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

Abstract

The application discloses a vehicle wading early warning method and device, equipment and a storage medium, and relates to the technical field of vehicle detection. The method comprises the following steps: acquiring the current vehicle speed, radar height, splash measurement data and detection angle data of a vehicle; determining a wading depth value according to the current vehicle speed, the radar height, the splash measurement data and the detection angle data; and performing wading early warning according to the current working condition of the vehicle and the wading depth value. The method can quickly detect or predict the depth of water with splashes by acquiring parameter information, improve the accuracy of wading depth detection, and prompt the possibility of vehicle wading risk for the driver, so that the damage of electrical components or the water entering the cabin is avoided, and the driving safety of the vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of vehicle detection technology, and in particular to methods, devices, equipment and storage media for vehicle wading warning. Background Technology

[0002] After heavy rain, if a driver is unaware of the water depth and attempts to drive through, the vehicle may be at risk of water entering the engine, motor, or cabin due to deep wading.

[0003] Existing vehicle water wading detection methods rely on sensors to measure the depth of water on the road surface for early warning. However, the detected water depth is sometimes inaccurate, preventing vehicles from avoiding or stopping in time, which can lead to damage to vehicle electrical components or water entering the cabin. Summary of the Invention

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

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

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

[0007] The wading depth value is determined based on the current vehicle speed, the radar altitude, the water splash measurement data, and the detection angle data.

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

[0009] In one embodiment, the step of determining the wading depth value based on the current vehicle speed, the radar altitude, the splash measurement data, and the detection angle data includes:

[0010] When the current vehicle speed is not a preset vehicle speed value, the water splash shape value is calculated based on the radar altitude, the water splash measurement data, and the detection angle data.

[0011] The wading depth is obtained based on the water splash pattern value and the current vehicle speed.

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

[0013] The first splash measurement value and the second splash measurement value are obtained based on the splash measurement data;

[0014] The first detection angle between the vehicle and the first preset position and the second detection angle between the vehicle and the second preset position are obtained based on the detection angle data, wherein the value of the first detection angle is greater than the value of the second detection angle;

[0015] The first height value is calculated based on the radar height, the first splash measurement value, and the first detection angle.

[0016] The second height value is calculated based on 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 issuing a wading warning based on the vehicle's current operating condition and the wading depth value includes:

[0019] When the vehicle is currently in a slope condition, the first wading depth value corresponding to the first radar and the second wading depth value corresponding to the second radar are obtained according to the wading depth value, and the position of the first radar is in front of the position of the second radar.

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

[0021] The target wading depth is calculated based on the first wading depth value, the second wading depth value, the radar distance, and the distance.

[0022] Water wading warnings are issued based on the target wading depth.

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

[0024] When the vehicle is currently in a slope condition, a preset driving 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] Water wading warnings are issued based on the preset driving time threshold.

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

[0027] When the vehicle is currently in a flat road condition, 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, it is determined that the vehicle is at risk of wading.

[0029] Generate alarm messages or stop vehicles to provide flood warnings.

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

[0031] When the vehicle is currently in a garage condition, multiple wading depth values ​​corresponding to multiple radars are obtained based on the wading depth value.

[0032] When at least two of the multiple wading depth values ​​are greater than or equal to a preset wading depth threshold, it is determined that the vehicle is at risk of wading.

[0033] Generate alarm messages or stop vehicles to provide flood warnings.

[0034] Furthermore, to achieve the above objectives, this application also proposes a vehicle wading warning device, which includes:

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

[0036] The determination module is used to determine the wading depth value based on the current vehicle speed, the radar altitude, the water splash measurement data, and the detection angle data.

[0037] The early warning module is used to issue a wading warning based on the vehicle's current operating conditions and the wading depth value.

[0038] In addition, to achieve the above objectives, this application also proposes a vehicle wading warning device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the vehicle wading warning method as described above.

[0039] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the vehicle wading warning method described above.

[0040] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the vehicle wading warning method described above.

[0041] One or more technical solutions proposed in this application acquire the vehicle's current speed, radar altitude, splash measurement data, and detection angle data; determine the wading depth value based on the current speed, radar altitude, splash measurement data, and detection angle data; and provide wading warning based on the vehicle's current operating conditions and the wading depth value. This allows for rapid detection or prediction of water depth with splashes using the acquired parameter information, improving the accuracy of wading depth detection and alerting the driver to the potential risk of vehicle wading, thus preventing damage to electrical components or water ingress into the cabin and improving vehicle driving safety. Attached Figure Description

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

[0043] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 This is a flowchart illustrating an embodiment of the vehicle wading warning method of this application.

[0045] Figure 2 This is a schematic diagram of the hardware layout architecture of Embodiment 1 of the vehicle wading warning method of this application;

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

[0047] Figure 4 This is a schematic diagram illustrating the relationship between water depth, vehicle speed, and water splash height in one embodiment of the vehicle wading warning method of this application.

[0048] Figure 5 This is a flowchart illustrating Embodiment 2 of the vehicle wading warning method of this application;

[0049] Figure 6 This is a flowchart illustrating Embodiment 3 of the vehicle wading warning method of this application;

[0050] Figure 7 This is a schematic diagram of various parameters when a vehicle is wading through water while going downhill, as shown in one embodiment of the vehicle wading warning method of this application.

[0051] Figure 8 This is a schematic diagram of the process for issuing a water wading warning when the vehicle is in a slope condition, as described in one embodiment of the vehicle water wading warning method of this application.

[0052] Figure 9 This is a flowchart illustrating Embodiment 4 of the vehicle wading warning method of this application;

[0053] Figure 10 This is a schematic diagram of the water wading warning process in one embodiment of the vehicle water wading warning method of this application when the vehicle is currently in a flat road condition.

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

[0055] Figure 12 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the vehicle wading warning method in the embodiments of this 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 Implementation

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

[0058] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0059] The main solution of this application embodiment is: to obtain the vehicle's current speed, radar altitude, water splash measurement data, and detection angle data; to determine the wading depth value based on the current speed, radar altitude, water splash measurement data, and detection angle data; and to issue a wading warning based on the vehicle's current operating condition and the wading depth value.

[0060] Existing technology uses sensors to measure the depth of water on the road surface for early warning, but the accuracy of water depth detection is poor under different operating conditions, such as when the road surface is uneven, resulting in inaccurate measurements.

[0061] This application provides a solution that uses 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 potential risk of wading through water, thereby preventing damage to electrical components or water ingress into the cabin.

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

[0063] Based on this, this application provides a vehicle wading warning method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the vehicle wading warning method of this 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 altitude, water splash measurement data, and detection angle data.

[0066] It should be noted that the vehicle's current speed can be detected by a speed sensor. In this embodiment, the vehicle speed is divided into two types: one is when the current speed is 0, and the other is when the current speed is not 0. When the vehicle speed is different, water splashes will be generated to different degrees when passing through the waterlogged road.

[0067] The radar height is the same as the height of the millimeter-wave radar installed on the vehicle. The millimeter-wave radars are installed on the front and rear doors of the vehicle, and there are millimeter-wave radars on both the left and right doors. 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 radar (left front door radar and right front door radar), rear door radar (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 water splash height and water splash pattern values ​​of the front door and the rear door respectively, thereby sending 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 represents the actual distance measured by the radar at a specific detection angle, while the detection angle data represents the angle information between the radar on the vehicle and the set point. For example... Figure 3 As shown, Figure 3 This diagram illustrates the setting of detection parameters. By setting a first preset position A and a 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 water splash measurement data k1 and k2. The radar height is Z, which can be obtained by measuring the radar's height above the ground when there is no standing water.

[0070] Step S20: Determine the wading depth value based on the current vehicle speed, the radar altitude, the water splash measurement data, and the detection angle data.

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

[0072] In practice, when vehicles drive through water of varying depths at different speeds, they will create splashes of water of varying heights and shapes, such as... Figure 4 As shown, Figure 4 This diagram illustrates 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, by conducting experiments on the vehicle in advance, the wading depth can be calculated at the current moment using the vehicle speed, radar altitude, water splash measurement data, and detection angle data.

[0074] Step S30: Issue a wading warning based on the vehicle's current operating conditions and the wading depth value.

[0075] In specific implementation, the current operating conditions of the vehicle may include flat road conditions, sloping road conditions, garage conditions, etc., and may also include other operating conditions, such as pothole road conditions. This embodiment does not limit these conditions.

[0076] It should be noted that the vehicle's current wading depth can be compared with a preset depth threshold. Based on the comparison result, corresponding alarm information can be generated or the vehicle can be controlled to complete the vehicle's 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 information will be generated to issue a warning.

[0077] This embodiment provides a vehicle wading warning method, which acquires the vehicle's current speed, radar altitude, water splash measurement data, and detection angle data; determines the wading depth value based on the current speed, radar altitude, water splash measurement data, and detection angle data; and provides a wading warning based on the vehicle's current operating conditions and the wading depth value. This method can quickly detect or predict the depth of water with splashes by using the acquired parameter information, improving the accuracy of wading depth detection and alerting the driver to the potential risk of vehicle wading, thus preventing damage to electrical components or water ingress into the cabin and improving vehicle driving safety.

[0078] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 5 Step S20 includes steps S201 to S202:

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

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

[0081] Step S202: Obtain the wading depth value based on the water splash pattern value and the current vehicle speed.

[0082] In practice, the wading depth can be determined by the water splash pattern value and the current vehicle speed. The water splash pattern value Δh = h1 - h2, and there is a corresponding relationship between Δh, the current vehicle speed, and the wading depth. The correspondence between the water splash pattern value, vehicle speed, and wading depth can be obtained through experimental calibration in advance, as shown in Table 1. Table 1 is a mapping table of vehicle speed, water splash pattern value, and wading depth.

[0083] Table 1

[0084]

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

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

[0087] Step A11: Obtain the first splash measurement value and the second splash measurement value based on the splash measurement data.

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

[0089] Step A12: Based on the detection angle data, obtain the first detection angle between the vehicle and the first preset position and the second detection angle between the vehicle and the second preset position, wherein the value of the first detection angle is greater than the value of the second detection angle.

[0090] In 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, and 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, so the value of the first detection angle is greater than the value of the second detection angle.

[0091] Step A13: Calculate the first height value based on the radar height, the first splash measurement value, and the first detection angle.

[0092] In practical implementation, at point A, the radar height, the first splash measurement value, and the first detection angle and the first height value have the following relationship:

[0093] h1+H=Z-k1*cosθ1 (Equation 1)

[0094] As shown in Equation 1 above, h1+H is the first altitude value, Z is the radar altitude, and k1 is the first splash measurement value. The first altitude value is calculated using Equation 1 above.

[0095] Step A14: Calculate the second height value based on the radar height, the second splash measurement value, and the second detection angle.

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

[0097] h² + H = Z - k² * cosθ² (Equation 2)

[0098] As shown in Equation 2 above, h2+H is the second height value, and k2 is the second splash measurement value. The second height value is calculated using Equation 2 above.

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

[0100] In practice, after obtaining the first height value and the second height value through Equation 1 and Equation 2 above, the difference between the first height value and the second height value is calculated to obtain the water splash shape value Δh = k2*cosθ2 - k1*cosθ1.

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

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

[0103] In this embodiment, when the current vehicle speed is not a preset speed value, a water splash morphology value is calculated based on the radar height, the water splash measurement data, and the detection angle data. The wading depth value is obtained based on the water splash morphology value and the current vehicle speed. By calculating the corresponding water splash morphology value, the wading depth corresponding to the current vehicle speed and water splash morphology value can be quickly and accurately determined. By considering the differences in wading depth under different speeds and different water splash morphologies, the comprehensiveness of wading depth detection is improved.

[0104] Based on the first embodiment of this application, in the third embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 6 Step S30 includes steps S301 to S304:

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

[0106] It is understandable that if a vehicle is wading through water on a slope, the wading depth measured by the front and rear radars will differ. For example, if a vehicle is wading downhill, the wading depth H1 calculated by the front radar will be greater than the wading depth H2 calculated by the rear radar. Therefore, the first wading depth value corresponding to the first radar and the second wading depth value corresponding to the second radar can be obtained based on 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: Obtain the radar distance between the first radar and the second radar, and the distance between the first radar and a preset position at the front of the vehicle.

[0108] In practical 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 position at the front of the vehicle is the position where the front of the vehicle is most likely to reach the wading depth threshold, that is, the position where the front of the vehicle is at its lowest height. For example, if the preset position at the front of the vehicle is the position of the top of the front wheel, then the distance between the first radar and the preset position at the front of the vehicle is the distance L2 between the front door radar and the top of the front wheel.

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

[0110] In practical 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 Formula 3 below:

[0111]

[0112] In Equation 3 above, H represents the target wading depth, such as... Figure 7 As shown, Figure 7 This diagram illustrates the parameters for a vehicle wading downhill through water. H1 represents the wading depth at the front door, H2 represents the wading depth at the rear door, L1 represents the distance between the front and rear radars, L2 represents the distance between the front radar and the preset position at the front of the vehicle, H represents the wading depth at the preset position at the front of the vehicle, and Vt represents the distance traveled when H is greater than or equal to the upper limit of the wading depth Hmax.

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

[0114] In practice, the target wading depth can be compared with a 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 being flooded. An alarm message can then be generated to remind the user or the vehicle can be stopped, thus completing the wading warning and reminding the user of the risk of being flooded.

[0115] Understandably, the preset wading depth threshold Hmax needs to dynamically take into account the water splash height. For example, the preset wading depth threshold is the target wading depth plus the water splash height at a preset position at the front of the vehicle.

[0116] In one feasible implementation, in addition to issuing a warning when the wading depth 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. In this case, step S30 further includes: when the vehicle is currently in a slope condition, calculating a preset driving time threshold 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; and issuing a wading warning using 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 Equation 4:

[0118]

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

[0120] like Figure 8 As shown, Figure 8 This is a flowchart illustrating the wading warning process when a vehicle is operating on a slope. The system obtains the first wading depth value H1 and the second wading depth value H2 using the vehicle's front and rear radars, calculates the target wading depth H at a preset position at the front of the vehicle, and simultaneously calculates the time t required to reach the upper limit of the wading depth. The vehicle system then prompts the user with the wading depth at the preset position at the front of the vehicle, whether the upper limit of the wading depth has been reached, and the time t required to reach the upper limit. A wading warning is issued when the target wading depth H is greater than or equal to the upper limit of the wading depth.

[0121] In this embodiment, when the vehicle is currently in a slope condition, the first wading depth value corresponding to the first radar and the second wading depth value corresponding to the second radar are obtained based on the wading depth value, with the first radar located in front 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 at the front 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 point of the vehicle, thereby improving the effectiveness of the vehicle wading warning.

[0122] Based on the first embodiment of this application, in the fourth embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 9 Step S30 includes steps S301' to S303':

[0123] Step S301': When the vehicle is currently in a flat road condition, compare the wading depth value 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 the radar at all points on the vehicle will be the same. In this case, the wading depth value can be compared with the preset depth threshold Hmax. If the wading depth value is less than the preset depth threshold Hmax, there is no need to issue a wading warning.

[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 risk of wading.

[0126] Understandably, if the wading depth is greater than or equal to the preset depth threshold Hmax, the vehicle is at risk of being submerged or flooded.

[0127] Step S303': Generate alarm information or control the vehicle to stop in order to issue a flood warning.

[0128] In practice, alarm messages can be generated for users or the vehicle can be forcibly stopped, thereby avoiding the risk of water ingress or flooding and completing the vehicle water wading warning.

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

[0130] Understandably, the vehicle's front and rear radars can take turns detecting the wading depth value H. When one of the wading depths H is greater than or equal to a preset wading depth threshold, the other radars in the vehicle are activated. If at least two of the radars detect that the water depth H exceeds the threshold, it is determined that the vehicle is at risk of wading. Otherwise, it is determined that a radar is falsely detecting the wading depth. That is, if at least two of the multiple wading depth values ​​are greater than or equal to the preset wading depth threshold, it is determined that the vehicle is at risk of wading, and the system notifies the user to take action.

[0131] like Figure 10 As shown, Figure 10 This is a schematic diagram of the wading warning process when the vehicle is currently on a flat road. RADAR detects water splash measurements k1, k2, radar height, and detection angle to determine if the current vehicle speed V is equal to 0. If it is, the wading depth H is calculated directly 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 pattern value is calculated based on the water splash measurements k1, k2, radar height, and detection angle. The corresponding wading depth H is calculated based on the water splash pattern value and the current vehicle speed, and a warning is issued when the upper limit of the wading depth is reached.

[0132] In this embodiment, when the vehicle is currently in a flat road condition, 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 has a risk of wading; an alarm message is generated or the vehicle is stopped to provide a wading warning. This embodiment can accurately measure the wading depth when the vehicle is in a flat road condition and issue a warning or stop the vehicle in a timely manner when the preset threshold is exceeded to ensure driving safety.

[0133] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the vehicle wading warning method of this application. Any simple modifications based on this technical concept are within the protection scope of this 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 acquire the vehicle's current speed, radar altitude, water splash measurement data, and detection angle data.

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

[0137] The early warning module 30 is used to provide a wading warning based on the vehicle's current operating conditions and the wading depth value.

[0138] The vehicle wading warning device provided in this application, employing the vehicle wading warning method in the above embodiments, can solve 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 provided in the above embodiments, and other technical features in the vehicle wading warning device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0139] In one embodiment, the determining module 20 is further configured to calculate a splash morphology 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 to obtain a wading depth value based on the splash morphology value and the current vehicle speed.

[0140] In one embodiment, the determining module 20 is further configured 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, wherein 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 warning module 30 is further configured to, when the vehicle is currently in a slope condition, obtain a first wading depth value corresponding to a first radar and a second wading depth value corresponding to a second radar based on the wading depth value, wherein the first radar is located in front 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 at the front of the vehicle; calculate the target wading depth based on the first wading depth value, the second wading depth value, the radar distance, and the distance; and issue a wading warning based on the target wading depth.

[0142] In one embodiment, the warning module 30 is further configured to calculate a preset driving time threshold by means of 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 in a slope condition; and to issue a wading warning by means of the preset driving time threshold.

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

[0144] In one embodiment, the warning module 30 is further configured to, when the vehicle is currently in a garage condition, obtain multiple wading depth values ​​corresponding to multiple radars based on the wading depth values; determine that the vehicle has a 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 alarm information or control the vehicle to stop, so as to provide a wading warning.

[0145] This application provides a vehicle 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 executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the vehicle wading warning method in the above embodiment 1.

[0146] The following is for reference. Figure 12 The diagram illustrates a structural schematic suitable for implementing a vehicle wading warning device according to embodiments of this application. The vehicle wading warning device in these embodiments may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 12 The vehicle wading warning device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of this application.

[0147] like Figure 12As shown, the vehicle wading warning device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the vehicle wading warning device. The processing unit 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 the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the vehicle wading warning device to communicate wirelessly or wiredly with other devices to exchange data. Although the figure shows vehicle wading warning devices with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

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

[0149] The vehicle wading warning device provided in this application, employing the vehicle wading warning method in the above embodiments, can solve 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 provided in the above embodiments, and other technical features of this vehicle wading warning device are the same as those disclosed in the previous embodiment method, and will not be repeated 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 suitable manner in one or more embodiments or examples.

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

[0152] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the vehicle wading warning method in the above embodiments.

[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, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing 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 suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0154] The aforementioned computer-readable storage medium may be included in the vehicle wading warning device; or it may exist independently and not be installed in the vehicle wading warning device.

[0155] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the vehicle wading warning device, cause the vehicle wading warning device to: acquire the vehicle's current speed, radar altitude, splash measurement data, and detection angle data; determine the wading depth value based on the current speed, radar altitude, splash measurement data, and detection angle data; and issue a wading warning based on the vehicle's current operating condition and the wading depth value.

[0156] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof. These programming languages ​​include object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as C or similar languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone 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 remote computers, the remote computer can 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 can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0157] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0158] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0159] The 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 above-described vehicle wading depth warning method, thereby solving the technical problem of low accuracy in vehicle wading depth detection. Compared with 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 depth warning method provided in the above embodiments, and will not be repeated here.

[0160] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the vehicle wading warning method described above.

[0161] The computer program product provided in this application can solve the technical problem of low accuracy in vehicle wading depth detection. 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 embodiments, and will not be repeated here.

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

Claims

1. A method for early warning of vehicle wading, characterized in that, The vehicle wading warning method includes: Acquire the vehicle's current speed, radar altitude, water splash measurement data, and detection angle data; The wading depth value is determined based on the current vehicle speed, the radar altitude, the water splash measurement data, and the detection angle data. A wading warning is issued based on the vehicle's current operating condition and the wading depth value. The vehicle's current operating condition includes: flat road condition, sloping road condition, and garage condition. The steps for issuing a wading warning based on the vehicle's current operating condition and the wading depth value include: When the vehicle is currently in a slope condition, the first wading depth value corresponding to the first radar and the second wading depth value corresponding to the second radar are obtained according to the wading depth value, and the position of the first radar is 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 at the front of the vehicle; The target wading depth is calculated based on the first wading depth value, the second wading depth value, the radar distance between the first radar and the second radar, and the distance between the first radar and a preset position at the front of the vehicle. Water wading early warning is provided based on the target wading depth; The step of determining the wading depth value based on the current vehicle speed, the radar altitude, the splash measurement data, and the detection angle data includes: When the current vehicle speed is not a preset speed value, a water splash pattern value is calculated based on the radar height, the water splash measurement data, and the detection angle data, including: obtaining a first water splash measurement value and a second water splash measurement value based on the water splash measurement 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 based on the detection angle data, wherein the value of the first detection angle is greater than the value of the second detection angle; calculating a first height value based on the radar height, the first water splash measurement value, and the first detection angle; calculating a second height value based on the radar height, the second water splash measurement value, and the second detection angle; and calculating a water splash pattern value using the first height value and the second height value. The wading depth value is obtained based on the water splash pattern value and the current vehicle speed, including: querying a mapping table based on the current vehicle speed and the water splash pattern value to obtain the corresponding wading depth value.

2. The method as described in claim 1, characterized in that, The steps for issuing a wading warning based on the vehicle's current operating condition and the wading depth value include: When the vehicle is currently in a slope condition, a preset driving 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. Water wading warnings are issued based on the preset driving time threshold.

3. The method as described in claim 1, characterized in that, The steps for issuing a wading warning based on the vehicle's current operating condition and the wading depth value include: When the vehicle is currently in a flat road condition, 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. Generate alarm messages or stop vehicles to provide flood warnings.

4. The method according to any one of claims 1 to 3, characterized in that, The steps for issuing a wading warning based on the vehicle's current operating condition and the wading depth value include: When the vehicle is currently in a garage condition, multiple wading depth values ​​corresponding to multiple radars are obtained based on the wading depth value. When at least two of the multiple wading depth values ​​are greater than or equal to a preset wading depth threshold, it is determined that the vehicle is at risk of wading. Generate alarm messages or stop vehicles to provide flood warnings.

5. A vehicle wading warning device, characterized in that, The device includes: The acquisition module is used to acquire the vehicle's current speed, radar altitude, water splash measurement data, and detection angle data; The determination module is used to determine the wading depth value based on the current vehicle speed, the radar altitude, the water splash measurement data, and the detection angle data. The early warning module is used to issue a wading warning based on the vehicle's current operating condition and the wading depth value. The vehicle's current operating condition includes: flat road condition, sloping road condition, and garage condition. The warning module is further configured to, when the vehicle is currently in a slope condition, obtain a first wading depth value corresponding to a first radar and a second wading depth value corresponding to a second radar based on the wading depth value, wherein the first radar is located in front of the second radar; acquire the radar distance between the first radar and the second radar, and the distance between the first radar and a preset position at the front of the vehicle; calculate the target wading depth based on the first wading depth value, the second wading depth value, the radar distance between the first radar and the second radar, and the distance between the first radar and the preset position at the front of the vehicle; and issue a wading warning based on the target wading depth. The determining module is further configured to calculate a splash morphology 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, including: obtaining a first splash measurement value and a second splash measurement value based on the splash measurement 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 based on the detection angle data, wherein the value of the first detection angle is greater than the value of the second detection angle; calculating a first height value based on the radar height, the first splash measurement value, and the first detection angle; calculating a second height value based on the radar height, the second splash measurement value, and the second detection angle; calculating a splash morphology value using the first height value and the second height value; and obtaining a wading depth value based on the splash morphology value and the current vehicle speed, including: querying a mapping table based on the current vehicle speed and the splash morphology value to obtain the corresponding wading depth value.

6. A vehicle wading warning device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the vehicle wading warning method as described in any one of claims 1 to 4.

7. 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, it implements the steps of the vehicle wading warning method as described in any one of claims 1 to 4.

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