Vehicle state determination method and device, electronic device, vehicle and medium

Abstract

The invention provides a vehicle state determination method, which comprises the following steps: in a sentry mode, obtaining first vehicle environment information through a vehicle camera so as to obtain vehicle information. And determining a vehicle state according to the first vehicle environment information. Thus, when the vehicle is in the sentry mode, the first vehicle environment information and the vehicle information can be obtained through the vehicle camera, and then the vehicle state can be determined through the first vehicle environment information, or whether the vehicle wades in water or not can be determined through the vehicle exterior image shot by the vehicle camera, that is, the vehicle wades in water or not can be determined through the vehicle exterior image shot by the vehicle camera. According to the method, whether the road surface where the vehicle is located has accumulated water or not can be determined, so that the vehicle can prompt or guide a user to move the vehicle at a proper time, for example, when the vehicle is determined to be in a wading state, the probability that the vehicle encounters a wading accident due to the fact that the user does not know the vehicle state is reduced to a certain extent, and the user experience is improved. And the property and safety of the user are guaranteed to a certain extent.

Description

Technical Field

[0001] The present application relates to the field of vehicles, and in particular to a method for determining a vehicle state, a determination device, an electronic device, a vehicle, and a computer-readable storage medium. Background Art

[0002] With the rapid increase in the number of vehicles, due to the limited number of fully enclosed parking lots, more vehicles may need to be parked in open parking lots and other open parking places after driving, away from the owners. However, when encountering sudden extreme weather such as heavy rain and typhoon weather, the owner cannot know the status of the parking place, nor can he move the vehicle in time, which may cause the vehicle to get into water accidents, and even cause more serious property losses. Summary of the invention

[0003] The present application provides a vehicle status determination method, a determination device, an electronic device, a vehicle, and a computer-readable storage medium.

[0004] The present application provides a method for determining a vehicle state, including:

[0005] When the vehicle is in sentry mode, obtaining vehicle information, wherein the vehicle information includes first vehicle environment information obtained by a vehicle camera;

[0006] A vehicle state is determined according to the first vehicle environment information, wherein the vehicle state includes the vehicle wading through water.

[0007] In the method for determining the vehicle state provided in the embodiment of the present application, the vehicle can obtain first vehicle environment information through the vehicle camera when it is in or enters the sentry mode, and then obtain vehicle information. When the vehicle information is obtained, the vehicle state is determined according to the first vehicle environment information, that is, whether the vehicle state is wading, or whether there is water on the road where the vehicle is located, is determined according to the first vehicle environment information.

[0008] In this way, the implementation mode of the present application enables the vehicle to obtain the first vehicle environment information and vehicle information through the vehicle camera when it is in the sentinel mode, and then determine the vehicle status through the first vehicle environment information, or in other words, determine whether the vehicle is wading through the outside image captured by the vehicle camera, that is, whether there is water accumulation on the road where the vehicle is located. As a result, the vehicle can prompt or guide the user to move the vehicle at an appropriate time, such as when it is determined that the vehicle status is wading. Furthermore, the probability of the vehicle encountering a water-related accident due to the user's ignorance of the vehicle status and the failure to move the vehicle in time can be reduced to a certain extent, and the user's property can be protected to a certain extent.

[0009] In some embodiments, when the vehicle is in sentry mode, obtaining vehicle information includes:

[0010] When the vehicle is in the sentinel mode, obtaining second vehicle environment information collected by a vehicle radar;

[0011] When the environment state information satisfies a first preset condition, the vehicle information is acquired, wherein the environment state information is determined according to the second vehicle environment information.

[0012] In this way, the implementation mode of the present application obtains the second vehicle environment information through the vehicle and determines that the environmental status information corresponding to the second vehicle environment information meets the first preset condition, and then detects the vehicle status through the first vehicle environment information obtained by the vehicle camera, so that the execution efficiency of the vehicle status detection, the amount of calculation required for execution, and the power consumption required for execution can be guaranteed to a certain extent.

[0013] In some embodiments, when the environmental state information satisfies a first preset condition, obtaining the vehicle information includes:

[0014] When the environmental status information satisfies the first preset condition, the vehicle camera is controlled to enter a power-on state to obtain the first vehicle environmental information through the vehicle camera.

[0015] In this way, the implementation mode of the present application enables the vehicle to control the vehicle camera to power on so that the vehicle camera can work normally when the environmental status information meets the first preset condition, or in other words, when it is determined that the vehicle may be wading. Then, the first vehicle environmental information can be obtained through the vehicle camera, so that the power consumption required for the vehicle to perform status detection can be controlled to a certain extent.

[0016] In certain embodiments, the method further comprises:

[0017] When the vehicle state is not that the vehicle is wading, the vehicle camera is controlled to enter a power-off state.

[0018] In this way, the implementation mode of the present application enables the vehicle to control the vehicle camera to enter a power-off state when the environmental status information satisfies the first preset condition, but the vehicle status is determined not to be wading according to the first vehicle environmental information, that is, when the vehicle may be wading but is not actually wading, thereby reducing the power consumption generated by the operation of the vehicle camera and extending the vehicle's cruising range to a certain extent.

[0019] In some embodiments, when the environmental state information satisfies the first preset condition, controlling the vehicle camera to enter a power-on state to obtain the first vehicle environmental information through the vehicle camera includes:

[0020] When the height information of the object stored on the ground meets the preset height condition, the vehicle camera is controlled to enter the power-on state to obtain the first vehicle environment information through the vehicle camera.

[0021] In this way, the implementation mode of the present application enables the vehicle to control the vehicle camera to power on when the height information of the objects stored on the ground meets the preset height condition, that is, when the vehicle is at risk of a water accident, so as to obtain the first vehicle environment information through the vehicle camera and detect the vehicle status based on the first vehicle environment information. This allows the vehicle status detection to be performed at an appropriate time to a certain extent, thereby ensuring the effective execution of the vehicle status detection.

[0022] In certain embodiments, the method further comprises:

[0023] When the vehicle status is that the vehicle is wading, the height information and preset vehicle movement prompt information are sent.

[0024] In this way, the implementation method of the present application enables the vehicle to feedback corresponding vehicle moving prompt information to the target user when the vehicle is wading, so that the target user knows that the vehicle is at risk of wading, thereby avoiding the situation where the user is not aware of the vehicle status and cannot move the vehicle in time, resulting in a vehicle wading accident. At the same time, because the vehicle can also feedback the height information of the accumulated objects on the ground to the target user, that is, the height of the accumulated water on the road where the vehicle is located, the user can clearly understand the environment and status of the vehicle.

[0025] In certain embodiments, the method further comprises:

[0026] In response to the vehicle moving rejection instruction, the vehicle camera is controlled to enter a power-off state.

[0027] In this way, the implementation mode of the present application enables the vehicle to control the vehicle camera to power off according to the target user's feedback of the car moving refusal instruction in response to the car moving prompt information, thereby avoiding the power consumption generated by the long-term operation of the vehicle camera to a certain extent, and therefore, can ensure the vehicle's endurance to a certain extent.

[0028] In some embodiments, determining the vehicle state according to the first vehicle environment information includes:

[0029] Based on a preset image recognition network model, the vehicle state is determined according to the first vehicle environment information.

[0030] In this way, the embodiment of the present application determines the vehicle status based on the pre-trained image recognition network model, so that the credibility of the determined vehicle status can be guaranteed to a certain extent.

[0031] The present application provides a determination device, including:

[0032] A transceiver unit, configured to obtain vehicle information when the vehicle is in a sentinel mode, wherein the vehicle information includes first vehicle environment information obtained by a vehicle camera;

[0033] A processing unit is used to determine a vehicle state based on first vehicle environment information, wherein the vehicle state includes the vehicle wading.

[0034] An embodiment of the present application provides an electronic device, including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the above-mentioned method for determining the vehicle status is implemented.

[0035] An embodiment of the present application provides a vehicle, including a vehicle body;

[0036] The vehicle body is installed with the above-mentioned determination device, or is installed with the above-mentioned electronic device.

[0037] An embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by one or more processors, the above-mentioned method for determining the vehicle status is implemented.

[0038] The determination device, electronic device, vehicle and computer-readable storage medium provided in the embodiments of the present application enable the vehicle to obtain first vehicle environment information and vehicle information through the vehicle camera when the vehicle is in sentinel mode, and then determine the vehicle status through the first vehicle environment information, or in other words, determine whether the vehicle is wading through the external image captured by the vehicle camera, that is, whether there is water accumulation on the road where the vehicle is located. As a result, the vehicle can prompt or guide the user to move the vehicle at an appropriate time, such as when it is determined that the vehicle status is wading. Furthermore, the probability of the vehicle encountering a water-related accident due to the user's ignorance of the vehicle status and the failure to move the vehicle in time can be reduced to a certain extent, and the user's property can be protected to a certain extent.

[0039] Additional aspects and advantages of the embodiments of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the embodiments of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0041] Figure 1 is a flow chart of a method for determining a vehicle state in certain embodiments of the present application;

[0042] Figure 2 is a schematic diagram of a determination device in certain embodiments of the present application;

[0043] Figure 3 is a flow chart of a method for determining a vehicle state in certain embodiments of the present application;

[0044] Figure 4 It is a schematic diagram of application scenarios in certain embodiments of the present application;

[0045] Figure 5 It is a flowchart of a method for determining a vehicle state in certain embodiments of the present application. DETAILED DESCRIPTION

[0046] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions from beginning to end. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of the present application, and cannot be understood as limiting the embodiments of the present application.

[0047] As people's living standards improve and material needs increase, more and more people choose to buy vehicles to meet personal or family travel needs (such as travel, etc.). However, when the user wants to end the vehicle driving, the user may need to worry about the parking place of the vehicle.

[0048] Generally, parking places can be simply divided into closed parking places and open parking places. Among them, closed parking places may include places such as underground lots of shopping malls and users' personal garages. Closed parking places usually have better protection capabilities and can protect parked vehicles from being affected by external wind and rain or ground water to a certain extent. Open parking places may include places such as open-air parking lots, which can only provide users with basic vehicle parking services. Compared with closed parking spots, vehicles in open parking spots are more affected by external wind and rain and ground water.

[0049] Understandably, due to factors such as construction costs and urban planning, the number of closed parking spaces in a city is usually less than the number of open parking spaces. Therefore, in most cases, users may need to park their vehicles in places such as open-air parking lots.

[0050] After the user parks the vehicle in an open-air parking lot or other places, the user may need to leave the vehicle to go to other places to participate in activities such as shopping or watching movies. During the user's participation in the activity, if the weather suddenly changes to severe weather such as rainstorm or typhoon, the vehicle may be affected by the severe weather due to being parked in an open-air parking lot or other places, or in other words, the vehicle may be affected by external wind and rain or ground water (caused by severe weather), causing water to enter the vehicle parts (such as water entering the cabin or electrical equipment), which is to cause a water-related accident and damage the user's property.

[0051] It is understandable that in order to avoid the above-mentioned water-related accidents, it is usually necessary to move the vehicle to a relatively safe place such as a closed parking spot in time before the water-related accident occurs. However, since the user is usually not near the vehicle after parking the vehicle, the user does not know the status of the vehicle and the parking place, and thus does not know whether the vehicle will have a water-related accident, so it is impossible to move the vehicle to a relatively safe place in time.

[0052] Based on the above problems that may be encountered, please refer to Figure 1 , the embodiment of the present application provides a method for determining the state of a vehicle, comprising:

[0053] 01: When the vehicle is in the sentry mode, obtain vehicle information, wherein the vehicle information includes first vehicle environment information obtained by a vehicle camera;

[0054] 02: Determine a vehicle state according to the first vehicle environment information, wherein the vehicle state includes the vehicle wading.

[0055] See also Figure 2 , an embodiment of the present application provides a determination device 200. The state determination method of the vehicle of the embodiment of the present application can be implemented by the determination device 200 of the embodiment of the present application. Specifically, the determination device 200 includes a transceiver unit 210 and a processing unit 220. The transceiver unit 210 is used to obtain vehicle information when the vehicle is in sentry mode, wherein the vehicle information includes first vehicle environment information obtained by a vehicle camera. The processing unit 220 is used to determine the vehicle state according to the first vehicle environment information, wherein the vehicle state includes the vehicle wading.

[0056] The embodiment of the present application also provides an electronic device, which includes a memory and a processor. The vehicle state determination method of the embodiment of the present application can be implemented by the electronic device of the embodiment of the present application. Specifically, a computer program is stored in the memory, and the processor is used to obtain vehicle information when the vehicle is in sentry mode, wherein the vehicle information includes first vehicle environment information obtained by a vehicle camera; and determine the vehicle state according to the first vehicle environment information, wherein the vehicle state includes the vehicle wading.

[0057] Specifically, the vehicle of the embodiment of the present application can be in sentinel mode, and the vehicle camera can capture the image outside the vehicle to obtain the first vehicle environment information, thereby forming or obtaining vehicle information. When the vehicle information and the first vehicle environment information included in the vehicle information are obtained, it can be determined whether the image outside the vehicle includes water according to the first vehicle environment information, or in other words, whether the vehicle state is that the vehicle is wading.

[0058] It is understandable that most vehicles are equipped with a sentry mode or sentry function. When the vehicle is in sentry mode, the corresponding vehicle device (such as a camera or radar) can detect whether the vehicle is in a dangerous state. If it detects that a non-owner is within a preset distance (such as 1 meter) of the vehicle for a long time (such as 5 minutes), the vehicle can send a warning message to the owner to inform the owner that the vehicle may be in a dangerous state. Alternatively, the vehicle automatically plays a warning message to remind non-owners to stay away.

[0059] Furthermore, the vehicle can be turned on in sentry mode after the vehicle is powered off (or turned off) and the user locks the vehicle. Alternatively, if the user has set the vehicle to be turned on in sentry mode when the vehicle is powered off (or turned off) and locked (which can be understood as the doors are locked), the vehicle can automatically turn on or enter sentry mode when the vehicle is powered off (or turned off) and locked.

[0060] Furthermore, when the vehicle of the embodiment of the present application is in sentry mode, the vehicle camera can be turned on, or in other words, the vehicle camera can be controlled to be powered on so that the vehicle camera can work normally (such as capturing images outside the vehicle).

[0061] Therefore, when the vehicle is in the sentry mode, the first vehicle environment information can be obtained through the vehicle camera, and the vehicle status can be detected according to the first vehicle environment information.

[0062] It is understandable that the specific process of detecting the vehicle state according to the first vehicle environment information is a content that can be set according to the actual situation. For example, in some embodiments, after obtaining the first vehicle environment information, the vehicle can send the first vehicle environment information to a remote electronic device (such as a cloud server), so that the remote electronic device can call a pre-trained image recognition model to perform image detection on the first vehicle environment information to determine whether water can be detected through the first vehicle environment information (or, the image outside the vehicle) (or, whether the image outside the vehicle includes water), thereby generating a corresponding detection result. Subsequently, the remote electronic device sends the detection result to the vehicle, so that the vehicle can determine the vehicle state based on the received detection result.

[0063] Optionally, in certain embodiments of the present application, the vehicle can control the "camera for photographing the vertical downward direction of the vehicle" to obtain the first vehicle environment information, thereby ensuring that the first vehicle environment information can effectively represent whether the vehicle is wading. In certain embodiments, the vehicle camera is installed on the roof, and the vehicle camera can photograph images along the vertical downward direction of the door or window.

[0064] It is also understandable that after determining the vehicle status, the vehicle of the embodiments of the present application can perform corresponding operations according to the vehicle status. For example, in some embodiments, when it is determined that the vehicle is wading, that is, when water is detected on the road where the vehicle is located, the vehicle can immediately send a prompt message to the user terminal to inform the user that the vehicle is wading, so that the user can know the vehicle status when the vehicle may encounter a wading accident or is about to encounter a wading accident, and then can decide whether to move the vehicle. Therefore, it can avoid to a certain extent the situation where the vehicle encounters a wading accident due to the user's failure to know the vehicle status in time.

[0065] Optionally, to further avoid the probability of a vehicle encountering a water-related accident, in some embodiments, when it is determined that the vehicle is wading, the vehicle can automatically drive to a preset location such as a vehicle refuge location pre-set by the user (including but not limited to the user's personal garage, etc.). In other embodiments, when it is determined that the vehicle is wading, the vehicle can control itself to drive to a public parking spot in a good weather area according to the weather conditions in the city. For example, if a city includes Area A, Area B and Area C, and Area A and Area B suddenly experience heavy rain, and Area C is not experiencing heavy rain or other severe weather, the vehicle can automatically drive to a public parking spot in Area C according to the electronic map. As a result, the embodiments of the present application realize automatic risk avoidance of the vehicle, thereby avoiding the situation where the vehicle is damaged by water (i.e., the vehicle encounters a water-related accident) and the owner's property is damaged.

[0066] In summary, the implementation methods of the present application enable the vehicle to obtain first vehicle environment information and vehicle information through the vehicle camera when the vehicle is in sentinel mode, and then determine the vehicle status through the first vehicle environment information, or in other words, determine whether the vehicle is wading through the outside image captured by the vehicle camera, that is, whether there is water accumulation on the road where the vehicle is located. As a result, the vehicle can prompt or guide the user to move the vehicle at an appropriate time, such as when it is determined that the vehicle status is wading. Furthermore, the probability of the vehicle encountering a water-related accident due to the user's ignorance of the vehicle status and the failure to move the vehicle in time can be reduced to a certain extent, and the user's property can be protected to a certain extent.

[0067] In addition, in an embodiment where the vehicle can automatically drive to a specific location, the embodiment of the present application is also based on the vehicle automatically driving to a public parking spot in an area with good weather when it is determined that the vehicle is wading through water, or automatically driving to a vehicle refuge location pre-set by the user (including but not limited to the user's personal garage, etc.), thereby achieving automatic risk avoidance of the vehicle, thereby avoiding the situation where the vehicle is damaged by water (i.e., the vehicle encounters a water-related accident) and causing property and safety losses to the owner.

[0068] In certain embodiments of this application, please refer to Figure 3 , step 01 includes:

[0069] 010: When the vehicle is in sentinel mode, obtain second vehicle environment information collected by the vehicle radar;

[0070] 011: When the environmental status information satisfies a first preset condition, obtain vehicle information, wherein the environmental status information is determined based on second vehicle environmental information.

[0071] The transceiver unit of the embodiment of the present application is also used to obtain second vehicle environment information collected by the vehicle radar when the vehicle is in sentry mode; and obtain vehicle information when the environmental status information meets a first preset condition, wherein the environmental status information is determined based on the second vehicle environment information.

[0072] The processor of the embodiment of the present application is also used to obtain second vehicle environment information collected by the vehicle radar when the vehicle is in sentinel mode; and obtain vehicle information when the environmental status information meets a first preset condition, wherein the environmental status information is determined based on the second vehicle environment information.

[0073] That is, in order to avoid the vehicle needing to spend a long time to perform high-power (or, complex operating logic) vehicle status detection using the first vehicle environment information collected or acquired by the camera, before detecting the vehicle status by using the first vehicle environment information of the camera, the second vehicle environment information collected by the vehicle radar is first used to detect whether the vehicle may be wading through water. When the vehicle radar determines that the vehicle may be wading through water, the first vehicle environment information of the vehicle camera is used to perform a wading inspection, thereby optimizing the logic for determining the vehicle status.

[0074] Specifically, the vehicle of the implementation mode of the present application can first start the vehicle radar when entering the sentry mode, or in other words, first control the vehicle radar to enter the power-on state, thereby controlling the vehicle radar to send signals outward to obtain feedback information (such as echo information or laser reflection information), thereby obtaining second vehicle environment information.

[0075] After obtaining the second vehicle environment information, the vehicle can determine the environment status information according to the second vehicle environment information, or can detect whether there is an object outside the vehicle according to the detection signal of the vehicle radar. Alternatively, the vehicle can send the second vehicle environment information to a remote electronic device (such as a cloud server), so that after receiving the second vehicle environment information, the remote electronic device calls a preset function or interface to determine the environment status information corresponding to the second vehicle environment information, and then sends or feeds back the environment status information to the vehicle.

[0076] After the vehicle obtains environmental status information, it can determine whether the environmental status information satisfies a first preset state. For example, when the environmental status information is used to characterize whether there is an object on the road where the vehicle is located, if it is determined based on the environmental status information that there is an object on the road where the vehicle is located, then the first preset condition is met.

[0077] When the environmental status information satisfies the first preset status, the vehicle determines that "the vehicle status may be wading", that is, it determines that there may be water on the road where the vehicle is located. It is understandable that because the information transmitted by the radar is difficult to identify the type of objects outside the vehicle, the radar is usually used to detect the height or position of the object. For example, when the vehicle radar is an ultrasonic radar, the distance between the object touched by the ultrasonic wave and the ultrasonic radar can be calculated based on the ultrasonic wave transmission time, the echo reception time (the ultrasonic wave bounces back due to contact with an object), and the propagation speed of the ultrasonic wave in the air medium.

[0078] Furthermore, because most radars in vehicles are difficult to detect the type of objects, the implementation mode of the present application can obtain the first vehicle environment information through the vehicle camera when the vehicle radar determines that "the vehicle status may be that the vehicle is wading", and re-check whether the vehicle status is that the vehicle is wading based on the first vehicle environment information.

[0079] It is not difficult to understand that after the first vehicle environment information (such as the image outside the vehicle) is obtained by the vehicle camera, the first vehicle environment information can relatively intuitively reflect whether there is water (or water body) outside the vehicle, so the credibility of the vehicle state determined by the first vehicle environment information is higher. Therefore, the implementation method of the present application is to first use the second vehicle environment information (or the environment state information corresponding to the second vehicle environment information) to determine that the vehicle may be wading, and then use the first vehicle environment information to confirm whether the vehicle is actually wading.

[0080] And, it can also be understood that compared with the step of determining the vehicle status through the first vehicle environment information of the camera, the step of determining the environmental status information through the vehicle radar is easier to execute, or in other words, the execution efficiency is higher and the execution requires less calculation.

[0081] Furthermore, compared with the solution of continuously detecting whether the vehicle is wading through the first vehicle environment information of the camera, the solution based on the combination of vehicle radar and vehicle camera, or in other words, first determining the environmental status information through the second vehicle environment information of the vehicle radar, and then detecting whether the vehicle is wading through the first vehicle environment information of the camera when the environmental status information meets the preset conditions, the calculation amount and power consumption required for detecting the vehicle status are relatively lower.

[0082] In this way, the implementation mode of the present application obtains the second vehicle environment information through the vehicle and determines that the environmental status information corresponding to the second vehicle environment information meets the first preset condition, and then detects the vehicle status through the first vehicle environment information obtained by the vehicle camera, so that the execution efficiency of the vehicle status detection, the amount of calculation required for execution, and the power consumption required for execution can be guaranteed to a certain extent.

[0083] In addition, it should be noted that the vehicle radar in the embodiments of the present application may include but is not limited to any one of a laser radar, a millimeter wave radar and an ultrasonic radar. Also, the installation position of the vehicle radar in the embodiments of the present application can be set according to actual conditions. For example, in some embodiments, the vehicle radar is installed in the vehicle's exterior rearview mirror to send sound waves or lasers vertically downward to the vehicle. Furthermore, the vehicle (or the controller in the vehicle) can determine the distance between the object below the exterior rearview mirror and the exterior rearview mirror based on the second vehicle environment information of the vehicle radar, thereby obtaining environmental status information.

[0084] And, for the case where the vehicle radar is an ultrasonic radar, it can be understood that the ultrasonic sensor is a sensor designed based on the piezoelectric effect and the inverse piezoelectric effect, and the core component of the ultrasonic radar is piezoelectric ceramics. At the same time, when the ultrasonic radar is to emit ultrasonic waves, a pulse with the same resonant frequency (of the ultrasonic radar) can be applied to the ultrasonic radar, so that the ultrasonic sensor converts the pulse into ultrasonic waves for outward emission. After the ultrasonic wave is reflected by an obstacle, the ultrasonic radar can convert the received reflected ultrasonic wave into a pulse signal, thereby forming the second vehicle environment information.

[0085] In some implementations of the present application, step 011 includes:

[0086] When the environmental status information meets the first preset condition, the vehicle camera is controlled to enter a power-on state to obtain the first vehicle environmental information through the vehicle camera.

[0087] The transceiver unit of the embodiment of the present application is also used to control the vehicle camera to enter a power-on state when the environmental status information meets a first preset condition, so as to obtain first vehicle environmental information through the vehicle camera.

[0088] The processor of the embodiment of the present application is also used to control the vehicle camera to enter a power-on state when the environmental status information meets a first preset condition, so as to obtain first vehicle environmental information through the vehicle camera.

[0089] That is, in order to further reduce the power consumption required for vehicle status detection, the vehicle of the embodiment of the present application can control the vehicle camera to be powered on only when it is determined that the vehicle may be wading, or when it is determined that the environmental status information meets the first preset condition, so that the vehicle camera works due to power-on, and then the vehicle can obtain the first vehicle environmental information through the vehicle camera.

[0090] Therefore, after entering the sentinel mode, the vehicle of the embodiment of the present application can control the vehicle radar to be powered on to obtain the second vehicle environment information through the vehicle radar. And, when the environmental state information (determined by the second vehicle environment information) meets the first preset condition, or when it is determined that the vehicle may be wading, the vehicle camera can be controlled to be powered on to obtain the first vehicle environment information through the vehicle camera.

[0091] It can also be understood that the power consumption required for the operation of the vehicle radar is lower than that required for the operation of the vehicle camera. Furthermore, compared with the solution of continuously detecting whether the vehicle is wading through the first vehicle environment information of the camera, the solution based on the combination of the vehicle radar and the vehicle camera, or in other words, first determining the environmental state information through the second vehicle environment information of the vehicle radar, and then detecting whether the vehicle is wading through the first vehicle environment information of the camera when the environmental state information meets the preset conditions, requires lower power consumption for execution, and at the same time, can reduce the risk of vehicle power feeding caused by the long-term operation of the vehicle camera.

[0092] In this way, the implementation mode of the present application enables the vehicle to control the vehicle camera to power on so that the vehicle camera can work normally when the environmental status information meets the first preset condition, or in other words, when it is determined that the vehicle may be wading. Then, the first vehicle environmental information can be obtained through the vehicle camera, so that the power consumption required for the vehicle to perform status detection can be controlled to a certain extent.

[0093] In addition, in order to further reduce the power consumption required for the vehicle to perform status detection, in certain embodiments of the present application, since the above-mentioned step 01, the sub-steps of step 01 and step 02 are all executed by the controller in the vehicle, the controller of the embodiment of the present application can, after the vehicle enters the sentinel mode, put itself into a low-power consumption mode of "being able to control the vehicle radar and the vehicle camera to power on or off, being able to determine the environmental status information through the second vehicle environmental information, and being able to determine whether the environmental status information meets the first preset condition", and then control the vehicle radar to power on to obtain the second vehicle environmental information, determine the environmental status information through the second vehicle environmental information, and determine whether the environmental status information meets the first preset condition.

[0094] If it is determined that the environmental status information meets the first preset condition, the control itself enters a high power consumption mode of "being able to control the vehicle radar and the vehicle camera to power on or off, and being able to determine the vehicle status through the first vehicle environmental information", and then controls the vehicle camera to power on to obtain the first vehicle environmental information, and determines the vehicle status through the first vehicle environmental information.

[0095] It can be understood that compared with the high power consumption mode, the operating power consumption of the vehicle controller in the low power consumption mode is lower. Therefore, the implementation mode of the present application can realize the detection of the vehicle status with lower power consumption.

[0096] In addition, in order to further reduce the power consumption of the vehicle, the vehicle radar of the embodiment of the present application can operate at a signal transmission frequency lower than the signal transmission frequency when the vehicle is not in sentinel mode. For example, in some embodiments, when the vehicle is not in sentinel mode, the vehicle radar sends signals outward at intervals of 50 milliseconds, while when the vehicle is in sentinel mode, the vehicle radar sends signals outward at intervals of 1 second. As a result, the vehicle can complete the acquisition of the second vehicle environment information with lower power consumption, so that the power consumption of the vehicle can be further reduced.

[0097] In certain embodiments of the present application, the determination method further comprises:

[0098] When the vehicle status is not that the vehicle is wading, the vehicle camera is controlled to enter a power-off state.

[0099] The processing unit of the implementation mode of the present application is also used to control the vehicle camera to enter a power-off state when the vehicle status is not that the vehicle is wading.

[0100] The processor of the embodiment of the present application is also used to control the vehicle camera to enter a power-off state when the vehicle status is not that the vehicle is wading.

[0101] That is, in order to further reduce the vehicle power consumption, the implementation mode of the present application may control the vehicle camera to power off when the vehicle may be wading but is not actually wading, or in other words, when the environmental status information meets the first preset condition but the vehicle status is determined not to be wading according to the first vehicle environmental information. This is to avoid the vehicle camera continuing to be powered on after the environmental status information meets the first preset condition at a certain moment, resulting in high vehicle power consumption, and further causing the vehicle to be powered off.

[0102] It can be understood that when it is determined based on the first vehicle environmental information that the vehicle state is not wading, that is, when the object outside the vehicle detected by the vehicle radar is not actually a body of water, the vehicle of the implementation mode of the present application can suspend the operation of the vehicle radar for a period of time (such as 5 minutes) to avoid the situation where the vehicle determines in a short period of time that the environmental state information satisfies the first preset condition based on the second vehicle environmental information obtained by the vehicle radar, and then turns on the vehicle camera again.

[0103] In this way, the implementation mode of the present application enables the vehicle to control the vehicle camera to enter a power-off state when the environmental status information satisfies the first preset condition, but the vehicle status is determined not to be wading according to the first vehicle environmental information, that is, when the vehicle may be wading but is not actually wading, thereby reducing the power consumption generated by the operation of the vehicle camera and extending the vehicle's cruising range to a certain extent.

[0104] In certain embodiments of the present application, when the environmental state information satisfies the first preset condition, controlling the vehicle camera to enter a power-on state to obtain the first vehicle environmental information through the vehicle camera includes:

[0105] When the height information of the object stored on the ground meets the preset height condition, the vehicle camera is controlled to enter a power-on state to obtain the first vehicle environment information through the vehicle camera.

[0106] The transceiver unit of the implementation mode of the present application is also used to control the vehicle camera to enter a power-on state when the height information of the object stored on the ground meets a preset height condition, so as to obtain the first vehicle environment information through the vehicle camera.

[0107] The processor of the embodiment of the present application is also used to control the vehicle camera to enter a power-on state when the height information of the object stored on the ground meets a preset height condition, so as to obtain the first vehicle environment information through the vehicle camera.

[0108] That is, in the implementation manner of the present application, the environmental status information (determined by the second vehicle environmental information) may include height information of objects stored on the ground.

[0109] Therefore, the vehicle (or the controller in the vehicle) of the embodiment of the present application can detect whether the vehicle is likely to wade according to the height information of the object stored on the ground, that is, to determine whether the height information of the object stored on the ground meets the preset height condition, or in other words, whether the height of the object stored on the ground is not less than the preset height. If the preset height condition is met, it is determined that the vehicle is likely to wade, and then the vehicle camera is controlled to power on to obtain the first vehicle environment information through the vehicle camera, and detect whether the vehicle is actually wading through the first vehicle environment information.

[0110] It is understandable that, since the radar in the vehicle is usually not used to detect the type of objects, if the radar is used to detect the type of objects outside the vehicle, there is a possibility that bushes, sand and other objects outside the vehicle will be identified as water bodies. Therefore, the embodiment of the present application can detect the height of objects on the ground where the vehicle is located (corresponding to the height information of objects stored on the ground) through the vehicle radar, and detect whether the vehicle is likely to have a water accident through the height of the objects on the ground where the vehicle is located.

[0111] It can be understood that in the implementation of the present application, when determining that the height information of the objects stored on the ground meets the preset height condition, that is, when the height of the objects stored on the ground is higher than a certain value, once the category of the objects stored on the ground is water, the vehicle is at risk of a water-related accident, and then the vehicle controls the vehicle camera to power on. Therefore, the implementation of the present application enables the detection of the vehicle status to be performed at an appropriate time, that is, when the height information of the objects stored on the ground meets the preset height condition, or, in other words, when the vehicle is at risk of a water-related accident, thereby ensuring the effective execution of the vehicle status detection.

[0112] In addition, it can be understood that the preset height condition of the embodiment of the present application can be set according to actual conditions. For example, when the vehicle model is an off-road vehicle, because the chassis of the off-road vehicle is relatively high, the preset height condition is "the height of the ground storage object is not less than 700 mm".

[0113] In this way, the implementation mode of the present application enables the vehicle to control the vehicle camera to power on when the height information of the objects stored on the ground meets the preset height condition, that is, when the vehicle is at risk of a water accident, so as to obtain the first vehicle environment information through the vehicle camera and detect the vehicle status based on the first vehicle environment information. This allows the vehicle status detection to be performed at an appropriate time to a certain extent, thereby ensuring the effective execution of the vehicle status detection.

[0114] In certain embodiments of the present application, the determination method further comprises:

[0115] When the vehicle is in the wading state, the height information and preset vehicle movement prompt information are sent.

[0116] The processing unit of the implementation mode of the present application is also used to send the height information and preset vehicle movement prompt information when the vehicle status is that the vehicle is wading.

[0117] The processor of the implementation mode of the present application is also used to send the height information and preset vehicle movement prompt information when the vehicle status is that the vehicle is wading.

[0118] That is, the vehicle (or the controller in the vehicle) of the embodiment of the present application can prompt the owner to move the vehicle if it is determined that the vehicle is wading, that is, feedback the vehicle moving prompt information to the target user. At the same time, the height of the water surface outside the vehicle, or the wading depth of the vehicle, that is, the height information of the objects stored on the ground, can also be fed back to the target user, so that the user knows the wading status of the vehicle.

[0119] It is understandable that the vehicle movement prompt information can be directly sent to the user terminal that has a binding relationship or a corresponding relationship with the vehicle. It is understandable that the user terminal of the owner usually has a binding relationship (or a corresponding relationship) with the vehicle.

[0120] Furthermore, in certain embodiments, when the target user's terminal receives a vehicle movement prompt, if the terminal is installed with a preset application, the application may pop up a corresponding text message to prompt the user to move the vehicle to avoid water accidents, and prompt the user of the vehicle's water depth (i.e., the height information of objects stored on the ground).

[0121] In addition, it can be understood that when the first vehicle environment information obtained through the vehicle camera determines that the vehicle is wading, that is, when the category of the ground objects outside the vehicle is determined to be water, the height information of the ground objects can be understood as the height of the water surface outside the vehicle, or the wading depth of the vehicle.

[0122] In this way, the implementation method of the present application enables the vehicle to feedback corresponding vehicle moving prompt information to the target user when the vehicle is wading, so that the target user knows that the vehicle is at risk of wading, thereby avoiding the situation where the user is not aware of the vehicle status and cannot move the vehicle in time, resulting in a vehicle wading accident. At the same time, because the vehicle can also feedback the height information of the accumulated objects on the ground to the target user, that is, the height of the accumulated water on the road where the vehicle is located, the user can clearly understand the environment and status of the vehicle.

[0123] In addition, in order to enable users to know the environment or status of the vehicle more intuitively and clearly, the vehicle can also feedback the first vehicle environment information to the target user when it is determined that it is wading. That is, the image outside the vehicle captured by the vehicle camera is sent to the terminal of the target user, so that the user can know the environment or status of the vehicle intuitively and clearly through the image.

[0124] In certain embodiments of the present application, the determination method further comprises:

[0125] In response to the vehicle moving rejection instruction, the vehicle camera is controlled to enter a power-off state.

[0126] The processing unit of the implementation mode of the present application is also used to control the vehicle camera to enter a power-off state in response to a vehicle movement rejection instruction.

[0127] The processor of the implementation manner of the present application is also used to control the vehicle camera to enter a power-off state in response to a vehicle movement rejection instruction.

[0128] That is, in order to reduce vehicle power consumption and avoid the vehicle disturbing the user, the vehicle of the implementation mode of the present application (or the controller in the vehicle) can also control the vehicle camera to enter a power-off state when the user knows the reminder information for moving the vehicle but the user refuses to move the vehicle. That is, the user terminal of the target user displays the reminder information for moving the vehicle and the height information, but the target user triggers the car moving refusal instruction on the user terminal, and the user terminal sends the car moving refusal instruction to the vehicle, so that the vehicle knows that the user will not move the vehicle. Thereby, the vehicle of the implementation mode of the present application can control the vehicle camera to enter a power-off state, thereby reducing a certain power consumption caused by the operation of the vehicle camera and reducing the risk of vehicle power feeding.

[0129] It is understandable that if the vehicle receives a move rejection command from the target user in response to the move prompt information, the vehicle can know that "the target user determines that the risk of the vehicle being involved in a water accident is low", and then control the camera to power off to avoid disturbing the target user and reduce the power consumption of the vehicle due to the operation of the camera.

[0130] In this way, the implementation mode of the present application enables the vehicle to control the vehicle camera to power off according to the target user's feedback of the car moving refusal instruction in response to the car moving prompt information, thereby avoiding the power consumption generated by the long-term operation of the vehicle camera to a certain extent, and therefore, can ensure the vehicle's endurance to a certain extent.

[0131] In addition, after the vehicle camera is powered off, it may be triggered to power on again within a short period of time due to the environmental status information corresponding to the second vehicle environmental information of the vehicle radar. After the vehicle camera is powered on, it may once again provide feedback to the target user with vehicle moving prompt information and height information due to the presence of water outside the vehicle.

[0132] To avoid the above situation, in certain embodiments of the present application, after the vehicle receives the target user's feedback of the vehicle moving refusal command in response to the vehicle moving prompt information, the height information of the ground storage object currently obtained is recorded, so as to trigger the vehicle camera to power on after the height of the ground storage object produces a preset change trend. For example, if the vehicle detects that the height of the ground storage object is 700 mm (corresponding to the height information) at 10 o'clock, and based on the first vehicle environmental information, it is determined that the vehicle state is wading, and then the vehicle moving prompt information is fed back to the target user. If the vehicle receives a moving refusal instruction from the target user in response to the moving prompt at 10:01, the vehicle will determine whether the height of the object detected this time is not lower than the height of the object previously fed back, and the height difference is greater than a preset value after detecting the height information of the object stored on the ground again. For example, it will determine whether the height of the object detected this time is higher than 700 mm and exceeds a certain value (such as 100 mm) of 700 mm. If at 10:05, the height of the object detected on the ground is 800 mm, the vehicle will trigger the power-on of the vehicle camera and subsequent status detection actions.

[0133] In certain embodiments of the present application, step 02 includes:

[0134] Based on a preset image recognition network model, a vehicle state is determined according to the first vehicle environment information.

[0135] The processing unit of the implementation mode of the present application is also used to determine the vehicle state according to the first vehicle environment information based on a preset image recognition network model.

[0136] The processor of the implementation manner of the present application is also used to determine the vehicle state according to the first vehicle environment information based on a preset image recognition network model.

[0137] That is, the vehicle (controller in the vehicle) of the embodiment of the present application is equipped with a neural network model for identifying whether there is water in an image, or in other words, is equipped with an image recognition network model.

[0138] Therefore, after acquiring the outside image of the vehicle, that is, the first vehicle environment information, through the camera, the first vehicle environment information can be input into the image recognition network model, so that after the image recognition network model outputs the detection result corresponding to the first vehicle environment information (that is, whether the first vehicle environment information includes water body), it is determined whether the vehicle is wading according to the detection result.

[0139] It can be understood that the neural network model has higher accuracy, or in other words, the credibility of the vehicle status obtained through the image recognition network model is higher.

[0140] In this way, the embodiment of the present application determines the vehicle status based on the pre-trained image recognition network model, so that the credibility of the determined vehicle status can be guaranteed to a certain extent.

[0141] In certain embodiments of the present application, the vehicle camera and the vehicle radar are controlled based on different vehicle cameras. For example, see Figure 4 and Figure 5 . Figure 4 This is a schematic diagram of application scenarios of certain embodiments of the present application. Figure 5 This is a method for determining a vehicle status in certain embodiments of the present application.

[0142] That is, the left domain controller 310 of the embodiment of the present application can be used to control the vehicle radar 320, the front domain controller 330 can be used to control the vehicle camera 340, and the cockpit domain controller 350 can be used to send information to the user terminal 360 of the target user.

[0143] Furthermore, after the vehicle enters the sentinel mode, the left domain controller 310 can control itself to enter a low power consumption mode of "sending an enable signal to the vehicle radar 320, determining the environment status information through the second vehicle environment information to the front domain controller 330, and determining whether the environment status information satisfies the first preset condition". Furthermore, an enable signal is sent to the vehicle radar 320 so that the vehicle radar 320 sends a signal outward regularly (e.g., every 1 second), and the second vehicle environment information can be generated according to the reflected signal.

[0144] After the vehicle radar 320 generates the second vehicle status information, and the left domain controller 310 obtains or reads the second vehicle status information, and determines the height of the accumulated objects on the ground where the vehicle is located based on the second vehicle status information, that is, the height information of the accumulated objects on the ground, it determines whether the height information of the accumulated objects on the ground meets the preset height condition.

[0145] If the height information of the objects stored on the ground meets the preset height condition, the left domain controller 310 can make itself enter the high power consumption mode of "being able to determine the vehicle status through the first vehicle environment information, and being able to send instructions or information to the front domain controller 330 and the cockpit domain controller 350". Furthermore, the left domain controller 310 sends an instruction to the front domain controller 330 to make the front domain controller 330 (which enters the sleep state due to the vehicle entering the sentinel mode) exit the sleep mode, and according to the instruction of the left domain controller 310, control the vehicle camera 340 to enter the power-on state. After the vehicle camera 340 enters the power-on state, it can capture images outside the vehicle to form the first vehicle environment information, and send the first vehicle environment information to the front domain controller 330. After receiving the first vehicle environment information, the front domain controller 330 forwards the first vehicle environment information to the left domain controller 310. And, the left domain controller 310 can send a preset signal to the vehicle radar 320 to suspend the operation of the vehicle radar 320.

[0146] If the left domain controller 310 determines that the vehicle state is wading according to the first vehicle environment information, the determined height information of the stored object on the ground and the preset vehicle moving prompt information are sent to the cockpit domain controller 350. After receiving the height information of the stored object on the ground and the vehicle moving prompt information, the cockpit domain controller 350 sends the height information of the stored object on the ground and the vehicle moving prompt information to the user terminal 360 of the target user (such as the vehicle owner), so that the user terminal 360 can display the height information of the stored object on the ground and the vehicle moving prompt information, thereby letting the target user know the current state of the vehicle.

[0147] Conversely, if the left domain controller 310 determines that the vehicle status is not wading based on the first vehicle environment information, it can send an instruction to the front domain controller 330 to enable the front domain controller 330 to control the vehicle camera 340 to power off and restore itself to sleep mode. At the same time, the left domain controller 310 switches itself from high power consumption mode to low power consumption mode, and sends an enable signal to the vehicle radar 320 again, so that the vehicle radar 320 sends a signal to the outside periodically (such as every 1 second) and generates the second vehicle environment information based on the reflected signal.

[0148] It is understandable that based on Figure 4 and Figure 5 In an implementation manner, the left domain controller 310 can re-enter the low power consumption mode after the low power consumption mode is interrupted, thereby effectively reducing the vehicle power consumption in the sentinel mode, and further reducing the vehicle power feeding risk caused by the long-term sentinel mode of the vehicle to a certain extent.

[0149] The embodiment of the present application further provides a vehicle, wherein the vehicle includes a vehicle body, and the vehicle body is equipped with the above-mentioned determination device or the above-mentioned electronic device.

[0150] The embodiment of the present application also provides a computer-readable storage medium storing a computer program, which implements the above-mentioned method for determining the vehicle status when the computer program is executed by one or more processors.

[0151] In the description of this specification, the descriptions with reference to the terms "specifically", "further", "particularly", "understandably", etc. are intended to mean that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms are not intended to refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, unless they are contradictory.

[0152] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0153] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A method for determining a vehicle state, characterized in that: include: When the vehicle is in sentry mode, acquiring vehicle information, wherein the vehicle information includes first vehicle environment information acquired by a vehicle radar; A vehicle state is determined according to the first vehicle environment information, wherein the vehicle state includes the vehicle wading through water.

2. The method according to claim 1, characterized in that When the vehicle is in sentry mode, obtaining vehicle information includes: When the vehicle is in the sentinel mode, obtaining second vehicle environment information collected by a vehicle radar; When the environment state information satisfies a first preset condition, the vehicle information is acquired, wherein the environment state information is determined according to the second vehicle environment information.

3. The method according to claim 2, characterized in that The step of acquiring the vehicle information when the environmental state information satisfies a first preset condition includes: When the environmental status information satisfies the first preset condition, the vehicle camera is controlled to enter a power-on state to obtain the first vehicle environmental information through the vehicle camera.

4. The method according to claim 3, characterized in that The method further comprises: When the vehicle state is not that the vehicle is wading, the vehicle camera is controlled to enter a power-off state.

5. The method according to claim 3, characterized in that: When the environmental state information satisfies the first preset condition, controlling the vehicle camera to enter a power-on state so as to obtain the first vehicle environmental information through the vehicle camera includes: When the height information of the object stored on the ground meets the preset height condition, the vehicle camera is controlled to enter the power-on state to obtain the first vehicle environment information through the vehicle camera.

6. The method according to claim 5, characterized in that The method further comprises: When the vehicle status is that the vehicle is wading, the height information and preset vehicle movement prompt information are sent.

7. The method according to claim 6, characterized in that The method further comprises: In response to the vehicle moving rejection instruction, the vehicle camera is controlled to enter a power-off state.

8. The method according to claim 1, characterized in that The determining the vehicle state according to the first vehicle environment information includes: Based on a preset image recognition network model, the vehicle state is determined according to the first vehicle environment information.

9. A determination device, characterized in that: include: A transceiver unit, configured to obtain vehicle information when the vehicle is in a sentinel mode, wherein the vehicle information includes first vehicle environment information obtained by a vehicle camera; A processing unit is used to determine a vehicle state based on first vehicle environment information, wherein the vehicle state includes the vehicle wading.

10. An electronic device, characterized in that: The method comprises a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the method according to any one of claims 1 to 8 is implemented.

11. A vehicle, characterized in that: Including the body; The vehicle body is installed with the determination device according to claim 9, or is installed with the electronic device according to claim 10.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by one or more processors, the method according to any one of claims 1 to 8 is implemented.

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