Vehicle wading early warning method, device and equipment and storage medium

Abstract

The invention discloses a vehicle wading early warning method, device and equipment and a storage medium, and relates to the technical field of vehicle detection, and the method comprises the steps: obtaining the current vehicle speed, radar height, spray measurement data and detection angle data of a vehicle; determining a wading depth value according to the current vehicle speed, the radar height, the spray measurement data and the detection angle data; wading early warning is performed according to the current working condition of the vehicle and the fording depth value, the depth of accumulated water with water spots can be rapidly detected or predicted through the obtained parameter information, the accuracy of fording depth detection is improved, a driver is reminded of the possibility of the vehicle fording risk, damage of electric components or water entering a cabin is avoided, and the vehicle driving safety is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle detection technology, and in particular to a vehicle wading warning method, device, equipment and storage medium. Background Art

[0002] After heavy rain, the road is flooded. If the driver is not aware of the depth of the water and forces his way through, the vehicle may be at risk of water entering the engine, motor or cabin due to deep wading.

[0003] Existing vehicle water detection uses sensors to measure the depth of water on the road and issue an early warning. However, there are cases where the detected water depth is not accurate enough, resulting in the vehicle being unable to avoid or stop in time, causing damage to the vehicle's electrical components or water entering the cabin. Summary of the Invention

[0004] The main purpose of this application is to provide a vehicle wading warning method, device, equipment and storage medium, aiming to solve the technical problem of low accuracy in vehicle wading depth detection.

[0005] To achieve the above objectives, the present application proposes a vehicle wading warning method, which includes:

[0006] Obtain the vehicle's current speed, radar height, water splash measurement data, and detection angle data;

[0007] Determine a wading depth value according to the current vehicle speed, the radar height, the water splash measurement data, and the detection angle data;

[0008] A water wading warning is issued based on the vehicle's current operating condition and the wading depth value.

[0009] In one embodiment, the step of determining the wading depth value according to the current vehicle speed, the radar height, the water splash measurement data, and the detection angle data includes:

[0010] When the current vehicle speed is not a preset vehicle speed value, calculating a water splash morphology value according to the radar height, the water splash measurement data, and the detection angle data;

[0011] A wading depth value is obtained according to the water splash shape value and the current vehicle speed.

[0012] In one embodiment, when the current vehicle speed is not a preset vehicle speed value, the step of calculating the water splash morphology value according to the radar height, the water splash measurement data, and the detection angle data includes:

[0013] Obtaining a first splash metric value and a second splash metric value according to the splash metric data;

[0014] obtaining a first detection angle between the vehicle and a first preset position and a second detection angle between the vehicle and a second preset position according to the detection angle data, wherein the value of the first detection angle is greater than the value of the second detection angle;

[0015] Calculate a first height value according to the radar height, the first water splash measurement value, and the first detection angle;

[0016] Calculate a second height value according to the radar height, the second splash measurement value, and the second detection angle;

[0017] The water splash shape value is calculated using the first height value and the second height value.

[0018] In one embodiment, the step of performing a wading warning based on the current operating condition of the vehicle and the wading depth value includes:

[0019] When the vehicle is currently in a slope condition, obtaining a first wading depth value corresponding to the first radar and a second wading depth value corresponding to the second radar according to the wading depth value, and the position of the first radar is ahead of the position of the second radar;

[0020] obtaining a radar distance between the first radar and the second radar, and a distance between the first radar and a preset position of a front end of the vehicle;

[0021] calculating a target wading depth according to the first wading depth value, the second wading depth value, the radar distance, and the distance;

[0022] A wading warning is issued according to the target wading depth.

[0023] In one embodiment, the step of performing a wading warning based on the current operating condition of the vehicle and the wading depth value includes:

[0024] When the vehicle is currently in a slope condition, a preset travel time threshold is calculated using a preset depth threshold, the first wading depth value, the second wading depth value, the radar distance, the distance, and the current vehicle speed;

[0025] A water wading warning is performed according to the preset driving time threshold.

[0026] In one embodiment, the step of performing a wading warning based on the current operating condition of the vehicle and the wading depth value includes:

[0027] When the vehicle is currently operating on a flat road, the wading depth value is compared with a preset depth threshold;

[0028] When the wading depth value is greater than or equal to the preset depth threshold, determining that the vehicle has a wading risk;

[0029] Generate an alarm message or control the vehicle to stop to provide a water wading warning.

[0030] In one embodiment, the step of performing a wading warning based on the current operating condition of the vehicle and the wading depth value includes:

[0031] When the current working condition of the vehicle is a garage working condition, a plurality of wading depth values ​​corresponding to the plurality of radars are obtained according to the wading depth value;

[0032] When at least two of the plurality of wading depth values ​​are greater than or equal to a preset wading depth threshold, determining that the vehicle has a wading risk;

[0033] Generate an alarm message or control the vehicle to stop to provide a water wading warning.

[0034] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle wading warning device, which includes:

[0035] The acquisition module is used to obtain the vehicle's current speed, radar height, water splash measurement data, and detection angle data;

[0036] a determination module, configured to determine a wading depth value based on the current vehicle speed, the radar height, the water splash measurement data, and the detection angle data;

[0037] The warning module is used to provide a water wading warning based on the current working condition of the vehicle and the water wading depth value.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle water wading warning device, which includes: a memory, a processor, and a computer program stored on the memory and runnable on the processor, and the computer program is configured to implement the steps of the vehicle water wading warning method as described above.

[0039] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium. A computer program is stored on the storage medium, and when the computer program is executed by the processor, the steps of the vehicle wading warning method as described above are implemented.

[0040] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the vehicle wading warning method as described above.

[0041] One or more technical solutions proposed in this application obtain the vehicle's current speed, radar height, water splash measurement data and detection angle data; determine the wading depth value based on the current vehicle speed, the radar height, the water splash measurement data and the detection angle data; and perform a wading warning based on the vehicle's current working condition and the wading depth value. The depth of accumulated water with water splashes can be quickly detected or predicted through the acquired parameter information, thereby improving the accuracy of wading depth detection, and reminding the driver of the possibility of vehicle wading risks, thereby avoiding damage to electrical components or water ingress into the cabin, and improving vehicle driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0044] Figure 1 A flow chart illustrating a first embodiment of the vehicle wading warning method of the present application;

[0045] Figure 2 This is a schematic diagram of the hardware layout architecture of the first embodiment of the vehicle wading warning method of the present application;

[0046] Figure 3 This is a schematic diagram of the detection parameter settings in an embodiment of the vehicle wading warning method of the present application;

[0047] Figure 4 This is a schematic diagram showing the relationship between water depth, vehicle speed and water splash height in an embodiment of the vehicle wading warning method of the present application;

[0048] Figure 5 A flow chart illustrating a second embodiment of the vehicle wading warning method of the present application;

[0049] Figure 6 A flow chart illustrating a third embodiment of the vehicle wading warning method of the present application;

[0050] Figure 7 This is a schematic diagram of various parameters when a vehicle is wading downhill in an embodiment of the vehicle wading warning method of the present application;

[0051] Figure 8 This is a flow chart of a vehicle wading warning method according to an embodiment of the present invention, in which the vehicle is in a slope condition;

[0052] Figure 9 A flowchart of the fourth embodiment of the vehicle wading warning method of the present application is provided;

[0053] Figure 10 This is a schematic diagram of a water wading warning process when the vehicle is currently on a flat road in an embodiment of the vehicle wading warning method of the present application;

[0054] Figure 11 This is a schematic diagram of the module structure of the vehicle wading warning device according to an embodiment of the present application;

[0055] Figure 12 This is a schematic diagram of the device structure of the hardware operating environment involved in the vehicle wading warning method in the embodiment of the present application.

[0056] The purpose, features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0057] It should be understood that the specific embodiments described herein are merely used to explain the technical solutions of the present application and are not intended to limit the present application.

[0058] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0059] The main solution of the embodiment of the present application is: obtaining the vehicle's current speed, radar height, water splash measurement data and detection angle data; determining the wading depth value based on the current vehicle speed, the radar height, the water splash measurement data and the detection angle data; and performing a wading warning based on the vehicle's current working conditions and the wading depth value.

[0060] The existing technology uses sensors to measure the depth of water on the road and provide early warnings. However, the vehicle's detection accuracy of the water depth is poor under different working conditions, such as when the road surface is uneven, resulting in inaccurate measurements.

[0061] This application provides a solution that uses a millimeter-wave radar installed on the electric side door to detect or predict the depth of water with splashes, and alert the driver to the possibility of wading risks, thereby avoiding damage to electrical components or water ingress into the cabin.

[0062] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, mobile phone, etc., or an electronic device capable of implementing the above functions, such as the in-vehicle infotainment system in the vehicle water wading warning device. The following uses the in-vehicle infotainment system in the vehicle water wading warning device as an example to illustrate this embodiment and the following embodiments.

[0063] Based on this, the embodiment of the present application provides a vehicle wading warning method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle wading warning method of the present application.

[0064] In this embodiment, the vehicle wading warning method includes steps S10 to S30:

[0065] Step S10: Obtain the vehicle's current speed, radar height, water splash measurement data, and detection angle data.

[0066] It should be noted that the current speed of the vehicle can be detected by a speed sensor. This embodiment divides the speed into two types, one is the case where the current speed is 0, and the other is the case where the current speed is not 0. When the speed is different, different degrees of splashes will be raised when passing through flooded road surface.

[0067] The radar height refers to the height of the millimeter-wave radar installed on the vehicle. The millimeter-wave radars are respectively installed on the front door and the rear door of the vehicle. The doors on both sides are equipped with millimeter-wave radars. Therefore, there are at least four millimeter-wave radars on the vehicle.

[0068] like Figure 2 As shown, Figure 2 This is a schematic diagram of the hardware layout architecture of this embodiment, including front door radars (left front door radar and right front door radar), rear door radars (left rear door radar and right rear door radar) and IVI (In-Vehicle Infotainment System). The front door radar and rear door radar can receive signals sent by IVI to calculate the front door water splash height and water splash shape value and the rear door water splash height and water splash shape value respectively, and then send the water depth to IVI. IVI sends the vehicle speed signal to the front door and rear door radars, and receives the water depth signal sent by the radar.

[0069] The splash measurement data is the actual distance measured by the radar at a specific detection angle, and the detection angle data is the angle information between the radar on the vehicle and the set point. Figure 3 As shown, Figure 3 This is a schematic diagram of the detection parameter settings. By setting the first preset position A and the second preset position B, the angles θ1 and θ2 between the radar and the first preset position A and the second preset position B are the detection angle data, the distances between the radar and the first preset position A and the second preset position B are the splash measurement data k1 and k2, and the radar height is Z, which can be obtained by measuring the radar height above the ground when there is no water on the ground.

[0070] Step S20: determining a wading depth value according to the current vehicle speed, the radar height, the water splash measurement data, and the detection angle data.

[0071] It is understandable that the wading depth value can be calculated based on the current vehicle speed, radar height, water splash measurement data and detection angle data. The wading depth value is as above. Figure 3 Water depth H is shown.

[0072] In specific implementation, when a vehicle passes through water of different depths at different speeds, it will produce water splashes of different heights and shapes, such as Figure 4 As shown, Figure 4 This is a schematic diagram of the relationship between water depth, vehicle speed and water splash height. When the vehicle speed is 0, 10 and 20, and the water depth is the same, the corresponding water splash height gradually increases. When the vehicle speed is 20 and the water depth is different, the deeper the water depth, the higher the water splash height.

[0073] Therefore, experiments can be conducted on the vehicle in advance to calculate the wading depth value at the current moment through the current vehicle speed, radar height, water splash measurement data and detection angle data.

[0074] Step S30: Performing a water wading warning according to the current working condition of the vehicle and the water wading depth value.

[0075] In a specific implementation, the current working condition of the vehicle may include a flat road condition, a slope road condition, a garage condition, etc., and may also include other working conditions, such as a pothole road condition, which is not limited in this embodiment.

[0076] It should be noted that the vehicle's current wading depth can be compared with a preset depth threshold, and based on the comparison result, a corresponding alarm message can be generated or the vehicle can be controlled to complete vehicle wading detection and warning. For example, if the vehicle's current wading depth is greater than or equal to the preset depth threshold, an alarm message will be generated to provide a warning.

[0077] This embodiment provides a vehicle wading warning method, which obtains the vehicle's current speed, radar height, water splash measurement data, and detection angle data; determines a wading depth value based on the current vehicle speed, the radar height, the water splash measurement data, and the detection angle data; and performs a wading warning based on the vehicle's current operating condition and the wading depth value. The depth of accumulated water with water splashes can be quickly detected or predicted through the acquired parameter information, thereby improving the accuracy of wading depth detection and prompting the driver of the possibility of vehicle wading risks, thereby avoiding damage to electrical components or water ingress into the cabin, and improving vehicle driving safety.

[0078] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 5 , step S20 includes steps S201 to S202:

[0079] Step S201: When the current vehicle speed is not a preset vehicle speed value, a water splash morphology value is calculated according to the radar height, the water splash measurement data, and the detection angle data.

[0080] It should be noted that the preset vehicle speed value is 0Km / h. When the current vehicle speed is not 0, different wading depths correspond to different water splash shape values. The water splash shape value is related to the detection angle data, water splash measurement data and radar height. Therefore, the water splash shape value can be calculated by radar height, water splash measurement data and detection angle data.

[0081] Step S202: Obtaining a wading depth value according to the water splash shape value and the current vehicle speed.

[0082] In specific implementations, the corresponding wading depth can be determined by the water splash shape value and the current vehicle speed. The water splash shape value Δh = h1 - h2, and there is a corresponding relationship between Δh, the current vehicle speed, and the wading depth value. The corresponding relationship between the water splash shape value, vehicle speed, and wading depth can be obtained through pre-experimental calibration, as shown in Table 1. Table 1 shows the mapping relationship between vehicle speed, water splash shape value, and wading depth.

[0083] Table 1

[0084]

[0085] As shown in Table 1, after calculating the water splash morphology value Δh, you can query Table 1 according to the current vehicle speed and the water splash morphology value Δh to obtain the wading depth H corresponding to the water splash morphology value Δh and the current vehicle speed. For example, if the current vehicle speed is 20 km / h and the water splash morphology value Δh is 20, then the corresponding wading depth H is 200 mm.

[0086] In a feasible implementation, step S202 may include steps A11 to A15:

[0087] Step A11: Obtain a first splash measurement value and a second splash measurement value according to the splash measurement data.

[0088] It should be noted that the splash measurement data includes k1 and k2, so the first splash measurement value k1 and the second splash measurement value k2 can be obtained through the splash measurement data, and the above Figure 3 As shown, the first water splash measurement value k1 is the distance between the radar and the first preset position A, and the second water splash measurement value k2 is the distance between the radar and the second preset position B.

[0089] Step A12: Obtaining a first detection angle between the vehicle and a first preset position and a second detection angle between the vehicle and a second preset position according to the detection angle data, wherein the value of the first detection angle is greater than the value of the second detection angle.

[0090] In a specific implementation, the detection angle data includes θ1 and θ2. The first detection angle θ1 is the angle between the vehicle's radar and the first preset position A. The second detection angle θ2 is the angle between the vehicle's radar and the second preset position B. The distance between the first preset position A and the vehicle's radar is greater than the distance between the second preset position B and the vehicle's radar. Therefore, the value of the first detection angle is greater than the value of the second detection angle.

[0091] Step A13: Calculate a first height value according to the radar height, the first water splash measurement value, and the first detection angle.

[0092] In a specific implementation, at point A, the radar altitude, the first water splash measurement value, the first detection angle, and the first altitude value have the following relationship:

[0093] h1+H=Z-k1*cosθ1(Formula 1)

[0094] As shown in the above formula 1, h1+H is the first height value, Z is the radar height, k1 is the first splash measurement value, and the first height value is calculated by the above formula 1.

[0095] Step A14: Calculate a second height value according to the radar height, the second water splash measurement value, and the second detection angle.

[0096] It should be noted that at point B, the relationship between the radar altitude, the second splash measurement value, the second detection angle, and the second altitude value is as follows:

[0097] h2+H=Z-k2*cosθ2(Equation 2)

[0098] As shown in the above formula 2, h2+H is the second height value, k2 is the second water splash measurement value, and the second height value is calculated by the above formula 2.

[0099] Step A15: Calculate the water splash shape value using the first height value and the second height value.

[0100] In a specific implementation, after obtaining the first height value and the second height value through the above formula 1 and the above formula 2, the first height value and the second height value are subtracted to obtain the water splash shape value Δh=k2*cosθ2-k1*cosθ1.

[0101] In a feasible implementation, if the current vehicle speed is a preset value of 0, the step of calculating the wading depth value is: when the current vehicle speed is the preset vehicle speed value, the wading depth value is calculated based on the radar height, the splash measurement data and the detection angle data.

[0102] It should be noted that if the current vehicle speed V = 0, the wading depth value H = Z-k1*cosθ1 = Z-k2*cosθ2. Therefore, the wading depth value can be directly calculated through the first splash measurement value or the second splash measurement value in the splash measurement data, the first detection angle or the second detection angle in the detection angle data, and the radar height.

[0103] In this embodiment, when the current vehicle speed is not the preset vehicle speed value, the water splash shape value is calculated according to the radar height, the water splash measurement data and the detection angle data; the wading depth value is obtained according to the water splash shape value and the current vehicle speed, and the corresponding water splash shape value is calculated to quickly and accurately determine the wading depth corresponding to the current vehicle speed and the water splash shape value. By considering the difference in wading depths at different speeds and different water splash shapes, the comprehensiveness of wading depth detection is improved.

[0104] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar contents as those in the above embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 6 , step S30 includes steps S301 to S304:

[0105] Step S301: When the vehicle is currently in a slope condition, a first wading depth value corresponding to a first radar and a second wading depth value corresponding to a second radar are obtained according to the wading depth value, and the position of the first radar is located ahead of the position of the second radar.

[0106] It can be understood that if the vehicle is wading through water on a slope, there will be a difference in the wading depths measured by the front and rear radars. For example, when the vehicle is wading downhill, the wading depth H1 measured and calculated by the front radar is greater than the wading depth H2 measured and calculated by the rear radar. Therefore, the first wading depth value corresponding to the first radar and the wading depth value corresponding to the second radar can be obtained according to the current slope condition of the vehicle. The first radar is the radar on the front door, and the second radar is the radar on the rear door.

[0107] Step S302: Obtaining the radar distance between the first radar and the second radar, and the distance between the first radar and a preset position of the front end of the vehicle.

[0108] In a specific implementation, the radar distance L1 between the first radar on the front door and the second radar on the rear door can be obtained. The preset front end position of the vehicle is the position where the front end of the vehicle is most likely to reach the wading depth threshold, that is, the position where the front end of the vehicle is relatively low. For example, the preset front end position of the vehicle is the vertex position of the vehicle's front wheel. In this case, the distance between the first radar and the preset front end position of the vehicle is the distance L2 between the front door radar and the vertex position of the vehicle's front wheel.

[0109] Step S303: Calculate the target wading depth according to the first wading depth value, the second wading depth value, the radar distance, and the distance.

[0110] In a specific implementation, the target wading depth is the wading depth at a preset position in front of the vehicle. The target wading depth is calculated based on the first wading depth value H1, the second wading depth value H2, the radar distance L1, and the distance L2 as shown in the following formula 3:

[0111]

[0112] In the above formula 3, H is the target wading depth, such as Figure 7 As shown, Figure 7 Schematic diagram of various parameters when the vehicle is wading downhill. H1 is the wading depth at the front door, H2 is the wading depth at the rear door, L1 is the distance between the front and rear radars, L2 is the distance between the front radar and the preset position of the front end of the vehicle, H is the wading depth at the preset position of the front end of the vehicle, and driving Vt is the distance traveled when H is greater than or equal to the upper limit of the wading depth Hmax.

[0113] Step S304: issuing a wading warning based on the target wading depth.

[0114] In specific implementation, the target wading depth can be compared with the preset wading depth threshold. When the target wading depth is greater than or equal to the preset wading depth threshold, it is determined that the vehicle is at risk of flooding. An alarm message can be generated to remind the user or the vehicle can be controlled to stop, completing the wading warning and reminding the user that there is a risk of flooding.

[0115] It is understandable that the preset wading depth threshold Hmax needs to be set dynamically taking into account the splash height, for example, the preset wading depth threshold is the target wading depth plus the splash height at a preset position at the front end of the vehicle.

[0116] In a feasible implementation, in addition to issuing a warning when the wading depth of the vehicle at a preset position at the front of the vehicle is greater than or equal to a preset wading depth threshold, a warning can also be issued in advance, so that the user can stop driving or leave the slope position. Step S30 also includes: when the vehicle is currently in a slope condition, calculating a preset driving time threshold through the preset depth threshold, the first wading depth value, the second wading depth value, the radar distance, the distance and the current vehicle speed; and issuing a wading warning through the preset driving time threshold.

[0117] It should be noted that the time t required for the vehicle to reach the preset depth threshold can be calculated using Hmax, H1, H2, L1, L2 and the current vehicle speed, as shown in the following formula 4:

[0118]

[0119] In Equation 4, Hmax is the preset depth threshold, and V is the current vehicle speed. The time required for the vehicle to reach the preset depth threshold is calculated using Equation 4. The vehicle display can then prompt the user with the current depth H at the preset front end position, whether the upper wading depth limit Hmax has been reached, and the time t required to reach the upper wading depth limit.

[0120] like Figure 8 As shown, Figure 8 This is a flow chart of a water wading warning when the vehicle is operating on a slope. The first water wading depth value H1 and the second water wading depth value H2 are obtained through the front and rear radars of the vehicle, and the target water wading depth H at a preset position at the front of the vehicle is calculated. The time t when the upper limit of the water depth is reached is also calculated. The vehicle system prompts the user of the water wading depth at the preset position at the front of the vehicle, whether the upper limit of the water wading depth has been reached, and the upper limit time t, and issues a water wading warning when the target water wading depth H is greater than or equal to the upper limit of the water wading depth.

[0121] In this embodiment, when the vehicle is currently in a slope condition, a first wading depth value corresponding to the first radar and a second wading depth value corresponding to the second radar are obtained based on the wading depth value, and the position of the first radar is located in front of the position of the second radar; the radar distance between the first radar and the second radar, and the distance between the first radar and a preset position of the front end of the vehicle are obtained; the target wading depth is calculated based on the first wading depth value, the second wading depth value, the radar distance, and the distance; a wading warning is issued based on the target wading depth. When the vehicle is in a slope condition, a wading warning is issued in a timely manner based on the wading depth at the lowest end of the vehicle, thereby improving the vehicle wading warning effect.

[0122] Based on the first embodiment of the present application, in the fourth embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction and will not be described in detail later. Figure 9 , step S30 includes steps S301' to S303':

[0123] Step S301 ′: when the vehicle is currently in a flat road condition, the wading depth value is compared with a preset depth threshold.

[0124] It should be noted that if the vehicle is on a flat road, the wading depth values ​​calculated by radar measurements at various locations on the vehicle are all the same. The wading depth value can then be compared with the preset depth threshold Hmax. If the wading depth value is less than the preset depth threshold Hmax, no wading warning is required.

[0125] Step S302 ′: when the wading depth value is greater than or equal to the preset depth threshold, it is determined that the vehicle has a wading risk.

[0126] It is understandable that if the wading depth value is greater than or equal to the preset depth threshold Hmax, the vehicle is at risk of being flooded or entering water.

[0127] Step S303 ′: Generate an alarm message or control the vehicle to stop to issue a water wading warning.

[0128] In specific implementations, an alarm message can be generated to the user or the vehicle can be forcibly controlled to stop running, thereby avoiding the risk of water ingress or flooding of the vehicle and completing the vehicle wading warning.

[0129] In a feasible implementation, when the vehicle is in a flat road condition, it may also be located in an underground garage, and water accumulation in the underground garage may cause the risk of damage to the detection radar. Therefore, when the vehicle is in the garage, in order to improve the detection accuracy, multiple detection values ​​can be used as the final detection value. Step S30 also includes: when the vehicle is currently in a garage condition, obtaining multiple wading depth values ​​corresponding to multiple radars according to the wading depth values; when at least two of the multiple wading depth values ​​are greater than or equal to a preset wading depth threshold, determining that the vehicle is at risk of wading; and generating an alarm message or controlling the vehicle to stop to issue a wading warning.

[0130] It can be understood that the wading depth value H can be detected alternately by the vehicle's front and rear radars. When one of the wading depths H is greater than or equal to the preset wading depth threshold, the other radars of the vehicle are awakened, and when at least two of the radars detect that the water depth H exceeds the threshold, it is judged that the vehicle is at risk of wading. Otherwise, it is judged as a false detection of a certain radar, that is, at least two of the multiple wading depth values ​​are greater than or equal to the preset wading depth threshold, and it is determined that the vehicle is at risk of wading, and the background notifies the user to handle it.

[0131] like Figure 10 As shown, Figure 10 This is a schematic diagram of the water wading warning process when the vehicle is currently on a flat road. RADAR detects the water splash measurements k1, k2, radar height and detection angle, and determines whether the current vehicle speed V is equal to 0. If so, the wading depth H is directly calculated based on the water splash measurements k1, k2, radar height and detection angle. If the current vehicle speed is not equal to 0, the water splash shape value is calculated based on the water splash measurements k1, k2, radar height and detection angle, and the corresponding wading depth H is calculated based on the water splash shape value and the current vehicle speed. A warning is issued when the upper limit of the wading depth is reached.

[0132] In this embodiment, when the vehicle is currently operating on a flat road, the wading depth value is compared with a preset depth threshold; when the wading depth value is greater than or equal to the preset depth threshold, it is determined that the vehicle is at risk of wading; an alarm message is generated or the vehicle is controlled to stop to provide a water wading warning. The system can accurately measure the wading depth of the vehicle on a flat road and promptly issue a warning or control the vehicle to stop when it exceeds the preset threshold to ensure driving safety.

[0133] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the vehicle wading warning method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0134] This application also provides a vehicle wading warning device, please refer to Figure 11 , the vehicle wading warning device includes:

[0135] The acquisition module 10 is used to obtain the vehicle's current speed, radar height, water splash measurement data, and detection angle data.

[0136] The determination module 20 is used to determine the wading depth value according to the current vehicle speed, the radar height, the water splash measurement data and the detection angle data.

[0137] The warning module 30 is used to issue a water wading warning based on the current working condition of the vehicle and the water wading depth value.

[0138] The vehicle wading warning device provided in this application, which utilizes the vehicle wading warning method described in the above-mentioned embodiments, can resolve the technical problem of low accuracy in detecting vehicle wading depth. Compared with the prior art, the beneficial effects of the vehicle wading warning device provided in this application are the same as those of the vehicle wading warning method described in the above-mentioned embodiments. The other technical features of the vehicle wading warning device are the same as those disclosed in the above-mentioned embodiments and are not further described here.

[0139] In one embodiment, the determination module 20 is further used to calculate the splash shape value based on the radar height, the splash measurement data and the detection angle data when the current vehicle speed is not a preset vehicle speed value; and obtain the wading depth value based on the splash shape value and the current vehicle speed.

[0140] In one embodiment, the determination module 20 is also used to obtain a first splash measurement value and a second splash measurement value based on the splash measurement data; obtain a first detection angle between the vehicle and a first preset position and a second detection angle between the vehicle and a second preset position based on the detection angle data, and the value of the first detection angle is greater than the value of the second detection angle; calculate a first height value based on the radar height, the first splash measurement value and the first detection angle; calculate a second height value based on the radar height, the second splash measurement value and the second detection angle; and calculate a splash morphology value using the first height value and the second height value.

[0141] In one embodiment, the early warning module 30 is further used to obtain a first wading depth value corresponding to the first radar and a second wading depth value corresponding to the second radar according to the wading depth value when the vehicle is currently in a slope condition, and the position of the first radar is located in front of the position of the second radar; obtain the radar distance between the first radar and the second radar, and the distance between the first radar and a preset position of the front end of the vehicle; calculate the target wading depth according to the first wading depth value, the second wading depth value, the radar distance and the distance; and perform a wading warning based on the target wading depth.

[0142] In one embodiment, the warning module 30 is also used to calculate a preset driving time threshold by using a preset depth threshold, the first wading depth value, the second wading depth value, the radar distance, the distance and the current vehicle speed when the vehicle is currently operating in a slope condition; and to perform a wading warning by using the preset driving time threshold.

[0143] In one embodiment, the early warning module 30 is further used to compare the wading depth value with a preset depth threshold when the vehicle is currently operating in a flat road condition; when the wading depth value is greater than or equal to the preset depth threshold, determine that the vehicle is at risk of wading; generate an alarm message or control the vehicle to stop to provide a wading warning.

[0144] In one embodiment, the early warning module 30 is further used to obtain multiple wading depth values ​​corresponding to multiple radars based on the wading depth value when the vehicle is currently in a garage working condition; determine that the vehicle is at risk of wading when at least two of the multiple wading depth values ​​are greater than or equal to a preset wading depth threshold; generate an alarm message or control the vehicle to stop to provide a wading warning.

[0145] The present application provides a vehicle water wading warning device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle water wading warning method in the above-mentioned embodiment one.

[0146] Reference below Figure 12 , which shows a schematic structural diagram of a vehicle wading warning device suitable for implementing an embodiment of the present application. The vehicle wading warning device in the embodiment of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (such as in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 12 The vehicle wading warning device shown is merely an example and should not limit the functions and scope of use of the embodiments of the present application.

[0147] like Figure 12As shown, the vehicle wading warning device may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes based on programs stored in a read-only memory (ROM) 1002 or programs loaded from a storage device 1003 into a random access memory (RAM) 1004. RAM 1004 also stores various programs and data required for the operation of the vehicle wading warning device. Processing device 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007, such as a touch screen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008, such as a liquid crystal display (LCD), speaker, vibrator, etc.; storage device 1003, such as a magnetic tape, hard disk, etc.; and communication device 1009. Communication device 1009 can allow the vehicle wading warning device to communicate wirelessly or wired with other devices to exchange data. Although the figure shows a vehicle wading warning device with various systems, it should be understood that it is not required to implement or have all of the systems shown. More or fewer systems may be implemented or provided instead.

[0148] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program comprising program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0149] The vehicle wading warning device provided in this application, which utilizes the vehicle wading warning method described in the above-mentioned embodiment, can resolve the technical problem of low accuracy in detecting vehicle wading depth. Compared with the prior art, the beneficial effects of the vehicle wading warning device provided in this application are the same as those of the vehicle wading warning method described in the above-mentioned embodiment. The other technical features of the vehicle wading warning device are the same as those disclosed in the above-mentioned embodiment, and are not further described here.

[0150] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0151] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

[0152] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the vehicle wading warning method in the above-mentioned embodiment.

[0153] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0154] The computer-readable storage medium may be included in the vehicle water wading warning device; or it may exist independently without being assembled into the vehicle water wading warning device.

[0155] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the vehicle water wading warning device, the vehicle water wading warning device: obtains the vehicle's current speed, radar height, water splash measurement data and detection angle data; determines the water wading depth value based on the current vehicle speed, the radar height, the water splash measurement data and the detection angle data; and performs water wading warning based on the vehicle's current working conditions and the water wading depth value.

[0156] Computer program code for performing the operations of the present application may be written in one or more programming languages, or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0157] The flow charts and block diagrams in the accompanying drawings illustrate the possible architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. In this regard, each box in the flow chart or block diagram can represent a module, program segment or a part of code, and the module, program segment or a part of code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order than that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flow chart, and the combination of the boxes in the block diagram and / or flow chart can be implemented by a dedicated hardware-based system that performs the specified function or operation, or can be implemented by a combination of dedicated hardware and computer instructions.

[0158] The modules described in the embodiments of the present application may be implemented in software or hardware, wherein the name of a module does not necessarily limit the unit itself.

[0159] The computer-readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the aforementioned vehicle wading warning method. This computer-readable storage medium can address the technical issue of low accuracy in detecting vehicle wading depth. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the vehicle wading warning method provided in the aforementioned embodiment, and are not further elaborated here.

[0160] The present application also provides a computer program product, including a computer program, which implements the steps of the above-mentioned vehicle wading warning method when executed by a processor.

[0161] The computer program product provided in this application can solve the technical problem of low accuracy in detecting vehicle wading depth. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the vehicle wading warning method provided in the above embodiment, and will not be elaborated here.

[0162] The above description is only part of the embodiments of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made by using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect application in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A vehicle wading warning method, characterized in that: The vehicle wading warning method comprises: Obtain the vehicle's current speed, radar height, splash measurement data, and detection angle data; Determine a wading depth value according to the current vehicle speed, the radar height, the water splash measurement data, and the detection angle data; A wading warning is issued according to the current working condition of the vehicle and the wading depth value.

2. The method according to claim 1, characterized in that The step of determining the wading depth value according to the current vehicle speed, the radar height, the water splash measurement data and the detection angle data comprises: When the current vehicle speed is not a preset vehicle speed value, calculating a water splash morphology value according to the radar height, the water splash measurement data and the detection angle data; A wading depth value is obtained according to the water splash shape value and the current vehicle speed.

3. The method according to claim 2, characterized in that When the current vehicle speed is not the preset vehicle speed value, the step of calculating the water splash morphology value according to the radar height, the water splash measurement data and the detection angle data comprises: Obtaining a first splash metric value and a second splash metric value according to the splash metric data; Obtaining a first detection angle between the vehicle and a first preset position and a second detection angle between the vehicle and a second preset position according to the detection angle data, wherein the value of the first detection angle is greater than the value of the second detection angle; Calculate a first height value according to the radar height, the first water splash measurement value and the first detection angle; Calculate a second height value according to the radar height, the second splash measurement value and the second detection angle; The water splash morphology value is calculated using the first height value and the second height value.

4. The method according to claim 1, characterized in that The step of performing a wading warning according to the current working condition of the vehicle and the wading depth value comprises: When the vehicle is currently in a slope condition, obtaining a first wading depth value corresponding to the first radar and a second wading depth value corresponding to the second radar according to the wading depth value, and the position of the first radar is located ahead of the position of the second radar; Acquire a radar distance between the first radar and the second radar, and a distance between the first radar and a preset position of a front end of a vehicle; Calculate the target wading depth according to the first wading depth value, the second wading depth value, the radar distance, and the distance; A wading warning is issued according to the target wading depth.

5. The method according to claim 4, characterized in that The step of performing a wading warning according to the current working condition of the vehicle and the wading depth value comprises: When the vehicle is currently in a slope condition, a preset travel time threshold is calculated by using a preset depth threshold, the first wading depth value, the second wading depth value, the radar distance, the distance, and the current vehicle speed; A water wading warning is performed according to the preset driving time threshold.

6. The method according to claim 1, characterized in that The step of performing a wading warning according to the current working condition of the vehicle and the wading depth value comprises: When the vehicle is currently on a flat road, the wading depth value is compared with a preset depth threshold; When the wading depth value is greater than or equal to the preset depth threshold, determining that the vehicle has a wading risk; Generate an alarm message or control the vehicle to stop for water wading warning.

7. The method according to any one of claims 1 to 6, characterized in that The step of performing a wading warning according to the current working condition of the vehicle and the wading depth value comprises: When the current working condition of the vehicle is a garage working condition, a plurality of wading depth values ​​corresponding to a plurality of radars are obtained according to the wading depth value; When at least two of the plurality of wading depth values ​​are greater than or equal to a preset wading depth threshold, determining that the vehicle has a wading risk; Generate an alarm message or control the vehicle to stop for water wading warning.

8. A vehicle wading warning device, characterized in that: The device comprises: The acquisition module is used to obtain the vehicle's current speed, radar height, water splash measurement data, and detection angle data; A determination module, configured to determine a wading depth value according to the current vehicle speed, the radar height, the water splash measurement data, and the detection angle data; The warning module is used to issue a wading warning according to the current working condition of the vehicle and the wading depth value.

9. A vehicle wading warning device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle wading warning method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle wading warning method as described in any one of claims 1 to 7 are implemented.

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