Vehicle wading detection method and related apparatus

Abstract

The application provides a vehicle wading detection method and related device, the method comprises: obtaining ranging data of a ranging sensor of a target vehicle body, the ranging data being used to represent a reference distance between a target body position and a reference position; obtaining off-vehicle noise data of the target vehicle, the off-vehicle noise data comprising sound data of at least one wheel of the target vehicle; and determining, according to the ranging data and the off-vehicle noise data, that a driving condition of the target vehicle is a wading driving condition. The embodiments of the application can realize bimodal data fusion through audio sensor and ultrasonic radar sensor data, output a judgment result of the wading driving condition of the vehicle, and improve the accuracy of wading driving condition detection.

Description

TECHNICAL FIELD

[0001] The present application belongs to the general automatic driving field, and particularly relates to a vehicle wading detection method and a related device. BACKGROUND

[0002] At present, the sensors based on which the vehicle body perception system is based on include millimeter wave radar, ultrasonic radar, camera, laser radar, etc., and are mainly used for land ranging, image acquisition and other functions. Some vehicles also have systems based on wading and floating water functions. The ultrasonic radar loaded on the rearview mirror is used to measure the height of the rearview mirror reaching the water surface in the wading or floating water state. However, the existing ultrasonic radar for wading ranging often has target misjudgment and false reporting. For example, when encountering road obstacles, it is likely to misjudge as wading, or in a complex environment in the wild, the ultrasonic radar on the rearview mirror may misreport as a wading section when passing through a plant belt such as shrubs, and even give an error warning information that the water depth exceeds the threshold. The wading perception reliability is low only by relying on the ultrasonic radar. SUMMARY

[0003] The present application provides a vehicle wading detection method and a related device, which can realize double-mode data fusion of audio sensor and ultrasonic radar sensor data, output the judgment result of the wading driving condition of the vehicle, and is beneficial to improve the accuracy of wading driving condition detection.

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

[0005] Obtaining ranging data of a ranging sensor of a target vehicle body, the ranging data being used to represent a reference distance between a target body position and a reference position, the target body position being a setting position of the ranging sensor, the reference position being a position where a back wave signal is generated when a signal emitted by the ranging sensor is emitted on a target object, the type of the target object including a medium object providing a reverse force for the movement of the target vehicle, or including an object in a space interval region and having a signal emission characteristic, the space interval region being a space region between a horizontal plane where the ranging sensor is located and a surface of the medium object;

[0006] Obtaining vehicle exterior noise data of the target vehicle, the vehicle exterior noise data including 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, which comprises an obtaining unit and a determining unit, wherein,

[0008] The acquisition unit is configured to acquire ranging data of a ranging sensor of a vehicle body of the target vehicle, the ranging data being used to represent a reference distance between a target vehicle body position and a reference position, the target vehicle body position being a position where the ranging sensor is arranged, and the reference position being a position where a signal emitted by the ranging sensor is reflected by a target object to generate a reflected signal, the target object including a medium object that provides a counterforce for movement of the target vehicle, or including an object that is in a spaced space region and has a signal emission characteristic, the spaced space region being a space region between a horizontal plane where the ranging sensor is arranged and a surface of the medium object.

[0009] The acquisition unit is further configured to acquire vehicle exterior noise data of the target vehicle, the vehicle exterior noise data including sound data of at least one wheel of the target vehicle.

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

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

[0012] In a fourth aspect, the present application provides a vehicle including the electronic device described above.

[0013] In a fifth aspect, the present application provides a computer-readable storage medium having stored thereon a computer program / instructions, the computer program / instructions being executable by a processor to implement the steps in the first aspect of the present application.

[0014] In a sixth aspect, the present application provides a computer program product, where the above computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform some or all of the steps described in the first aspect of the present application.

[0015] It can be seen that, in the present application, the ranging data of the ranging sensor of the vehicle body of the target vehicle can be acquired first, the ranging data being used to represent the reference distance between the target vehicle body position and the reference position, the target vehicle body position being the setting position of the ranging sensor, and the reference position being the position where the echo signal is generated when the signal emitted by the ranging sensor is emitted onto the target object, the type of the target object including a medium object providing a counteractive force for the movement of the target vehicle, or including an object in a spaced space region and having a signal emission characteristic, the spaced space region being the space region between the horizontal plane where the ranging sensor is located and the surface of the medium object, further, the off-vehicle noise data of the target vehicle is acquired, the off-vehicle noise data including the sound data of at least one wheel of the target vehicle, and finally, the driving condition of the target vehicle is determined to be the water driving condition according to the ranging data and the off-vehicle noise data. In this way, the dual-modal data fusion of the sensor data of the audio sensor and the ultrasonic radar can be realized, the judgment result of the water driving condition of the vehicle is output, and the accuracy of the water driving condition detection is improved. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

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

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

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

[0020] Figure 2 is a flowchart of a vehicle water detection method provided by an embodiment of the present application;

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

[0022] Figure 4 is a functional unit composition block diagram of a vehicle water detection device 400 provided by an embodiment of the present application. DETAILED DESCRIPTION

[0023] In the following, the technical solutions in the embodiments of the present application will be described clearly and completely 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, rather than all the embodiments of the present application. Based on the embodiments in the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0024] The terms "first", "second", and the like in the specification of the present application and the above drawings are used to distinguish different objects, rather than to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include other steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device.

[0025] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily all refer to the same embodiment, nor is it necessarily mutually exclusive of other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0026] In the embodiments of the present application, "and / or" describes the association relationship of the associated objects, which means that there can be three kinds of relationships. For example, A and / or B can represent the following three cases: A exists alone; A and B exist simultaneously; B exists alone. Wherein, A and B can be singular or plural.

[0027] In the embodiments of the present application, the symbol " / " can represent the relationship of "or" between the associated objects. In addition, the symbol " / " can also represent the division sign, that is, to perform division operation. For example, A / B can represent A divided by B.

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

[0029] The "equal to" in the embodiments of the present application can be used in combination with greater than, and is applicable to the technical solutions adopted when greater than, or can be used in combination with less than, and is applicable to the technical solutions adopted when less than. When the "equal to" is used in combination with greater than, it is not used in combination with less than; when the "equal to" is used in combination with less than, it is not used in combination with greater than.

[0030] In order to better understand the scheme of the embodiments of the present application, the electronic device, related concepts and background that may be involved in the embodiments of the present application will be introduced first.

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

[0032] Please refer to Figure 1a , Figure 1a is a schematic diagram of an architecture of a vehicle wading detection system provided by the embodiments of the present application. As Figure 1a indicated, the target vehicle 100, the ranging sensor 101 and the target sensor 102.

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

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

[0035] The ranging sensor 101 is configured to collect ranging data, and the target sensor 102 is configured to collect off-vehicle noise data, the off-vehicle noise data including sound data of at least one wheel of the target vehicle. The ranging sensor 101 and the target sensor 102 can respectively send the collected ranging data and off-vehicle noise data to the domain controller of the target vehicle 100.

[0036] In one possible example, the domain controller can first obtain ranging data of a ranging sensor 101 of a vehicle body of the target vehicle 100, the ranging data being used to represent a reference distance between a target vehicle body position and a reference position, the target vehicle body position being a setting position of the ranging sensor 101, and the reference position being a position at which an echo signal is generated when a signal emitted by the ranging sensor 101 is emitted onto a target object. The target object can be a medium object that provides a counteracting force for movement of the target vehicle 100, or can be an object that is in a spaced space region and has a signal emission characteristic. The spaced space region refers to a space region between a horizontal plane in which the ranging sensor 101 is located and a surface of the medium object. Further, the domain controller obtains off-vehicle noise data of the target vehicle 100, the off-vehicle noise data including sound data of at least one wheel of the target vehicle 100. Finally, the domain controller determines, according to the ranging data and the off-vehicle noise data, that a driving condition of the target vehicle 100 is a water driving condition. In this way, the audio sensor and the ultrasonic radar sensor data can be fused in a dual-modal manner, and a judgment result of the water driving condition of the vehicle can be output, which is beneficial to improving the accuracy of water driving condition detection.

[0037] Referring to Figure 2 , Figure 2 is a flowchart of a vehicle water detection method provided by an embodiment of the present application, and the method is applied to a domain controller. The method comprises the following steps.

[0038] In step S201, ranging data of a ranging sensor of a vehicle body of a target vehicle is obtained, the ranging data being used to represent a reference distance between a target vehicle body position and a reference position, the target vehicle body position being a setting position of the ranging sensor, and the reference position being a position at which an echo signal is generated when a signal emitted by the ranging sensor is emitted onto a target object. The target object can be a medium object that provides a counteracting force for movement of the target vehicle, or can be an object that is in a spaced space region and has a signal emission characteristic. The spaced space region refers to a space region between a horizontal plane in which the ranging sensor is located and a surface of the medium object.

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

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

[0041] The target vehicle body position includes but is not limited to the rearview mirror position of the target vehicle, the type of the target object includes but is not limited to water area, road surface, grass, sand, steps and the like, and the objects in the interval space region and having signal emission characteristics include but are not limited to grass, sand splashed by wheels, water droplets and the like.

[0042] The domain controller can determine a reference distance based on the ranging data of the ranging sensor, and determine a preliminary judgment of whether the target vehicle is wading according to the reference distance and a preset distance. Specifically, when the reference distance is less than the preset distance, it is determined that the target vehicle is wading, and the active mode of the wading function of the target vehicle is automatically started. The active mode refers to that the vehicle system automatically identifies the surrounding environment during vehicle driving, and provides wading function service. The passive mode needs to be manually operated by the driver to switch different function modes.

[0043] In step S202, the vehicle exterior noise data of the target vehicle is obtained, and the vehicle exterior noise data includes sound data of at least one wheel of the target vehicle.

[0044] The domain controller can determine the type of the target object based on the vehicle exterior noise data after obtaining the vehicle exterior 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 determines that the target vehicle is wading, and the active mode of the wading function of the target vehicle is automatically started.

[0045] The vehicle exterior noise data collected by the road noise sensor or the audio sensor in real time is stored in a storage card.

[0046] In step S203, it is determined that the driving condition of the target vehicle is the water driving condition according to the ranging data and the off-vehicle noise data.

[0047] It can be seen that in the embodiment of the present application, the domain controller can first acquire ranging data of a ranging sensor of a vehicle body of the target vehicle, the ranging data being used to represent a reference distance between a target vehicle body position and a reference position, the target vehicle body position being a setting position of the ranging sensor, the reference position being a position where an echo signal is generated when a signal emitted by the ranging sensor is emitted onto a target object, the type of the target object including a medium object providing a counteractive force for the movement of the target vehicle, or including an object in a spaced space region and having a signal emission characteristic, the spaced space region being a space region between a horizontal plane where the ranging sensor is located and a surface of the medium object. Further, off-vehicle noise data of the target vehicle is acquired, the off-vehicle noise data including sound data of at least one wheel of the target vehicle. Finally, it is determined that the driving condition of the target vehicle is the water driving condition according to the ranging data and the off-vehicle noise data. In this way, it is possible to realize dual-modal data fusion of sensor data of an audio sensor and an ultrasonic radar, and output a judgment result of the water driving condition of the vehicle, which is beneficial to improve the accuracy of water driving condition detection.

[0048] In one possible example, the determining that the driving condition of the target vehicle is the water driving condition according to the ranging data and the off-vehicle noise data can include the following steps: determining the reference distance according to the ranging data; inputting the off-vehicle 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 fusion feature information; determining a water detection result of the target vehicle according to the fusion feature information; and when the water detection result indicates that the target vehicle is in water, marking the driving condition of the target vehicle as the water driving condition.

[0049] The audio neural network model includes but is not limited to a double-LSTM (Long Short Term Memory network) neural network model and an ANN (Artificial Neural Network) hierarchical model. The two models have different adjustment parameters and different training sets corresponding to different input signal sources.

[0050] Before the vehicle exterior noise data is input to the pre-trained audio neural network model, the vehicle exterior noise data needs to be pre-processed, including but not limited to normalization, audio segmentation, MEL (MEL) spectrum conversion or STFT (Short-Time Fourier Transform) spectrum conversion, correlation analysis, envelope detection, deconvolution, etc.

[0051] The domain controller includes a data fusion module, which is configured to perform data fusion on the reference distance and the type of the target object. The data fusion algorithm can be a combination of central local data fusion, Kalman filter data fusion, a waterfall type data fusion framework system, and an output level fusion algorithm based on an identity code. The data fusion algorithm is used to perform data fusion on the reference distance and the type of the target object to obtain fused data. The fused data is further subjected to feature extraction to obtain fusion feature information. The fusion 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. In this case, 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. In this case, 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 can include the following steps: performing noise reduction processing on the vehicle exterior noise data; performing audio feature extraction on the noise-reduced vehicle exterior noise data to obtain an audio feature extraction result; and determining the type of the target object based on the audio feature extraction result.

[0053] In a specific implementation, the data fusion module performs data fusion on the reference distance and the type of the target object to obtain fused data, and performs feature extraction on the fused data to obtain fusion feature information. The wading detection result is determined based on the fusion feature information.

[0054] As can be seen, in this example, the domain controller can perform dual-modal data fusion on the sensor data of the audio sensor and the ultrasonic radar to output the wading detection result of the wading driving condition of the vehicle, which is beneficial to improve the accuracy of the wading driving condition detection and improve the intelligence of the domain controller.

[0055] In a possible example, the method of determining the driving condition of the target vehicle as the water driving condition according to the ranging data and the external noise data can include the following steps: determining the reference distance according to the ranging data; determining the type of the target object according to the external noise data if the reference distance is less than a preset distance, the preset distance being a reference distance of the target vehicle in a horizontal road driving condition; and marking the driving condition of the target vehicle as the water driving condition when the type of the target object is detected as water area.

[0056] The reference distance is the distance between the position of the target vehicle body and the horizontal road surface in the horizontal road driving condition, and the preset distance is artificially set or system default, which is not limited herein.

[0057] When the reference distance is less than the preset distance, a preliminary judgment can be made that the target vehicle is driving in water. At this time, considering that the ranging data collected by the ultrasonic radar may cause misjudgment in water driving judgment, 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, the preliminary judgment of the target vehicle driving in water is verified, and the final conclusion is that the target vehicle is driving in water.

[0058] It can be seen that in the example, the domain controller can make the final judgment of the water driving condition of the target vehicle by considering the sensor data of the audio sensor and the ultrasonic radar at the same time, which is beneficial to improve the accuracy of the water driving condition detection.

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

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

[0061] The target vehicle body is further provided with at least one IMU (Inertial Measurement Unit) sensor, which can be used to measure the target inclination angle θ. When the target vehicle is running on a sloping road or some water crossing situation, an inclination angle is formed between the horizontal plane and the emission head of the ranging sensor during the running of the target vehicle.

[0062] In a specific implementation, the domain controller obtains the target inclination angle and the target time, and brings the target inclination angle, the target time and the 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 performing bimodal data fusion on the reference distance and the type of the target object, outputting the water crossing detection result of the water crossing running condition of the vehicle, and improving the accuracy of the water crossing running condition detection and the intelligence of the domain controller.

[0064] In one possible example, the method of determining the reference distance according to the ranging data can 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; 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; the reference distance is determined according to the single ranging data set.

[0065] In a specific implementation, a first reference distance can be determined according to the first ranging data set, and a second reference distance can be determined according to the second ranging data set. The first reference distance and the second reference distance are subjected to outlier filtering. If the first reference distance and the second reference distance are obtained after the outlier filtering, the mean value of the first reference distance and the second reference distance is calculated to obtain the final reference distance for bimodal data fusion. If the first reference distance or the second reference distance is obtained after the outlier filtering, the first reference distance or the second reference distance is taken as the final reference distance for bimodal data fusion.

[0066] It can be seen that in this example, the domain controller can determine the reference distance, which is conducive to further performing bimodal data fusion on the reference distance and the type of the target object, outputting the water crossing detection result of the water crossing running condition of the vehicle, and improving the accuracy of the water crossing running condition detection and the intelligence of the domain controller.

[0067] In one possible example, after determining that the driving condition of the target vehicle is the wading driving condition according to the ranging data and the off-board noise data, the method can comprise the following steps: determining the wading depth of the target vehicle according to the reference 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 comprising a fan-off reminding request, a door-unlocking reminding request and a suspension lifting 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 comprising the fan-off reminding request and the door-unlocking reminding request.

[0068] Wherein, referring to Figure 1c The drawings show that when the target vehicle is wading, the reference distance h2 is the distance between the ranging sensor setting position (the target vehicle body position) and the water surface measured by the ranging sensor, h1 is the reference distance, the reference distance is the distance between the target vehicle body position and the horizontal road surface when the target vehicle is driving on the horizontal road surface, and h3 is the wading depth, the wading depth h3 = h1-h2. Figure 1c Wherein, the first preset threshold and the second preset threshold are artificially set or system defaults, which are not limited herein.

[0069] Optionally, it is determined whether the suspension of the target vehicle is in the lifted state, if it is determined that the suspension is in the lifted state, the suspension lifting height is determined, and the wading depth is determined according to the reference distance, the suspension lifting height and the reference distance, wherein the wading depth = the reference distance + the suspension lifting height - the reference distance; it is determined 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, a first alarm request is generated, the first alarm request comprising a fan-off reminding request, a door-unlocking reminding request and a suspension lifting request; if it is determined that the wading depth is less than or equal to the third preset threshold, it is determined 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, a second alarm request is generated, the second alarm request comprising the fan-off reminding request and the door-unlocking reminding request.

[0070] Wherein, the third preset threshold = the first preset threshold + the suspension lifting height, and the fourth preset threshold = the second preset threshold + the suspension lifting height.

[0071] It can be seen that in the example, the domain controller can determine the wading depth according to the reference 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.

[0072]

[0073] ​In one possible example, after the obtaining the off-vehicle noise data of the target vehicle, the above method can 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; determining, according to the ranging data, the off-vehicle noise data and the target image data, that the driving condition of the target vehicle is the water driving condition.

[0074] In the above example, the target vehicle is provided with at least one camera, and the camera is arranged at a position including but not limited to a body of the target vehicle, a tail of the target vehicle, a rearview mirror and the like. The camera captures a picture of the target object, for example, a picture of a road surface or a picture of a water area, to obtain target image data of the target object.

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

[0076] It can be seen that, in the above example, the domain controller performs double-modal data fusion on the sensor data of the audio sensor and the ultrasonic radar to output a judgment result of the water driving condition of the vehicle, which is beneficial to improve the accuracy of the water driving condition detection.

[0077] Please refer to Figure 3 , Figure 3 is a structural schematic diagram of an electronic device provided by an embodiment of the present application, which is applied to a domain controller; as shown in Figure 3 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 instruct the processor to perform the following steps:

[0078] obtaining ranging data of a ranging sensor of a body of a target vehicle, the ranging data being used to represent a reference distance between a target body position and a reference position, the target body position being a setting position of the ranging sensor, the reference position being a position at which a back echo signal is generated when a signal emitted by the ranging sensor is emitted onto a target object, the type of the target object including a medium object providing a reverse force for movement of the target vehicle, or including an object in a spaced space region and having a signal emission characteristic, the spaced space region being a space region between a horizontal plane where the ranging sensor is located and a surface of the medium object;

[0079] acquiring out-vehicle noise data of the target vehicle, the out-vehicle noise data comprising sound data of at least one wheel of the target vehicle;

[0080] determining, according to the ranging data and the out-vehicle noise data, that the driving condition of the target vehicle is the water-logging driving condition.

[0081] It can be seen that in the embodiments of the present application, the electronic device can first acquire ranging data of a ranging sensor of a vehicle body of a target vehicle, the ranging data being used to represent a reference distance between a target body position and a reference position, the target body position being a setting position of the ranging sensor, the reference position being a position at which an echo signal is generated when a signal emitted by the ranging sensor is emitted onto a target object, the type of the target object including a medium object providing a counteractive force for the movement of the target vehicle, or including an object in a spaced space region and having a signal emission characteristic, the spaced space region being a space region between a horizontal plane in which the ranging sensor is located and a surface of the medium object. Further, the out-vehicle noise data of the target vehicle is acquired, the out-vehicle noise data comprising sound data of at least one wheel of the target vehicle. Finally, according to the ranging data and the out-vehicle noise data, it is determined that the driving condition of the target vehicle is the water-logging driving condition. In this way, it is possible to realize dual-modal data fusion of sensor data of an audio sensor and an ultrasonic radar, and output a judgment result of the water-logging driving condition of the vehicle, which is conducive to improving the accuracy of water-logging driving condition detection.

[0082] In one possible example, in the aspect of determining, according to the ranging data and the out-vehicle noise data, that the driving condition of the target vehicle is the water-logging driving condition, the above program includes instructions for further performing the following steps:

[0083] determining the reference distance according to the ranging data;

[0084] inputting the out-vehicle 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 fusion feature information;

[0086] determining a water-logging detection result of the target vehicle according to the fusion feature information;

[0087] when the water-logging detection result indicates that the target vehicle is in water, marking the driving condition of the target vehicle as the water-logging driving condition.

[0088] In one possible example, in the aspect of determining, according to the ranging data and the out-vehicle noise data, that the driving condition of the target vehicle is the water-logging driving condition, the above program includes instructions for performing the following steps:

[0089] determining the reference distance according to the ranging data;

[0090] if the reference distance is less than a preset distance, determining a type of the target object according to the off-vehicle noise data, the preset distance being a reference distance of the target vehicle in a driving condition of a horizontal road surface;

[0091] if the type of the target object is detected as a water area, marking the driving condition of the target vehicle as the wading driving condition.

[0092] In one possible example, in the aspect of determining the reference distance according to the ranging data, the above program includes instructions further used for performing the following steps:

[0093] obtaining a target inclination angle, the target inclination angle being an inclination angle between a horizontal plane and a transmitting head of the ranging sensor during driving of the target vehicle;

[0094] determining a target time according to the ranging data, the target time being a time of receiving the transmitting signal of the ranging sensor;

[0095] determining the reference distance according to the target inclination angle, a preset speed and the target time, the preset speed being a propagation speed of sound waves in air medium.

[0096] In one possible example, in the aspect of determining the reference distance according to the ranging data, the above program includes instructions further used for performing the following steps:

[0097] 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 including a first ranging data set of the first ranging sensor and a second ranging data set of the second ranging sensor; determining the reference distance according to the first ranging data set and the second ranging data set;

[0098] if the ranging sensor includes a single ranging sensor arranged at a single rearview mirror position, the ranging data including a single ranging data set of the single ranging sensor; determining the reference distance according to the single ranging data set.

[0099] In one possible example, after determining the driving condition of the target vehicle as the wading driving condition according to the ranging data and the off-vehicle noise data, the above program further includes instructions used for performing the following steps:

[0100] determining a wading depth of the target vehicle according to the reference distance and the reference distance;

[0101] if the wading depth is greater than a first preset threshold, a first alarm request is generated, the first alarm request comprising a fan-off reminding request, an unlocking door reminding request and a suspension lifting request;

[0102] if the wading depth is less than or equal to the first preset threshold and greater than a second preset threshold, a second alarm request is generated, the second alarm request comprising the fan-off reminding request and the unlocking door reminding request.

[0103] In one possible example, after the obtaining the off-vehicle noise data of the target vehicle, the above procedure further comprises instructions for performing the following steps:

[0104] obtaining target image data of a camera of the target vehicle, the target image data being an image comprising the target object;

[0105] determining, according to the ranging data, the off-vehicle noise data and the target image data, that the driving condition of the target vehicle is the wading driving condition.

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

[0107] The embodiments of the present application can divide the functional units of the electronic device according to the above method examples. For example, each functional unit can be divided corresponding to each function, or two or more functions can be integrated in one processing unit. The integrated unit can be implemented in the form of hardware or software functional unit. It should be noted that the division of units in the embodiments of the present application is illustrative, and is only a logical function division. When actually implemented, there can be another division manner.

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

[0109] The acquisition unit 401 is configured to acquire ranging data of a ranging sensor of a vehicle body of a target vehicle, the ranging data being used to represent a reference distance between a target vehicle body position and a reference position, the target vehicle body position being a setting position of the ranging sensor, the reference position being a position at which an echo signal is generated when a signal emitted by the ranging sensor is emitted onto a target object, the target object including a medium object providing a reverse force for movement of the target vehicle, or including an object having a signal emission characteristic in a spaced space region, the spaced space region being a space region between a horizontal plane in which the ranging sensor is located and a surface of the medium object;

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

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

[0112] As can be seen, the vehicle wading detection apparatus described in the embodiments of the present application can first acquire ranging data of a ranging sensor of a vehicle body of a target vehicle, the ranging data being used to represent a reference distance between a target vehicle body position and a reference position, the target vehicle body position being a setting position of the ranging sensor, the reference position being a position at which an echo signal is generated when a signal emitted by the ranging sensor is emitted onto a target object, the target object including a medium object providing a reverse force for movement of the target vehicle, or including an object having a signal emission characteristic in a spaced space region, the spaced space region being a space region between a horizontal plane in which the ranging sensor is located and a surface of the medium object, further, acquire vehicle exterior noise data of the target vehicle, the vehicle exterior noise data including sound data of at least one wheel of the target vehicle, and finally, determine, according to the ranging data and the vehicle exterior noise data, that a driving condition of the target vehicle is a wading driving condition. In this way, dual-modal data fusion can be realized through sensor data of an audio sensor and an ultrasonic radar, and a judgment result of a wading driving condition of a vehicle can be output, which is conducive to improving the accuracy of wading driving condition detection.

[0113] In one possible example, in the aspect of determining, according to the ranging data and the vehicle exterior noise data, that the driving condition of the target vehicle is the wading driving condition, the marking unit 403 is specifically configured to:

[0114] determine the reference distance according to the ranging data;

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

[0116] fusing the reference distance and the type of the target object to obtain fusion feature information;

[0117] determining a water-logging detection result of the target vehicle according to the fusion feature information;

[0118] when the water-logging detection result indicates that the target vehicle is water-logging, marking a driving condition of the target vehicle as the water-logging driving condition.

[0119] In one possible example, in the determining of the driving condition of the target vehicle as the water-logging driving condition according to the ranging data and the off-vehicle noise data, the marking unit 403 is specifically configured to:

[0120] determining the reference distance according to the ranging data;

[0121] if the reference distance is less than a preset distance, determining the type of the target object according to the off-vehicle noise data, the preset distance being a reference distance of the target vehicle in a horizontal road driving condition, and

[0122] 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 water-logging driving condition.

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

[0124] obtaining a target inclination angle, the target inclination angle being an inclination angle formed between a horizontal plane and a transmitting head of the ranging sensor in a driving process of the target vehicle;

[0125] determining a target time according to the ranging data, the target time being a time of receiving a transmitting signal of the ranging sensor;

[0126] determining the reference distance according to the target inclination angle, a preset speed and the target time, the preset speed being a propagation speed of a sound wave in an air medium.

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

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

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

[0130] In one possible example, after the driving condition of the target vehicle is determined to be the wading driving condition according to the ranging data and the off-vehicle noise data, the generating unit 404 is specifically configured to:

[0131] determine a wading depth of the target vehicle according to the reference distance and the reference distance.

[0132] If the wading depth is greater than a first preset threshold, a first alarm request is generated, and the first alarm request includes a fan-off reminding request, a vehicle door unlocking reminding request, and a suspension lifting request.

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

[0134] In one possible example, after the off-vehicle noise data of the target vehicle is acquired, the determining unit 402 is specifically configured to:

[0135] acquire target image data of a camera of the target vehicle, the target image data being an image including the target object.

[0136] determine that the driving condition of the target vehicle is the wading driving condition according to the ranging data, the off-vehicle noise data, and the target image data.

[0137] It should be noted that all related contents of each step involved in the above method embodiments can be cited to the function description of the corresponding function module, and will not be repeated here.

[0138] The electronic device provided in the embodiment is used to execute the vehicle wading detection method, and thus the same effects as the implementation method can be achieved.

[0139] In the case of employing the integrated unit, the electronic device can include a processing module, a storage module and a communication module. 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 perform the steps performed by the acquisition unit 401, the determination unit 402, the marking unit 403 and the generation unit 404 described above. The storage module can be used to support the electronic device to store program codes and data and the like. The communication module can be used to support the communication between the electronic device and other devices.

[0140] The processing module can be a processor or a controller. It can realize or execute various exemplary logical blocks, modules and circuits described in combination with the disclosure. The processor can also be a combination of computing functions, such as one or more microprocessor combinations, digital signal processing (DSP) and microprocessor combinations, etc. The storage module can be a memory. The communication module can be a device for interacting with other electronic devices, such as a radio frequency circuit, a Bluetooth chip, a Wi-Fi chip, etc.

[0141] The embodiments of the present application also provide a vehicle comprising the electronic device described above.

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

[0143] The embodiments of the present application also provide 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 above method embodiments. The computer program product can be a software installation package, and the computer includes a control platform.

[0144] It should be noted that, for the above-mentioned method embodiments, in order to simply describe, they are all described as a combination of a series of actions, but those skilled in the art should know that the present application is not limited to the order of the actions described, because according to the present application, some steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to 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 focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0146] In several embodiments provided in the present application, it should be understood that the disclosed apparatus can be implemented in other manners. For example, the division of the apparatus embodiments described above is merely a logical division, and there can be another division manner in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units shown or discussed can be indirect coupling or communication connection through some interfaces, devices or units, and can be electrical, mechanical or other forms.

[0147] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the embodiment.

[0148] In addition, each functional unit in the various embodiments of the present application can be integrated into a processing unit, or each unit can exist physically, or two or more units can be integrated into one unit. The integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0149] When the 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 storage medium. Based on this understanding, the technical solutions of the present application essentially or the part that contributes to the prior art or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium, and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

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

[0151] The above has carried out the detailed introduction to the embodiment of the application, the principle and implementation mode of the application have been described by applying specific examples in this paper, the above embodiment explanation is only for helping understanding the method of the application and its core idea; at the same time, for the general technical personnel in the art, according to the idea of the application, there will be changes in specific implementation mode and application range, and the above-mentioned, the content of the specification should not be understood as the limitation of the application.

Claims

1. A method for detecting vehicle wading through water, characterized in that, include: The ranging data of the ranging sensor on the body of the target vehicle is acquired. The ranging data is a reference distance used to characterize the position of the target body and a reference position. The position of the target body is the setting position of the ranging sensor. The reference position is the position where the emission signal of the ranging sensor is emitted onto the target object and an echo signal is generated. The type of the target object includes a medium object that provides a reverse force for the movement of the target vehicle, or an object that is in an interstitial space region and has signal emission characteristics. The interstitial space region refers to the space region between the horizontal plane where the ranging sensor is located and the surface of the medium object. Acquire the external noise data of the target vehicle, the external noise data including the sound data of at least one wheel of the target vehicle; Determining the driving condition of the target vehicle as a wading driving condition based on the ranging data and the external noise data includes: determining the reference distance based on the ranging 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 the wading detection result of the target vehicle based on the fused feature information; and marking the driving condition of the target vehicle as a wading driving condition when the wading detection result indicates that the target vehicle is wading.

2. The method according to claim 1, characterized in that, The step of determining the target vehicle's driving condition as a wading driving condition based on the ranging data and the external noise data includes: The reference distance is determined based on the ranging data; If the reference distance is less than the preset distance, the type of the target object is determined based on the vehicle exterior noise data, wherein the preset distance is a pre-measured reference distance of the target vehicle under level road driving conditions; and, When the target object is detected to be of the type of water area, the driving condition of the target vehicle is marked as the wading driving condition.

3. The method according to claim 1 or 2, characterized in that, Determining the reference distance based on the ranging data includes: The target tilt angle is obtained, which is the tilt angle formed between the horizontal plane and the transmitter head of the ranging sensor during the driving of the target vehicle; Based on the ranging data, a target time is determined, wherein the target time is the time when the transmitted signal of the ranging sensor is received; The reference distance is determined based on the target tilt angle, the preset speed, and the target time, where the preset speed is the speed at which sound waves propagate in the air medium.

4. The method according to claim 1 or 2, characterized in that, Determining the reference distance based on the ranging data includes: If the ranging sensor includes a first ranging sensor disposed at a first rearview mirror position and a second ranging sensor disposed at a second rearview mirror position, and 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 based on the first ranging data set and the second ranging data set. If the ranging sensor includes a single ranging sensor located at a single rearview mirror position, and the ranging data includes a single ranging data set of the single ranging sensor, then the reference distance is determined based on the single ranging data set.

5. The method according to claim 2, characterized in that, After determining that the target vehicle's driving condition is a wading driving condition based on the ranging data and the external noise data, the method further includes: The wading depth of the target vehicle is determined based on the baseline distance and the reference distance. If the wading depth is greater than a first preset threshold, a first alarm request is generated. The first alarm request includes a fan-off reminder request, a door-unlocking 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. The second alarm request includes the fan-off reminder request and the door-unlocking reminder request.

6. The method according to claim 1, characterized in that, After acquiring the external noise data of the target vehicle, the method further includes: Acquire target image data from the camera of the target vehicle, wherein the target image data is an image including the target object; Based on the ranging data, the external noise data, and the target image data, the driving condition of the target vehicle is determined to be the wading driving condition.

7. A vehicle wading detection device, characterized in that, The vehicle wading detection device includes: an acquisition unit and a determination unit, wherein, The acquisition unit is used to acquire ranging data from the ranging sensor of the target vehicle body. The ranging data is a reference distance used to characterize the position of the target vehicle body and a reference position. The target vehicle body position is the setting position of the ranging sensor. The reference position is the position where the emission signal of the ranging sensor is emitted onto the target object and an echo signal is generated. The type of the target object includes a medium object that provides a reverse force for the movement of the target vehicle, or an object located in an interstitial space region and having signal emission characteristics. The interstitial space region refers to the space region between the horizontal plane where the ranging sensor is located and the surface of the medium object. The acquisition unit is further configured to acquire the external noise data of the target vehicle, the external noise data including the sound data of at least one wheel of the target vehicle; The determining unit is configured to determine the driving condition of the target vehicle as a wading driving condition based on the ranging data and the external noise data, including: determining the reference distance based on the ranging 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 the 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.

8. An electronic device, characterized in that, The method includes a processor, a memory, a communication interface, and one or more programs, said programs being stored in the memory and configured to be executed by the processor, said programs including instructions for performing the steps of the method as described in any one of claims 1-6.

9. A vehicle, characterized in that, Includes the electronic device as described in claim 8.

10. A computer-readable storage medium, characterized in that, A computer program for storing electronic data interchange is provided, wherein the computer program causes a computer to perform the method as described in any one of claims 1-6.

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