Vehicle wading detection method and related device

Abstract

The invention provides a vehicle wading detection method and a related device, and the method comprises the steps: obtaining distance measurement data of a distance measurement sensor of a vehicle body of a target vehicle, the distance measurement data being used for representing a reference distance between a target vehicle body position and a reference position; acquiring external noise data of the target vehicle, wherein the external noise data comprises sound data of at least one wheel of the target vehicle; and determining the driving condition of the target vehicle as a wading driving condition according to the ranging data and the external noise data. According to the embodiment of the invention, bimodal data fusion can be realized through the sensor data of the audio sensor and the ultrasonic radar, the judgment result of the wading driving working condition of the vehicle is output, and the detection accuracy of the wading driving working condition is improved.

Description

Technical Field

[0001] The present application belongs to the general field of autonomous driving, and specifically relates to a vehicle wading detection method and related devices. Background Art

[0002] At present, the sensors based on the vehicle body perception system include millimeter wave radar, ultrasonic radar, camera, lidar, etc., which are mainly used for land ranging, image acquisition and other functions. Some vehicles also have systems based on wading and floating functions, using ultrasonic radars mounted on the rearview mirrors to measure the height of the rearview mirrors reaching the water surface in wading or floating states. However, the existing ultrasonic radars for wading ranging often result in target misjudgment and false alarms. For example, when encountering road obstacles, it is likely to be misjudged as wading, or in complex outdoor environments, the ultrasonic radar on the rearview mirror may misreport as a wading section when passing through bushes and other plant areas, or even give an erroneous warning message that the water depth exceeds the threshold. The reliability of wading perception relying solely on ultrasonic radars is low. Summary of the invention

[0003] The present application provides a vehicle wading detection method and related devices, which can realize dual-modal data fusion through the sensor data of audio sensor and ultrasonic radar, and output the judgment result of the vehicle's wading driving condition, which is conducive to improving the accuracy of wading driving condition detection.

[0004] In a first aspect, the present application provides a vehicle wading detection method, the method comprising:

[0005] Acquire ranging data of a ranging sensor of a body of a target vehicle, wherein the ranging data is a reference distance between a position of the target body and a reference position, wherein the position of the target body is a setting position of the ranging sensor, and the reference position is a position where a transmission signal of the ranging sensor is transmitted to a target object and an echo signal is generated, wherein the type of the target object includes a dielectric object that provides a reverse force for the movement of the target vehicle, or includes an object that is in an interval space region and has a signal transmission characteristic, and the interval space region refers to a space region between a horizontal plane where the ranging sensor is located and a surface of the dielectric object;

[0006] Acquiring exterior noise data of the target vehicle, wherein the exterior noise data includes sound data of at least one wheel of the target vehicle;

[0007] In a second aspect, the present application provides a vehicle wading detection device, the vehicle wading detection device comprising: an acquisition unit and a determination unit, wherein:

[0008] The acquisition unit is used to acquire the ranging data of the ranging sensor of the body of the target vehicle, the ranging data is a reference distance used to characterize the position of the target body and a reference position, the target body position is the setting position of the ranging sensor, the reference position is the position where the transmission signal of the ranging sensor is transmitted to the target object and the echo signal is generated, the type of the target object includes a dielectric object that provides a reverse force for the movement of the target vehicle, or includes an object in an interval space area and has a signal transmission characteristic, and the interval space area refers to the space area between the horizontal plane where the ranging sensor is located and the surface of the dielectric object;

[0009] The acquisition unit is further used to acquire vehicle exterior noise data of the target vehicle, wherein the vehicle exterior noise data includes sound data of at least one wheel of the target vehicle;

[0010] The determination unit is used to determine that the driving condition of the target vehicle is a wading driving condition according to the distance measurement data and the vehicle exterior noise data.

[0011] In a third aspect, the present application provides an electronic device comprising a processor, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in the first aspect of the present application.

[0012] In a fourth aspect, the present application provides a vehicle, comprising the aforementioned electronic device.

[0013] In a fifth aspect, the present application provides a computer-readable storage medium having a computer program / instruction stored thereon, which implements the steps in the first aspect of the present application when the computer program / instruction is executed by a processor.

[0014] In a sixth aspect, the present application provides a computer program product, wherein the computer program product comprises a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute part or all of the steps described in the first aspect of the present application.

[0015] It can be seen that in this application, the distance measurement data of the distance measurement sensor of the body of the target vehicle can be obtained first. The distance measurement data is used to characterize the reference distance between the position of the target body and the reference position. The target body position is the setting position of the distance measurement sensor. The reference position is the position where the transmission signal of the distance measurement sensor is transmitted to the target object and the echo signal is generated. The type of target object includes a dielectric object that provides a reverse force for the movement of the target vehicle, or includes an object in the interval space area and has a signal transmission characteristic. The interval space area refers to the space area between the horizontal plane where the distance measurement sensor is located and the surface of the dielectric object. Further, the external noise data of the target vehicle is obtained. The external noise data includes the sound data of at least one wheel of the target vehicle. Finally, the driving condition of the target vehicle is determined to be a wading driving condition based on the distance measurement data and the external noise data. In this way, it is possible to achieve dual-modal data fusion through the sensor data of the audio sensor and the ultrasonic radar, and output the judgment result of the vehicle's wading driving condition, which is conducive to improving the accuracy of wading driving condition detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1a It is a schematic diagram of the architecture of a vehicle wading detection system provided in an embodiment of the present application;

[0018] Figure 1b is a schematic diagram of a rearview mirror and a distance measuring sensor provided in an embodiment of the present application;

[0019] Figure 1c is a schematic diagram of a vehicle wading provided in an embodiment of the present application;

[0020] Figure 2 It is a flow chart of a vehicle wading detection method provided in an embodiment of the present application;

[0021] Figure 3 is a structural block diagram of an electronic device provided in an embodiment of the present application;

[0022] Figure 4 It is a block diagram of the functional units of a vehicle wading detection device 400 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0024] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices.

[0025] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0026] In the embodiments of the present application, "and / or" describes the association relationship of the associated objects, indicating that three relationships may exist. For example, A and / or B can represent the following three situations: A exists alone; A and B exist at the same time; B exists alone. Among them, A and B can be singular or plural.

[0027] In the embodiment of the present application, the symbol " / " can indicate that the objects associated with each other are in an "or" relationship. In addition, the symbol " / " can also indicate a division sign, that is, performing a division operation. For example, A / B can indicate A divided by B.

[0028] In the embodiments of the present application, "at least one item" or similar expressions refer to any combination of these items, including any combination of single items or plural items, and refer to one or more, and multiple refers to two or more. For example, at least one item of a, b, or c can represent the following seven situations: a, b, c, a and b, a and c, b and c, a, b, and c. Among them, each of a, b, and c can be an element or a set containing one or more elements.

[0029] In the embodiments of the present application, "equal to" can be used in conjunction with greater than, and is applicable to the technical solution adopted when greater than, and can also be used in conjunction with less than, and is applicable to the technical solution adopted when less than. When equal to is used in conjunction with greater than, it is not used in conjunction with less than; when equal to is used in conjunction with less than, it is not used in conjunction with greater than.

[0030] In order to better understand the solutions of the embodiments of the present application, the electronic devices, related concepts and backgrounds that may be involved in the embodiments of the present application are first introduced below.

[0031] The electronic devices involved in the embodiments of the present application may include various handheld devices with wireless communication functions, vehicle-mounted devices, wearable devices, computing devices or other processing devices connected to a wireless modem, as well as various forms of user equipment (UE), mobile stations (MS), electronic devices (terminal devices), etc. For the convenience of description, the above-mentioned devices are collectively referred to as electronic devices. The electronic devices may also include a domain controller on an autonomous driving vehicle.

[0032] See also Figure 1a , Figure 1a Schematic diagram of the architecture of a vehicle wading detection system provided in an embodiment of the present application. Figure 1a As shown, a target vehicle 100 , a distance measuring sensor 101 and a target sensor 102 .

[0033] The distance measuring sensor 101 includes but is not limited to ultrasonic radar, millimeter wave radar, laser radar and infrared sensor for distance measurement. The distance measuring sensor 101 can be set on the rearview mirror, body, rear of the target vehicle 100, etc., without limitation. For example, refer to Figure 1b , Figure 1b 1 is a schematic diagram of a rearview mirror and a ranging sensor provided in an embodiment of the present application. The ranging sensor 101 is arranged on the rearview mirror of the target vehicle 100; the target sensor 102 can be a road noise sensor or an audio sensor. The audio sensor can be a MIC sensor. When the target sensor 102 is a road noise sensor, it can be arranged on the tire of the target vehicle 100. When the target sensor 102 is an audio sensor, it can be arranged on the rearview mirror of the target vehicle 100. The target sensor 102 can also be arranged on the body or the rear of the vehicle, which is not limited here.

[0034] The target vehicle 100 includes at least one domain controller.

[0035] Among them, the ranging sensor 101 is used to collect ranging data, and the target sensor 102 is used to collect external noise data, the external noise data includes the sound data of at least one wheel of the target vehicle, and the ranging sensor 101 and the target sensor 102 can respectively send the collected ranging data and external noise data to the domain controller of the target vehicle 100.

[0036] In a possible example, the domain controller may first obtain the ranging data of the ranging sensor 101 of the body of the target vehicle 100, the ranging data is used to characterize the reference distance between the target body position and the reference position, the target body position is the setting position of the ranging sensor 101, the reference position is the position where the transmission signal of the ranging sensor 101 is transmitted to the target object and the echo signal is generated, and the type of the target object includes a dielectric object that provides a reverse force for the movement of the target vehicle 100, or includes an object in an interval space area and having a signal transmission characteristic. The interval space area refers to the space area between the horizontal plane where the ranging sensor 101 is located and the surface of the dielectric object. Further, the domain controller obtains the external noise data of the target vehicle 100, and the external noise data includes the sound data of at least one wheel of the target vehicle 100. Finally, according to the ranging data and the external noise data, it is determined that the driving condition of the target vehicle 100 is a wading driving condition. In this way, it is possible to achieve dual-modal data fusion through the sensor data of the audio sensor and the ultrasonic radar, and output the judgment result of the vehicle's wading driving condition, which is conducive to improving the accuracy of the wading driving condition detection.

[0037] See also Figure 2 , Figure 2 : is a flow chart of a vehicle wading detection method provided in an embodiment of the present application, which is applied to a domain controller, and the method includes:

[0038] Step S201, obtaining ranging data of a ranging sensor of a body of a target vehicle, wherein the ranging data is a reference distance used to characterize a position of the target body and a reference position, wherein the position of the target body is a setting position of the ranging sensor, and the reference position is a position where a transmission signal of the ranging sensor is transmitted to a target object and an echo signal is generated, and the types of the target objects include dielectric objects that provide a reverse force for the movement of the target vehicle, or objects that are in an interval space region and have a signal transmission characteristic, and the interval space region refers to a spatial region between a horizontal plane where the ranging sensor is located and a surface of the dielectric object.

[0039] The target vehicle body position and the reference position correspond to the height direction of the target vehicle.

[0040] Among them, there is at least one ranging sensor. When the ranging sensor is an ultrasonic sensor set on the left and / or rearview mirror of the target vehicle, the ranging data is the echo data collected by the ultrasonic radar, and the ultrasonic radar can generate pulsed ultrasonic waves by pulse coding; when there are two ultrasonic radars, that is, they are set at the left and right rearview mirrors of the target vehicle, and an ultrasonic radar is set on each of the left and right rearview mirrors of the target vehicle, and the two ultrasonic radars have a master-slave relationship, for example: the left ultrasonic radar can be the master radar, and the right ultrasonic radar is the slave radar. The right ultrasonic radar transmits the collected ranging data to the left ultrasonic radar, and the left ultrasonic radar sends the ranging data collected by the two radars together through the CAN (Controller Area Network) bus to the domain controller. The domain controller can perform digital signal processing on the ranging data, including envelope detection, digital filtering and digital-to-analog conversion, kick out the waveform of the pulse wave by means of envelope detection, and judge the initial reflection and secondary reflection of the target object by the peaks and troughs of the waveform.

[0041] Among them, the target vehicle body position includes but is not limited to the target vehicle rearview mirror position, the target object type includes but is not limited to water areas, roads, grass, mud, steps, etc., and objects in the separated space area with signal emission characteristics include but are not limited to grass and mud, water droplets and other emission objects splashed by wheels.

[0042] Among them, the domain controller can determine the reference distance based on the ranging data of the ranging sensor, and make a preliminary judgment on whether the target vehicle is wading according to the reference distance and the preset distance. Specifically, when the reference distance is less than the preset distance, a preliminary judgment is made that the target vehicle is wading. At this time, the active mode of the wading function of the target vehicle can be controlled to be actively turned on. The active mode means that during the driving process of the vehicle, the vehicle system automatically identifies the surrounding environment and provides wading function services. The passive mode requires the driver to manually switch between different function modes.

[0043] Step S202: Acquire exterior noise data of the target vehicle, wherein the exterior noise data includes sound data of at least one wheel of the target vehicle.

[0044] Among them, after obtaining the external noise data, the domain controller can also determine the type of the target object based on the external noise data. When the type of the target object indicates that the driving condition of the target vehicle is a wading driving condition, the domain controller makes a preliminary judgment that the target vehicle is wading, and can control the active mode of actively turning on the wading function of the target vehicle.

[0045] Among them, the external noise data collected in real time by the road noise sensor or the audio sensor is stored in the memory card.

[0046] Step S203: determining, based on the distance measurement data and the vehicle exterior noise data, that the driving condition of the target vehicle is a wading driving condition.

[0047] It can be seen that in the embodiment of the present application, the domain controller can first obtain the ranging data of the ranging sensor of the body of the target vehicle, the ranging data is used to characterize the reference distance between the target body position and the reference position, the target body position is the setting position of the ranging sensor, the reference position is the position where the transmission signal of the ranging sensor is transmitted to the target object and the echo signal is generated, and the type of the target object includes a dielectric object that provides a reverse force for the movement of the target vehicle, or includes an object in the interval space area and has a signal transmission characteristic. The interval space area refers to the space area between the horizontal plane where the ranging sensor is located and the surface of the dielectric object. Further, the external noise data of the target vehicle is obtained, and the external noise data includes the sound data of at least one wheel of the target vehicle. Finally, according to the ranging data and the external noise data, it is determined that the driving condition of the target vehicle is a wading driving condition. In this way, it is possible to achieve dual-modal data fusion through the sensor data of the audio sensor and the ultrasonic radar, and output the judgment result of the vehicle's wading driving condition, which is conducive to improving the accuracy of wading driving condition detection.

[0048] In one possible example, the method may include the following steps: determining the driving condition of the target vehicle as a wading driving condition based on the ranging data and the external noise data; inputting the external noise data into a pre-trained audio neural network model to predict the type of the target object; fusing the reference distance and the type of the target object to obtain fused feature information; determining a wading detection result of the target vehicle based on the fused feature information; and marking the driving condition of the target vehicle as the wading driving condition when the wading detection result indicates that the target vehicle is wading.

[0049] Among them, the audio neural network model includes but is not limited to a neural network model based on a dual LSTM (Long Short Term Mermory network) and a hierarchical model based on an ANN (Artificial Neural Network). The two models have different adjustment parameters for different input signal sources, and the hierarchies also have different corresponding training sets.

[0050] Among them, before inputting the external noise data into the pre-trained audio neural network model, the external noise data needs to be preprocessed, and the preprocessing includes but is not limited to normalization, audio segmentation, MEL Mel spectrum conversion or STFT (Short-Time Fourier Transform) spectrum conversion, correlation analysis, envelope detection and deconvolution, etc.

[0051] Among them, the domain controller includes a data fusion module, which is used to perform data fusion on the reference distance and the type of the target object. The algorithm used for data fusion can be a combination of central local data fusion, Kalman filter data fusion, waterfall data fusion framework system and output level fusion algorithm based on Identity identification code. The above data fusion algorithm is used to perform data fusion on the reference distance and the type of the target object to obtain fused data, and further feature extraction is performed on the fused data to obtain fused feature information. The fused feature information is further processed using a normalized exponential function to obtain a probability value of the target vehicle wading. When the probability value is greater than a preset probability threshold, the target vehicle is marked as wading. At this time, the wading detection result of the target vehicle is that the target vehicle is wading. When the probability value is less than or equal to the preset probability threshold, the target vehicle is marked as not wading. At this time, the wading detection result of the target vehicle is that the target vehicle is not wading.

[0052] Optionally, determining the type of the target object may include the following steps: performing noise reduction processing on the external noise data; performing audio feature extraction on the external noise data after the noise reduction processing to obtain an audio feature extraction result; and determining the type of the target object based on the audio feature extraction result.

[0053] In the specific implementation, the data fusion module fuses the reference distance and the type of the target object to obtain fused data, and extracts features from the fused data to obtain fused feature information, and further determines the water-related detection result based on the fused feature information.

[0054] It can be seen that in this example, the domain controller can perform bimodal data fusion through the sensor data of the audio sensor and the ultrasonic radar, and output the wading detection results of the vehicle's wading driving condition, which is beneficial to improve the accuracy of wading driving condition detection and improve the intelligence of the domain controller.

[0055] In one possible example, the method may include the following steps of determining the driving condition of the target vehicle as a wading driving condition based on the ranging data and the external noise data; determining the reference distance based on the ranging data; if the reference distance is less than a preset distance, determining the type of the target object based on the external noise data, the preset distance being a pre-determined reference distance of the target vehicle under a horizontal road driving condition; and, when it is detected that the type of the target object is a water area, marking the driving condition of the target vehicle as the wading driving condition.

[0056] Among them, the reference distance is the distance between the target vehicle body position and the horizontal road surface under the horizontal road driving condition, and the preset distance is manually set or system default, and is not limited here.

[0057] Among them, when the reference distance is less than the preset distance, a preliminary judgment can be made that the target vehicle is wading. At this time, considering that there will be misjudgment if the wading judgment is made only through the ranging data collected by the ultrasonic radar, the external noise data collected by the audio sensor or the road noise sensor is further processed to determine the type of the target object. When the type of the target object is water area, it is a verification of the preliminary judgment that the target vehicle is wading, and the final conclusion is that the target vehicle is wading.

[0058] It can be seen that in this example, the domain controller can consider the sensor data of the audio sensor and the ultrasonic radar at the same time to make a final judgment on the wading condition of the target vehicle, which is conducive to improving the accuracy of wading driving condition detection.

[0059] In a possible example, the reference distance is determined according to the ranging data, and the method may include the following steps: obtaining a target inclination angle, where the target inclination angle is an inclination angle formed between a horizontal plane and a transmitting head of the ranging sensor during the driving process of the target vehicle; determining a target time according to the ranging data, where the target time is the time when the transmitting signal of the ranging sensor is received; determining the reference distance according to the target inclination angle, a preset speed and the target time, where the preset speed is the propagation speed of sound waves in an air medium.

[0060] The calculation formula of reference distance is d = 0.5*C free *t*cos(θ), d is the reference distance, C free is the preset speed, that is, the propagation speed of sound waves in the air medium, t is the target time, that is, the time when the transmission signal of the ranging sensor is received, and θ is the target inclination angle, that is, the inclination angle formed between the horizontal plane and the transmitting head of the ranging sensor during the driving process of the target vehicle.

[0061] Among them, at least one IMU (Inertial Measurement Unit) sensor is also arranged on the body of the target vehicle. The IMU sensor can be used to measure the target inclination angle θ. When the target vehicle is traveling on a sloped road or in some wading conditions, an inclination angle will be formed between the horizontal plane and the transmitting head of the ranging sensor during the driving process of the target vehicle.

[0062] In the specific implementation, the domain controller obtains the target time and the target inclination angle collected by the IMU, and substitutes the target inclination angle, target time and preset speed into the calculation formula of the reference distance to obtain the reference distance.

[0063] It can be seen that in this example, the domain controller can determine the reference distance based on the ranging data and the target inclination angle, which is conducive to further bimodal data fusion of the reference distance and the type of target object, and output the wading detection results of the vehicle's wading driving condition, which is conducive to improving the accuracy of wading driving condition detection and improving the intelligence of the domain controller.

[0064] In one possible example, the reference distance is determined according to the ranging data, and the method may include the following steps: if the ranging sensor includes a first ranging sensor arranged at a first rearview mirror position and a second ranging sensor arranged at a second rearview mirror position, the ranging data includes a first ranging data set of the first ranging sensor and a second ranging data set of the second ranging sensor; then the reference distance is determined according to the first ranging data set and the second ranging data set; if the ranging sensor includes a single ranging sensor arranged at a single rearview mirror position, the ranging data includes a single ranging data set of the single ranging sensor; then the reference distance is determined according to the single ranging data set.

[0065] In a specific implementation, a first reference distance can be determined based on a first ranging data set, and a second reference distance can be determined based on a second ranging data set. Outlier filtering is performed on the first reference distance and the second reference distance. If the first reference distance and the second reference distance are obtained after outlier filtering, the average of the first reference distance and the second reference distance can be calculated to obtain a reference distance ultimately used for dual-modal data fusion. If the first reference distance or the second reference distance is obtained after outlier filtering, the first reference distance or the second reference distance is used as the reference distance ultimately used for dual-modal data fusion.

[0066] It can be seen that in this example, the domain controller can determine the reference distance, which is conducive to further bimodal data fusion of the reference distance and the type of target object, and output the wading detection results of the vehicle's wading driving condition, which is conducive to improving the accuracy of wading driving condition detection and improving the intelligence of the domain controller.

[0067] In one possible example, after determining that the driving condition of the target vehicle is a wading driving condition based on the distance measurement data and the external noise data, the method may include the following steps: determining the wading depth of the target vehicle based on the benchmark distance and the reference distance; if the wading depth is greater than a first preset threshold, generating a first alarm request, the first alarm request including a fan turn-off reminder request, a door unlock reminder request and a suspension raising request; if the wading depth is less than or equal to the first preset threshold, and the wading depth is greater than a second preset threshold, generating a second alarm request, the second alarm request including the fan turn-off reminder request and the door unlock reminder request.

[0068] Among them, see Figure 1c Show, Figure 1c An embodiment of the present application provides a schematic diagram of a vehicle wading. When a target vehicle wades, a reference distance h2 is the distance between a distance measuring sensor setting position (target vehicle body position) and the water surface measured by the distance measuring sensor. h1 is a reference distance, which is the distance between the target vehicle body position and the horizontal road surface when the target vehicle is driving on a horizontal road. h3 is the wading depth, and the wading depth h3=h1-h2.

[0069] The first preset threshold and the second preset threshold are manually set or system default, and are not limited here.

[0070] Optionally, determine whether the suspension of the target vehicle is in a raised state. If it is determined that the suspension is in a raised state, determine the suspension raised height, and determine the wading depth based on the reference distance, the suspension raised height, and the reference distance, wherein the wading depth = reference distance + suspension raised height - reference distance; determine whether the wading depth is greater than a third preset threshold; if it is determined that the wading depth is greater than the third preset threshold, generate a first alarm request, which includes a fan turn-off reminder request, a door unlock reminder request, and a suspension raise request; if it is determined that the wading depth is less than or equal to the third preset threshold, determine whether the wading depth is greater than a fourth preset threshold; if it is determined that the wading depth is greater than the fourth preset threshold, generate a second alarm request, which includes the fan turn-off reminder request and the door unlock reminder request.

[0071] The third preset threshold value=the first preset threshold value+the height of the suspension rise, and the fourth preset threshold value=the second preset threshold value+the height of the suspension rise.

[0072] It can be seen that in this example, the domain controller can determine the wading depth based on the benchmark distance and the reference distance, and further generate an alarm request when the wading depth is less than a certain threshold, thereby improving the intelligence of the domain controller.

[0073] In a possible example, after obtaining the exterior noise data of the target vehicle, the method may further include the following steps: obtaining target image data of a camera of the target vehicle, the target image data being an image including the target object; and determining that the driving condition of the target vehicle is the wading driving condition based on the ranging data, the exterior noise data and the target image data.

[0074] Among them, at least one camera is installed on the target vehicle, and the camera installation positions include but are not limited to the body, rear end, rearview mirror and other positions of the target vehicle. The camera captures the image of the target object, such as: the image of the road surface, the image of the water area, and obtains the target image data of the target object.

[0075] In the specific implementation, the camera of the target vehicle sends the collected target image data of the target object to the domain controller, and the domain controller performs trimodal data fusion on the reference distance, the type of the target object and the target image data to obtain the fused target data. According to the fused target data, the wading detection result is determined. When the wading detection result indicates that the target vehicle is wading, the driving condition of the target vehicle is marked as the wading driving condition.

[0076] It can be seen that in this example, the domain controller performs dual-modal data fusion through the sensor data of the audio sensor and the ultrasonic radar, and outputs the judgment result of the vehicle's wading driving condition, which is conducive to improving the accuracy of wading driving condition detection.

[0077] See also Figure 3 , Figure 3 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application, which is applied to a domain controller; Figure 3 As shown, the electronic device includes a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory, and the one or more programs are configured to execute the following steps by the processor:

[0078] Acquire ranging data of a ranging sensor of a body of a target vehicle, wherein the ranging data is a reference distance between a position of the target body and a reference position, wherein the position of the target body is a setting position of the ranging sensor, and the reference position is a position where a transmission signal of the ranging sensor is transmitted to a target object and an echo signal is generated, wherein the type of the target object includes a dielectric object that provides a reverse force for the movement of the target vehicle, or includes an object that is in an interval space region and has a signal transmission characteristic, and the interval space region refers to a space region between a horizontal plane where the ranging sensor is located and a surface of the dielectric object;

[0079] Acquiring exterior noise data of the target vehicle, wherein the exterior noise data includes sound data of at least one wheel of the target vehicle;

[0080] The driving condition of the target vehicle is determined to be a wading driving condition according to the distance measurement data and the vehicle exterior noise data.

[0081] It can be seen that in the embodiment of the present application, the electronic device can first obtain the ranging data of the ranging sensor of the body of the target vehicle, the ranging data is used to characterize the reference distance between the position of the target body and the reference position, the target body position is the setting position of the ranging sensor, the reference position is the position where the transmission signal of the ranging sensor is transmitted to the target object and the echo signal is generated, and the type of the target object includes a dielectric object that provides a reverse force for the movement of the target vehicle, or includes an object in the interval space area and has a signal transmission characteristic. The interval space area refers to the space area between the horizontal plane where the ranging sensor is located and the surface of the dielectric object. Further, the external noise data of the target vehicle is obtained, and the external noise data includes the sound data of at least one wheel of the target vehicle. Finally, according to the ranging data and the external noise data, it is determined that the driving condition of the target vehicle is a wading driving condition. In this way, it is possible to achieve dual-modal data fusion through the sensor data of the audio sensor and the ultrasonic radar, and output the judgment result of the vehicle's wading driving condition, which is conducive to improving the accuracy of wading driving condition detection.

[0082] In a possible example, in determining that the driving condition of the target vehicle is a wading driving condition according to the distance measurement data and the vehicle exterior noise data, the program further includes instructions for executing the following steps:

[0083] Determine the reference distance according to the distance measurement data;

[0084] Inputting the external noise data into a pre-trained audio neural network model to predict the type of the target object;

[0085] Performing data fusion on the reference distance and the type of the target object to obtain fused feature information;

[0086] Determining a wading detection result of the target vehicle according to the fused feature information;

[0087] When the wading detection result indicates that the target vehicle is wading, the driving condition of the target vehicle is marked as the wading driving condition.

[0088] In a possible example, in determining that the driving condition of the target vehicle is a wading driving condition according to the distance measurement data and the vehicle exterior noise data, the program includes instructions for executing the following steps:

[0089] Determine the reference distance according to the distance measurement data;

[0090] If the reference distance is less than a preset distance, determining the type of the target object according to the external noise data, the preset distance being a pre-determined reference distance of the target vehicle under horizontal road driving conditions; and,

[0091] When it is detected that the type of the target object is a water area, the driving condition of the target vehicle is marked as the wading driving condition.

[0092] In a possible example, in terms of determining the reference distance according to the distance measurement data, the program includes instructions for further performing the following steps:

[0093] Acquire a target inclination angle, where the target inclination angle is an inclination angle formed between a horizontal plane and a transmitting head of the ranging sensor during the driving process of the target vehicle;

[0094] Determine a target time according to the ranging data, wherein the target time is the time when a transmission signal of the ranging sensor is received;

[0095] The reference distance is determined according to the target inclination angle, a preset speed and the target time, wherein the preset speed is a propagation speed of sound waves in an air medium.

[0096] In a possible example, in terms of determining the reference distance according to the distance measurement data, the program includes instructions for further performing the following steps:

[0097] If the distance measuring sensor includes a first distance measuring sensor disposed at the first rearview mirror position and a second distance measuring sensor disposed at the second rearview mirror position, and the distance measuring data includes a first distance measuring data set of the first distance measuring sensor and a second distance measuring data set of the second distance measuring sensor; the reference distance is determined according to the first distance measuring data set and the second distance measuring data set;

[0098] If the distance measuring sensor includes a single distance measuring sensor disposed at a single rearview mirror position, the distance measuring data includes a single distance measuring data set of the single distance measuring sensor; and the reference distance is determined according to the single distance measuring data set.

[0099] In a possible example, after determining that the driving condition of the target vehicle is a wading driving condition according to the distance measurement data and the vehicle exterior noise data, the program further includes instructions for executing the following steps:

[0100] Determining the wading depth of the target vehicle according to the benchmark distance and the reference distance;

[0101] If the wading depth is greater than a first preset threshold, a first alarm request is generated, wherein the first alarm request includes a fan off reminder request, a door unlock reminder request, and a suspension raising request;

[0102] If the wading depth is less than or equal to a first preset threshold and the wading depth is greater than a second preset threshold, a second alarm request is generated, wherein the second alarm request includes the fan-off reminder request and the door-unlock reminder request.

[0103] In a possible example, after acquiring the exterior noise data of the target vehicle, the program further includes instructions for executing the following steps:

[0104] Acquire target image data of a camera of the target vehicle, wherein the target image data is an image including the target object;

[0105] The driving condition of the target vehicle is determined to be the wading driving condition according to the distance measurement data, the vehicle exterior noise data and the target image data.

[0106] The above mainly introduces the scheme of the embodiment of the present application from the perspective of the execution process on the method side. It is understandable that, in order to realize the above functions, the electronic device includes a hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiment provided in this article, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0107] The embodiment of the present application can divide the electronic device into functional units according to the above method example. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one processing unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units. It should be noted that the division of units in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0108] In the case of dividing each functional module into corresponding functional modules, Figure 4 A functional unit block diagram of a vehicle wading detection device 400 is given, such as Figure 4As shown, applied to a domain controller, the vehicle wading detection device 400 includes: an acquisition unit 401, a determination unit 402, a marking unit 403 and a generation unit 404, wherein:

[0109] The acquisition unit 401 is used to acquire the ranging data of the ranging sensor of the body of the target vehicle, the ranging data is used to characterize the reference distance between the position of the target body and the reference position, the target body position is the setting position of the ranging sensor, the reference position is the position where the transmission signal of the ranging sensor is transmitted to the target object and the echo signal is generated, the type of the target object includes a dielectric object that provides a reverse force for the movement of the target vehicle, or includes an object in an interval space area and has a signal transmission characteristic, and the interval space area refers to the space area between the horizontal plane where the ranging sensor is located and the surface of the dielectric object;

[0110] The acquisition unit 401 is further configured to acquire vehicle exterior noise data of the target vehicle, wherein the vehicle exterior noise data includes sound data of at least one wheel of the target vehicle;

[0111] The determination unit 402 is used to determine that the driving condition of the target vehicle is a wading driving condition according to the distance measurement data and the vehicle exterior noise data.

[0112] It can be seen that the vehicle wading detection device described in the embodiment of the present application can first obtain the ranging data of the ranging sensor of the body of the target vehicle, the ranging data is used to characterize the reference distance between the position of the target body and the reference position, the target body position is the setting position of the ranging sensor, the reference position is the position where the transmission signal of the ranging sensor is transmitted to the target object and the echo signal is generated, and the type of the target object includes a dielectric object that provides a reverse force for the movement of the target vehicle, or includes an object in the interval space area and has a signal transmission characteristic. The interval space area refers to the space area between the horizontal plane where the ranging sensor is located and the surface of the dielectric object. Further, the external noise data of the target vehicle is obtained, and the external noise data includes the sound data of at least one wheel of the target vehicle. Finally, according to the ranging data and the external noise data, it is determined that the driving condition of the target vehicle is a wading driving condition. In this way, it is possible to achieve dual-modal data fusion through the sensor data of the audio sensor and the ultrasonic radar, and output the judgment result of the vehicle's wading driving condition, which is conducive to improving the accuracy of wading driving condition detection.

[0113] In a possible example, in determining that the driving condition of the target vehicle is a wading driving condition according to the distance measurement data and the vehicle exterior noise data, the marking unit 403 is specifically used to:

[0114] Determine the reference distance according to the distance measurement data;

[0115] Inputting the external noise data into a pre-trained audio neural network model to predict the type of the target object;

[0116] Performing data fusion on the reference distance and the type of the target object to obtain fused feature information;

[0117] Determining a wading detection result of the target vehicle according to the fused feature information;

[0118] When the wading detection result indicates that the target vehicle is wading, the driving condition of the target vehicle is marked as the wading driving condition.

[0119] In a possible example, in determining that the driving condition of the target vehicle is a wading driving condition according to the distance measurement data and the vehicle exterior noise data, the marking unit 403 is specifically used to:

[0120] Determine the reference distance according to the distance measurement data;

[0121] If the reference distance is less than a preset distance, determining the type of the target object according to the external noise data, the preset distance being a pre-determined reference distance of the target vehicle under horizontal road driving conditions; and,

[0122] When it is detected that the type of the target object is a water area, the driving condition of the target vehicle is marked as the wading driving condition.

[0123] In a possible example, in determining the reference distance according to the ranging data, the determining unit 402 is specifically configured to:

[0124] Acquire a target inclination angle, where the target inclination angle is an inclination angle formed between a horizontal plane and a transmitting head of the ranging sensor during the driving process of the target vehicle;

[0125] Determine a target time according to the ranging data, wherein the target time is the time when a transmission signal of the ranging sensor is received;

[0126] The reference distance is determined according to the target inclination angle, a preset speed and the target time, wherein the preset speed is a propagation speed of sound waves in an air medium.

[0127] In a possible example, in determining the reference distance according to the ranging data, the determining unit 402 is specifically configured to:

[0128] If the distance measuring sensor includes a first distance measuring sensor disposed at the first rearview mirror position and a second distance measuring sensor disposed at the second rearview mirror position, and the distance measuring data includes a first distance measuring data set of the first distance measuring sensor and a second distance measuring data set of the second distance measuring sensor; the reference distance is determined according to the first distance measuring data set and the second distance measuring data set;

[0129] If the distance measuring sensor includes a single distance measuring sensor disposed at a single rearview mirror position, the distance measuring data includes a single distance measuring data set of the single distance measuring sensor; and the reference distance is determined according to the single distance measuring data set.

[0130] In a possible example, after determining that the driving condition of the target vehicle is a wading driving condition according to the distance measurement data and the vehicle exterior noise data, the generating unit 404 is specifically configured to:

[0131] Determining the wading depth of the target vehicle according to the benchmark distance and the reference distance;

[0132] If the wading depth is greater than a first preset threshold, a first alarm request is generated, wherein the first alarm request includes a fan off reminder request, a door unlock reminder request, and a suspension raising request;

[0133] If the wading depth is less than or equal to a first preset threshold and the wading depth is greater than a second preset threshold, a second alarm request is generated, wherein the second alarm request includes the fan-off reminder request and the door-unlock reminder request.

[0134] In a possible example, after acquiring the exterior noise data of the target vehicle, the determining unit 402 is specifically configured to:

[0135] Acquire target image data of a camera of the target vehicle, wherein the target image data is an image including the target object;

[0136] The driving condition of the target vehicle is determined to be the wading driving condition according to the distance measurement data, the vehicle exterior noise data and the target image data.

[0137] It should be noted that all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0138] The electronic device provided in this embodiment is used to execute the above-mentioned vehicle wading detection method, and thus can achieve the same effect as the above-mentioned implementation method.

[0139] In the case of using an integrated unit, the electronic device may include a processing module, a storage module and a communication module. Among them, the processing module can be used to control and manage the actions of the electronic device, for example, it can be used to support the electronic device to execute the steps performed by the above-mentioned acquisition unit 401, determination unit 402, marking unit 403 and generation unit 404. The storage module can be used to support the electronic device to execute stored program codes and data, etc. The communication module can be used to support the communication between the electronic device and other devices.

[0140] Among them, the processing module can be a processor or a controller. It can implement or execute various exemplary logic boxes, modules and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of digital signal processing (DSP) and a microprocessor, etc. The storage module can be a memory. The communication module can specifically be a device that interacts with other electronic devices, such as a radio frequency circuit, a Bluetooth chip, a Wi-Fi chip, etc.

[0141] An embodiment of the present application also provides a vehicle, comprising the aforementioned electronic device.

[0142] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute part or all of the steps of any method described in the above method embodiments, and the above computer includes an electronic device.

[0143] The present application also provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute some or all of the steps of any method described in the method embodiment. The computer program product may be a software installation package, and the computer includes a control platform.

[0144] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0145] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0146] In the several embodiments provided in the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are only schematic, such as the division of the above-mentioned units, which is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0147] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0148] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0149] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a memory, including a number of instructions to enable a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or CD-ROM and other media that can store program codes.

[0150] A person of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable memory, which can include: a flash drive, a read-only memory, a random access memory, a magnetic disk or an optical disk, etc.

[0151] The embodiments of the present application are introduced in detail above. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method and core idea of ​​the present application. At the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A vehicle wading detection method, characterized in that: include: Acquire ranging data of a ranging sensor of a body of a target vehicle, wherein the ranging data is a reference distance between a position of the target body and a reference position, wherein the position of the target body is a setting position of the ranging sensor, and the reference position is a position where a transmission signal of the ranging sensor is transmitted to a target object and an echo signal is generated, wherein the type of the target object includes a dielectric object that provides a reverse force for the movement of the target vehicle, or includes an object that is in an interval space region and has a signal transmission characteristic, and the interval space region refers to a space region between a horizontal plane where the ranging sensor is located and a surface of the dielectric object; Acquiring exterior noise data of the target vehicle, wherein the exterior noise data includes sound data of at least one wheel of the target vehicle; The driving condition of the target vehicle is determined to be a wading driving condition according to the distance measurement data and the vehicle exterior noise data.

2. The method according to claim 1, characterized in that The step of determining that the driving condition of the target vehicle is a wading driving condition according to the distance measurement data and the vehicle exterior noise data includes: Determine the reference distance according to the distance measurement data; Inputting the external noise data into a pre-trained audio neural network model to predict the type of the target object; Performing data fusion on the reference distance and the type of the target object to obtain fused feature information; Determining a wading detection result of the target vehicle according to the fused feature information; When the wading detection result indicates that the target vehicle is wading, the driving condition of the target vehicle is marked as the wading driving condition.

3. The method according to claim 1, characterized in that The step of determining that the driving condition of the target vehicle is a wading driving condition according to the distance measurement data and the vehicle exterior noise data includes: Determine the reference distance according to the distance measurement data; If the reference distance is less than a preset distance, determining the type of the target object according to the external noise data, the preset distance being a pre-determined reference distance of the target vehicle under horizontal road driving conditions; and, When it is detected that the type of the target object is a water area, the driving condition of the target vehicle is marked as the wading driving condition.

4. The method according to claim 2 or 3, characterized in that: The determining the reference distance according to the ranging data comprises: Acquire a target inclination angle, where the target inclination angle is an inclination angle formed between a horizontal plane and a transmitting head of the ranging sensor during the driving process of the target vehicle; Determine a target time according to the ranging data, wherein the target time is the time when a transmission signal of the ranging sensor is received; The reference distance is determined according to the target inclination angle, a preset speed and the target time, wherein the preset speed is a propagation speed of sound waves in an air medium.

5. The method according to claim 2 or 3, characterized in that: The determining the reference distance according to the ranging data comprises: If the distance measuring sensor includes a first distance measuring sensor disposed at the first rearview mirror position and a second distance measuring sensor disposed at the second rearview mirror position, and the distance measuring data includes a first distance measuring data set of the first distance measuring sensor and a second distance measuring data set of the second distance measuring sensor; the reference distance is determined according to the first distance measuring data set and the second distance measuring data set; If the distance measuring sensor includes a single distance measuring sensor disposed at a single rearview mirror position, the distance measuring data includes a single distance measuring data set of the single distance measuring sensor; and the reference distance is determined according to the single distance measuring data set.

6. The method according to claim 3, characterized in that After determining that the driving condition of the target vehicle is a wading driving condition according to the distance measurement data and the vehicle exterior noise data, the method further includes: Determining the wading depth of the target vehicle according to the benchmark distance and the reference distance; If the wading depth is greater than a first preset threshold, a first alarm request is generated, wherein the first alarm request includes a fan off reminder request, a door unlock reminder request, and a suspension raising request; If the wading depth is less than or equal to a first preset threshold and the wading depth is greater than a second preset threshold, a second alarm request is generated, wherein the second alarm request includes the fan-off reminder request and the door-unlock reminder request.

7. The method according to claim 1, characterized in that After acquiring the exterior noise data of the target vehicle, the method further includes: Acquire target image data of a camera of the target vehicle, wherein the target image data is an image including the target object; The driving condition of the target vehicle is determined to be the wading driving condition according to the distance measurement data, the vehicle exterior noise data and the target image data.

8. A vehicle wading detection device, characterized in that: The vehicle wading detection device comprises: an acquisition unit and a determination unit, wherein: The acquisition unit is used to acquire the ranging data of the ranging sensor of the body of the target vehicle, the ranging data is a reference distance used to characterize the position of the target body and a reference position, the target body position is the setting position of the ranging sensor, the reference position is the position where the transmission signal of the ranging sensor is transmitted to the target object and the echo signal is generated, the type of the target object includes a dielectric object that provides a reverse force for the movement of the target vehicle, or includes an object in an interval space area and has a signal transmission characteristic, and the interval space area refers to the space area between the horizontal plane where the ranging sensor is located and the surface of the dielectric object; The acquisition unit is further used to acquire vehicle exterior noise data of the target vehicle, wherein the vehicle exterior noise data includes sound data of at least one wheel of the target vehicle; The determination unit is used to determine that the driving condition of the target vehicle is a wading driving condition according to the distance measurement data and the vehicle exterior noise data.

9. An electronic device, characterized in that: The method comprises a processor, a memory, a communication interface, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the programs include instructions for executing the steps in the method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: An electronic device comprising the electronic device described in claim 9.

11. A computer-readable storage medium, characterized in that: A computer program for electronic data exchange is stored, wherein the computer program enables a computer to execute the method according to any one of claims 1 to 7.

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