic alarm module immediately sends the vehicle location information to the external rescue center to ensure that the accident location is known in time. In the event of a main power failure, the backup control module will quickly switch to the backup power supply to ensure that the system's alarm and escape instructions continue to be effective and provide reliable power support. Through real-time updated location signals, the rescue center can quickly locate the vehicle and provide timely rescue.

[0048] Example 4

[0049] This embodiment demonstrates how multiple modules in the system work together to achieve intelligent and efficient response in the process of escaping from a vehicle falling into water. The specific collaborative workflow is as follows:

[0050] When the water level detection module detects that the vehicle has entered the water, the system immediately starts the posture recognition module, and uses the on-board gyroscope to monitor the vehicle's pitch angle and roll angle to determine the vehicle's current posture (such as the front of the vehicle facing down, the rear of the vehicle facing down, etc.). This information provides the necessary basis for subsequent escape decisions.

[0051] The escape control module determines the vehicle's posture when it falls into the water based on the real-time data provided by the posture recognition module and selects the most appropriate escape route. For example, when the vehicle is facing down, the escape control module will give priority to opening the trunk and rear window to reduce the flow of water into the vehicle; and when the vehicle enters the water horizontally, the system will give priority to unlocking the left and right windows and the front and rear doors to provide multiple escape routes for the occupants.

[0052] When the main power supply fails, the backup control module will automatically switch to the backup power supply to ensure that the system's alarm function and escape instructions can continue to operate in an emergency, avoiding system failure due to power interruption.

[0053] In low-light or complex environments, the system automatically enables waterproof lighting and guides occupants to escape along the recommended exits through a voice prompt module, improving the operability of the escape process and the safety of the occupants.

[0054] Through the collaborative work of multiple modules, the system's efficient response capability in various complex environments has been significantly improved, from water fall detection, posture judgment to determination of escape routes, ensuring the safe escape of occupants after the vehicle falls into water.

[0055] Example 5

[0056] This embodiment demonstrates the system's emergency escape capability in a complex water flow environment, especially the ability to recognize posture changes and dynamically adjust escape plans in a rapid flow environment.

[0057] Assume that a vehicle accidentally falls into water in a rapids environment. At this time, the speed and direction of the water flow change frequently, and the vehicle's posture is also constantly changing. The system's workflow is as follows:

[0058] When the water level detection module detects that the vehicle has fallen into the water, the posture recognition module is immediately activated to obtain the pitch angle and roll angle of the vehicle in real time, and judge the vehicle's posture according to the dynamically adjusted threshold. For example, the vehicle may gradually change from a horizontal state to a head-down or tail-down state in a rapid.

[0059] According to the real-time posture of the vehicle, the escape control module dynamically generates corresponding escape instructions. For example, when the vehicle posture changes to head-down, the system will close the front doors and front windows, and open the trunk and rear windows first to provide a safe escape exit for the rear passengers.

[0060] Rapids are usually accompanied by low light or turbid water. The system automatically activates waterproof lighting to ensure that passengers can identify the recommended escape exits in low light environments. At the same time, the voice prompt module guides passengers to move towards the safe exit in real time to ensure that passengers do not lose their way due to water flow or posture changes.

[0061] Through the collaborative work of the posture recognition module and the escape control module, the system can quickly adjust the escape plan under complex water flow conditions, and provide precise guidance to the occupants through the lighting and voice prompt modules, further improving escape efficiency.

[0062] In summary, the present invention has achieved a number of technical breakthroughs in emergency escape of vehicles falling into water through innovative design. First, the pitch angle and roll angle of the vehicle can be calculated in real time and with high precision through the on-board gyroscope and acceleration sensor combined with time series smoothing technology and adaptive threshold dynamic adjustment algorithm, so as to accurately judge different falling postures and provide a reliable basis for intelligent escape control. Secondly, according to the real-time vehicle falling posture, the escape control module can dynamically generate accurate escape instructions, flexibly control the operation of doors, windows and seat belts, ensure that the occupants obtain the best escape path and exit, and avoid the limitations of traditional fixed path design. In addition, the system can adapt to complex situations such as low light environment and main power failure, provide guidance through lighting and voice prompt modules, and ensure the continuous operation of the system in combination with the backup control module, thereby improving the reliability in complex environments. The automatic alarm module has an intelligent alarm function, which can send real-time location information to the external rescue center when the vehicle falls into water, and can automatically cancel the alarm after the danger is lifted, avoiding resource waste. Through high collaboration between the modules, the system can complete the full process operation from detection to escape in a short time. The modular design enables the system to be easily integrated into different types of vehicles, with wide applicability, low cost and good scalability. Through accurate posture recognition, intelligent escape control, multi-scenario adaptability and efficient collaborative modular design, the present invention solves the problems of inaccurate posture judgment, insufficient response and fixed operation in the prior art, greatly improves the intelligence level of the system and the emergency escape efficiency, and has significant technical advancement and application value.

[0063] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples, unless they are contradictory.

[0064] Any process or method description in the flow chart or otherwise described herein can be understood to represent a module, fragment or portion of a code including one or more executable instructions for implementing the steps of a specific logical function or process. And the scope of the preferred embodiment of the present application includes other implementations, in which the functions may not be performed in the order shown or discussed, including in a substantially simultaneous manner or in a reverse order according to the functions involved.

[0065] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. The intelligent emergency escape system for vehicles falling into water based on posture recognition is characterized by: include: The water level detection module is used to detect in real time whether the vehicle is in a state of falling into water; A posture recognition module is used to obtain the angular velocity and acceleration data of the vehicle in real time through the on-board gyroscope and acceleration sensor, calculate the pitch angle and roll angle of the vehicle based on the angular velocity and acceleration data, and recognize the vehicle's falling posture in real time; An escape control module, used to receive the vehicle's falling-into-water state and posture, and issue an escape command based on the falling-into-water posture; A seat belt control module, configured to automatically unlock the seat belt after receiving an escape command from the escape control module; The door / window control module is used to control the opening and closing states of the doors and windows in different water-falling postures based on the escape command of the escape control module, and provide an escape exit; A seat control module, used to lay down the seats in the vehicle after receiving the escape command from the escape control module; Lighting and voice prompt module, used to automatically turn on the waterproof lighting after the vehicle falls into the water, automatically adjust the lighting brightness according to the underwater light conditions, and provide voice escape guidance; Automatic alarm module, used to automatically send the vehicle position signal to the external rescue center when it is determined that the vehicle is in a state of falling into water, and automatically cancel the alarm signal when it is detected that the vehicle is in shallow water or not falling into water; The backup control module is used to automatically switch to the backup power supply when the main power supply of the vehicle fails, ensuring the normal operation of the escape control module, seat belt control module, door / window control module, lighting and alarm functions.

2. The intelligent emergency escape system for vehicles falling into water based on posture recognition according to claim 1 is characterized in that: The water level detection module comprises: A water level sensing unit is used to detect the water level change outside the vehicle in real time, determine that the vehicle is in a water-falling state when the water level change reaches a preset threshold, and generate a water level signal when the vehicle falls into water; The water level signal transmission unit is used to send the water level signal to the escape control module.

3. The intelligent emergency escape system for vehicles falling into water based on posture recognition according to claim 1 is characterized in that: The gesture recognition module comprises: The on-board gyroscope and acceleration sensor are used to obtain the vehicle's angular velocity and acceleration data in three axes in real time; Attitude smoothing unit, used to calculate the vehicle's pitch angle through time series smoothing technology and roll angle , the formula is as follows: ； ； in: is the smoothing coefficient, and its value range is [0, 1]; , , The acceleration sensor is , , Acceleration data collected on the axis; is the pitch angle of the vehicle at time t; is the pitch angle of the vehicle at time t-1; is the rolling angle of the vehicle at time t; is the rolling angle of the vehicle at time t-1; Adaptive threshold calculation unit, used to adjust the vehicle's center of gravity height and vehicle length Dynamically adjust the pitch angle threshold and the threshold of the roll angle , the formula is as follows: ； ； in: and are the basic thresholds for pitch angle and roll angle respectively; is the adjustment factor; The water-falling posture judgment unit is used to judge the water-falling posture of the vehicle according to the water-falling posture judgment rule based on the pitch angle and the roll angle calculated by the posture smoothing processing unit and the threshold calculated by the adaptive threshold calculation unit. The water-falling posture judgment rule is specifically: When the pitch angle exceeds the positive threshold and the roll angle is within the normal range, it is judged as "the vehicle is facing down"; When the pitch angle is less than the negative threshold and the roll angle is within the normal range, it is judged as "the rear of the vehicle is facing down"; When the pitch angle and roll angle are both within the normal range, it is judged as "level entry into water"; When the roll angle exceeds the threshold, it is judged as "inverted into water".

4. The intelligent emergency escape system for vehicles falling into water based on posture recognition according to claim 3 is characterized in that: The gesture recognition module further comprises: Dynamic adjustment unit, used to adjust the pitch angle calculated by dynamic adjustment algorithm according to vehicle speed and environmental changes and roll angle The dynamic adjustment algorithm specifically includes: ; in: and are the pitch angle and roll angle of the vehicle at time t after correction respectively; is the regulating factor; is the vehicle speed; is the water flow velocity; Adjustment function for path curvature; is the acceleration correction term; Path curvature adjustment function The calculation formula is: ; in: is the curvature displacement along the path The rate of change of and They are the proportional coefficient of curvature adjustment and the weight coefficient of the rate of change respectively; Acceleration correction The calculation formula is: ; in: is the vehicle displacement; and are the proportional gain coefficient and the differential gain coefficient respectively; is the current speed of the vehicle displacement; is the acceleration of vehicle displacement; The corrected pitch angle and roll angle are input into the escape control module for dynamically generating an escape instruction.

5. The intelligent emergency escape system for vehicles falling into water based on posture recognition according to claim 3 is characterized in that: The posture recognition module includes a Kalman filter unit, which is used to perform Kalman filter processing on the output data of the vehicle-mounted gyroscope and the acceleration sensor. The Kalman filter unit is implemented by the following steps: Input the angular velocity and acceleration data obtained by the vehicle-mounted gyroscope and acceleration sensor; Predicting and updating the angular velocity and acceleration data by using a Kalman filter algorithm to calculate an optimal estimate; Dynamically adjust the Kalman gain to reduce noise interference and improve the calculation accuracy of pitch and roll angles.

6. The intelligent emergency escape system for vehicles falling into water based on posture recognition according to claim 1 is characterized in that: The escape control module comprises: An escape instruction generating unit, used to generate a corresponding escape instruction based on the falling-into-water posture, comprising: When the car is facing down, open the trunk, rear doors and high windows, unlock the seat belts and lay the seats flat; With the rear of the car facing down, open the front door window or sunroof, unlock the seat belts and lay the seats flat; When entering the water horizontally, open the front and rear doors and high windows, unlock the seat belts and lay the seats flat; When entering the water upside down, open the high side windows, unlock the seat belts and lay the seats flat; The airbag control unit is used to deflate the airbags through the quick-deflation valve if the vehicle falls into water and the airbags are deployed; Auxiliary window opening trigger unit, including: A water pressure sensing trigger device is used to detect the water pressure level through a water pressure sensor when the electronic control system fails or the water pressure makes it difficult to open the window. When the water pressure reaches the set threshold, the mechanical window opening device is automatically activated; A backup power supply unit is used to provide short-term power to the window control system to perform automatic window opening operations in the event of a main power failure; High-pressure gas-assisted window opening device, used to release high-pressure gas to push the designated window to open a crack when the electronic control system fails; The window breaking auxiliary design presets a window breaking point at the lower left corner of the window on the side where the passenger seat is located, and is equipped with an emergency window breaking button.

7. The intelligent emergency escape system for vehicles falling into water based on posture recognition according to claim 1 is characterized in that: The seat belt control module comprises a posture linkage unlocking unit, which is used for automatically unlocking the seat belts of all passengers after the escape control module receives the falling-in-water posture of the vehicle.

8. The intelligent emergency escape system for vehicles falling into water based on posture recognition according to claim 1 is characterized in that: The lighting and voice prompt module includes: The emergency step-by-step guidance unit is used to provide passengers with step-by-step voice escape guidance in different water-falling postures, including prompting the best escape direction, operating steps for unlocking the exit, and safety precautions during the escape process; The visual guidance unit is used to activate high-brightness waterproof indicator lights at the escape direction position in the vehicle, highlighting the recommended escape exits and escape routes.

9. The intelligent emergency escape system for automobile falling into water based on posture recognition according to claim 1 is characterized in that: The automatic alarm module comprises: A position signal sending unit is used to immediately send a real-time position signal of the vehicle to an external rescue center when it is detected that the vehicle is in a water-falling state; The water level and posture linkage monitoring unit is used to determine whether the vehicle is in shallow water or safe state based on the information of the water level sensor and the posture recognition module. If it is detected that the vehicle is out of danger, the alarm signal is automatically cancelled; The backup power supply guarantee unit is used to ensure that the position signal sending unit can continue to send distress signals to the outside in the event of a vehicle main power failure.

10. The emergency escape method of the vehicle falling into water intelligent emergency escape system based on gesture recognition according to any one of claims 1 to 9 is characterized in that: The following steps are involved: Step S1: Real-time detection of water level changes outside the vehicle, when the water level change reaches a preset threshold, it is determined that the vehicle is in a state of falling into water, and a water level signal is generated when the vehicle falls into water, thereby triggering the determination of the vehicle's falling into water posture; Step S2: using the vehicle-mounted gyroscope and acceleration sensor to obtain the angular velocity and acceleration data of the vehicle in three-axis directions, calculating the pitch angle and roll angle of the vehicle based on the angular velocity and acceleration data, and identifying the vehicle's falling posture in real time, wherein the falling posture includes the vehicle head facing down, the vehicle tail facing down, horizontal entry into the water, or inverted entry into the water; Step S3: generating an escape command according to the falling-into-water posture, unlocking the seat belts of all passengers and adjusting the seats to a flat state, and controlling the opening and closing state of the doors or windows according to the falling-into-water posture of the vehicle; Step S4: After the vehicle falls into the water, the waterproof lighting is automatically turned on, the lighting brightness is automatically adjusted according to the underwater light conditions, and voice escape guidance is provided; Step S5: automatically sending a real-time location signal to an external rescue center when it is determined that the vehicle is in a state of falling into water, and automatically canceling the alarm signal after the vehicle is out of danger; Step S6: When the main power supply fails, it automatically switches to the backup power supply to ensure the normal operation of each functional module of the system.

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