Wading height detection method and related device

Abstract

The invention provides a wading height detection method and a related device, the method is applied to a vehicle, and the method comprises the following steps: calculating a first depth distance between a first ultrasonic radar and a target object according to a first ultrasonic sending signal of a first ultrasonic sensor and a first ultrasonic reflection signal corresponding to the first ultrasonic sending signal; calculating a second depth distance between the second ultrasonic radar and the target object according to a second ultrasonic sending signal of a second ultrasonic sensor and a second ultrasonic reflection signal corresponding to the second ultrasonic sending signal; according to the first depth distance, the second depth distance and the spacing distance, the actual wading height is determined. Thus, the double radars are installed on the same side of the vehicle, the final actual fording height is determined based on the detection height measured by the double radars, the accuracy and reliability of fording height detection of the fording system of the vehicle are improved, and then the stability of vehicle driving is improved.

Description

Technical Field

[0001] The present application belongs to the field of automobile technology, and specifically relates to a water wading height detection method and related devices. Background Art

[0002] At present, the body perception system of traditional vehicles is equipped with equipment including millimeter wave radar, ultrasonic radar, camera, laser radar, etc. Among them, ultrasonic radar mounted on the rearview mirror is usually used to measure the wading height of the vehicle.

[0003] However, the wading height measured by traditional target vehicles often has errors due to environmental factors or dynamic conditions, which in turn affects the stability and safety of vehicle operation.

[0004] Therefore, there is an urgent need for a water wading height detection method and related devices that can solve the above-mentioned problems. Summary of the invention

[0005] An embodiment of the present application provides a method and related device for detecting wading height. By using dual radars to measure the wading height respectively, and then determining the actual wading height with a smaller error based on the interval distance between the dual radars, the stability and safety of vehicle driving are improved, and the accuracy and reliability of the vehicle wading system for detecting wading height are improved.

[0006] In a first aspect, an embodiment of the present application provides a method for detecting wading height, which is applied to a vehicle and includes:

[0007] receiving a first ultrasonic reflection signal corresponding to a first ultrasonic transmission signal sent by a first ultrasonic radar, and calculating a first depth distance between the first ultrasonic radar and a target object according to the first ultrasonic transmission signal and the first ultrasonic reflection signal;

[0008] receiving a second ultrasonic reflection signal corresponding to a second ultrasonic transmission signal transmitted by a second ultrasonic radar, and calculating a second depth distance between the second ultrasonic radar and the target object according to the second ultrasonic transmission signal and the second ultrasonic reflection signal, wherein the first ultrasonic radar and the second ultrasonic radar are located on the same side of the vehicle;

[0009] An actual wading height is determined according to the first depth distance, the second depth distance, and a spacing distance, where the spacing distance is a distance between the first ultrasonic radar and the second ultrasonic radar.

[0010] In a second aspect, an embodiment of the present application provides a wading height detection device, which is applied to a vehicle and includes:

[0011] A data acquisition unit, used for acquiring a first ultrasonic transmission signal of a first ultrasonic sensor, a first ultrasonic reflection signal corresponding to the first ultrasonic transmission signal, a second ultrasonic transmission signal of a second ultrasonic sensor, and a second ultrasonic reflection signal corresponding to the second ultrasonic transmission signal;

[0012] A processing unit, configured to calculate a first depth distance between the first ultrasonic radar and the target object according to a first ultrasonic transmission signal of the first ultrasonic sensor and a first ultrasonic reflection signal corresponding to the first ultrasonic transmission signal;

[0013] Calculating a second depth distance between the second ultrasonic radar and the target object according to a second ultrasonic transmission signal of the second ultrasonic sensor and a second ultrasonic reflection signal corresponding to the second ultrasonic transmission signal, wherein the first ultrasonic radar and the second ultrasonic radar are located on the same side of the vehicle;

[0014] An actual wading height is determined according to the first depth distance, the second depth distance, and a spacing distance, where the spacing distance is a distance between the first ultrasonic radar and the second ultrasonic radar.

[0015] In a third aspect, an embodiment of the present application provides a controller 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 comprises instructions for executing the steps in the first aspect of the embodiment of the present application.

[0016] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having a computer program / instructions stored thereon, which, when executed by a processor, implement the steps in the first aspect of the embodiment of the present application.

[0017] In a fifth aspect, an embodiment of the present application provides a computer program product, including a computer program / instructions, which, when executed by a processor, implement some or all of the steps described in the first aspect of the embodiment of the present application.

[0018] It can be seen that in the embodiment of the present application, the controller of the vehicle determines the first depth distance by receiving the reflection signal corresponding to the ultrasonic signal sent by the first ultrasonic radar; and determines the second depth distance by receiving the reflection signal corresponding to the ultrasonic signal sent by the second ultrasonic radar; and based on the first depth distance and the second depth distance detected by the radar, and the positional relationship between the two radars, a new detection height value is determined as the actual wading height. In this way, the present application improves the driving stability of the vehicle and the reliability of the wading system by installing two radars on the same side of the vehicle to achieve the two wading heights detected by the two radars to determine the wading height with a smaller error. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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.

[0020] Figure 1a is a structural block diagram of a vehicle wading system provided in an embodiment of the present application;

[0021] Figure 1b is a schematic top view of a vehicle of a vehicle wading system provided in an embodiment of the present application;

[0022] Figure 2 It is a flow chart of a method for detecting wading height provided in an embodiment of the present application;

[0023] Figure 3 It is a schematic diagram of the loading position of a dual radar of a vehicle provided in an embodiment of the present application;

[0024] Figure 4 is a schematic diagram of a signal reflection scenario provided in an embodiment of the present application;

[0025] Figure 5 is a schematic diagram of another signal reflection scenario provided in an embodiment of the present application;

[0026] Figure 6 It is a schematic diagram of a process flow of a vehicle wading function provided in an embodiment of the present application;

[0027] Figure 7a This is a block diagram of the functional units of a water wading height detection device provided in an embodiment of the present application;

[0028] Figure 7b It is a block diagram of the functional units of another water wading height detection device provided in an embodiment of the present application;

[0029] Figure 8 It is a structural block diagram of a controller provided in an embodiment of the present application. DETAILED DESCRIPTION

[0030] 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.

[0031] 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.

[0032] 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.

[0033] See also Figure 1a , Figure 1a : is a structural block diagram of a vehicle wading system provided in an embodiment of the present application. Figure 1a As shown, the vehicle wading system 100 includes a controller 110 and an ultrasonic radar 120. The controller 110 and the ultrasonic radar 120 are communicatively connected. The controller 110 can control the ultrasonic radar 120 to send ultrasonic transmission signals and receive corresponding ultrasonic reflection signals, and calculate the depth distance between the ultrasonic radar 120 and the target object based on these two signals. The target object may be the ground, water surface, obstacle, etc.

[0034] Among them, see Figure 1b , Figure 1b FIG. 1 is a schematic diagram of a top view of a vehicle wading system provided in an embodiment of the present application. Figure 1bAs shown, the controller 110 can be a vehicle intelligent control domain system, wherein a vehicle control domain system generally includes a front intelligent domain, a rear intelligent domain, a left intelligent domain, and a right intelligent domain. Dual ultrasonic radars are installed on both sides of the vehicle, i.e., ultrasonic radars L1 and L2 are installed on the left side, and ultrasonic radars R1 and R2 are installed on the right side. The reflected wave signals obtained by the ultrasonic radars are transmitted to the adjacent domain controllers for subsequent signal data processing and analysis, and their outputs are used as inputs for subsequent vehicle control. It can be understood that one controller 110 can correspond to multiple ultrasonic radars 120 at the same time, or the vehicle wading system 100 includes multiple controllers 110, and each controller 110 corresponds to one or more ultrasonic radars 120. Among them, the controller 110 can specifically be, but not limited to, the main controller in the vehicle.

[0035] Based on this, a method for detecting wading height is provided in an embodiment of the present application, and the embodiment of the present application is described in detail below in conjunction with the accompanying drawings.

[0036] See also Figure 2 , Figure 2 : is a flow chart of a method for detecting wading height provided in an embodiment of the present application, the method is applied to a vehicle, and the method includes:

[0037] Step S201: Calculate a first depth distance between the first ultrasonic radar and a target object according to a first ultrasonic transmission signal of a first ultrasonic sensor and a first ultrasonic reflection signal corresponding to the first ultrasonic transmission signal.

[0038] Among them, since the controller cannot determine what the target object is that makes the sound wave bounce when controlling the ultrasonic radar to perform ranging detection, the target object may be the ground, water or some obstacles. The obstacles may be bushes and other plant areas or some special terrains that the vehicle passes through in a complex outdoor environment, which is not limited here.

[0039] In a possible example, the first depth distance of the first ultrasonic radar from the target object is calculated based on the first ultrasonic transmission signal of the first ultrasonic sensor and the first ultrasonic reflection signal corresponding to the first ultrasonic transmission signal, including: determining a first time point when the first ultrasonic radar sends the first ultrasonic transmission signal according to the first ultrasonic transmission signal; and determining a second time point when the first ultrasonic radar receives the first ultrasonic reflection signal according to the first ultrasonic reflection signal; determining a sound wave propagation time according to the first time point and the second time point; obtaining a sound wave emission inclination angle, wherein the sound wave emission inclination angle refers to an angle formed between a horizontal plane of the vehicle and the first ultrasonic radar under a current driving state; and determining the first depth distance according to the sound wave propagation time, the sound wave emission inclination angle and a preset depth distance calculation formula.

[0040] Among them, optimally, the main frequency of the ultrasonic radar can be 50 kHz. In actual scenarios, ultrasonic radars are usually embedded in microcontroller units (MCUs) and emit ultrasonic waves with a bandwidth of approximately 4 kHz in the form of coded pulses. This signal will experience propagation attenuation, scattering, and total reflection in air propagation during the interface layer formed by air and other media. Since the acoustic impedance of air is very small compared to any other medium, the ultrasonic signal will experience total reflection during vertical incidence. In addition, the ultrasonic radar needs to maintain a certain distance from the vehicle body to prevent the vehicle body from entering the range of the radar beam and causing the radar system to make a misjudgment. Among them, since dual radars are installed on the same side of the vehicle, in order to avoid the radars receiving each other's signals, different ultrasonic signals need to be set for each radar. Specifically, each radar sensor can be set with a unique encrypted electromagnetic spectrum feature to verify the authenticity of the return signal, or different signals from different radars can be modulated into a unique identification code for distinction.

[0041] The calculation formulas for the first depth distance and the second depth distance are as follows:

[0042] d = 0.5 × C water ×t×cos(θ)

[0043] Where, d is the depth distance measured by a single transducer and a single beam, C water is the propagation speed of sound waves in water, t is the time it takes for the receiving transducer to transmit the sound waves, and θ is the inclination angle between the horizontal plane and the transducer transmitter during the vehicle's driving process (i.e., the sound wave transmission inclination angle). This inclination angle can be measured by other sensors such as the inertial measurement unit (IMU) of the vehicle body.

[0044] It can be seen that in this example, by using the ultrasonic signal sent by each ultrasonic radar and the corresponding reflected signal received, it is possible to determine the time it takes for the sound wave to propagate in the air, and then by obtaining the acoustic wave emission inclination angle, the distance between the corresponding ultrasonic radar and the target object can be determined. The controller uniformly controls the radar transmission and reception signals, thereby improving the stability and efficiency of the vehicle's radar detection distance.

[0045] Step S202: Calculate a second depth distance between the second ultrasonic radar and the target object according to a second ultrasonic transmission signal of the second ultrasonic sensor and a second ultrasonic reflection signal corresponding to the second ultrasonic transmission signal.

[0046] Wherein, the first ultrasonic radar and the second ultrasonic radar are located on the same side of the vehicle. Figure 3 , Figure 3 Schematic diagram of the loading position of a dual radar of a vehicle provided in an embodiment of the present application. Figure 3 As shown, during the driving process of the vehicle, the controller uses the dual radars on the same side of the vehicle to simultaneously measure the distance to achieve mutual verification between the dual radars and then determine the wading status of the vehicle.

[0047] Among them, the sensors (including millimeter wave radar, ultrasonic radar, camera, laser radar, etc.) based on the current vehicle body perception system are mainly used for land ranging, land driving and parking and other functions. Although there are also a few models that are equipped with system development based on wading function, they only use the ultrasonic radar mounted on the rearview mirror to perform a simple measurement of the height of the rearview mirror to the water surface. In addition, since the acoustic impedance of air is relatively small compared with that of other media, a single ultrasonic radar cannot identify the target object in an air environment. Therefore, the existing wading ranging technology based on ultrasonic radar often has great target misjudgment, which leads to false alarms of the system (that is, encountering road obstacles, it is likely to be misjudged as wading). Therefore, the wading height detection method proposed in this application adopts the method of installing dual radars on the same side of the vehicle to improve the possible misjudgment problem.

[0048] Step S203: determining an actual wading height according to the first depth distance, the second depth distance and the interval distance.

[0049] The interval distance is the distance between the first ultrasonic radar and the second ultrasonic radar.

[0050] Among them, after obtaining the actual wading height, the subsequent vehicles can judge whether the vehicle is wading at the current moment according to the actual wading height and the preset distance, so as to perform subsequent preventive operations. The design principle of the preset distance is a distance threshold set by the technician according to the vehicle model. When the first depth is greater than this threshold, it is necessary for the vehicle to judge the wading state, so as to perform subsequent prediction operations and judgment operations. Among them, the setting of the preset distance can refer to the following heights: 1. Exhaust pipe height: safe wading height. The pressure generated when the engine exhausts is very large, which is enough to discharge the water that flows back into the exhaust pipe. Therefore, as long as the engine is not turned off and the vehicle has sufficient stable power, it can prevent water from flowing back into the exhaust pipe and safely pass through this water level section. 2. Half wheel height: may cause water to enter the car. 3. Air intake height: extreme wading height. The air intake height is the most important indicator of the vehicle wading height, because once the air intake enters the water, the engine will be turned off, and in severe cases, water will be sucked into the engine and cause permanent damage. The preset distance should be lower than the above-mentioned heights based on the above design.

[0051] Among them, the loading position of the dual radar in this application is usually set as the first ultrasonic radar is installed at the rearview mirror position, and the second ultrasonic radar is installed at the door handle position. Taking the left side of the vehicle as an example, an ultrasonic radar is installed at the base of the left rearview mirror. This radar is parallel to the horizontal road surface and transmits ultrasonic waves at an angle perpendicular to the road surface; the second ultrasonic radar is about 30 cm away from the first ultrasonic radar (i.e., the spacing distance, which is not limited here), and the retractable door handle for opening the door is a more ideal installation point on the vehicle body; after installation, the height distance and spacing distance between the ultrasonic radar at the door handle and the first radar, i.e., the radar at the rearview mirror base, are fixed.

[0052] In one possible example, determining the actual wading height based on the first depth distance, the second depth distance and the interval distance includes: determining a current tilt angle of the vehicle based on the first depth distance, the second depth distance and the interval distance; acquiring the lateral beam angles of the first ultrasonic radar and the second ultrasonic radar; determining the actual depth distance based on the current tilt angle, the first depth distance, the second depth distance, the lateral beam angle and the radar interval distance; determining the actual wading height based on the actual depth distance and a pre-stored radar installation height.

[0053] Among them, see Figure 4 , Figure 4It is a schematic diagram of a signal reflection scenario provided by an embodiment of the present application. The transmission beam angle of the currently commonly used vehicle-mounted ultrasonic radar is about 60°. The larger the beam angle, the greater the detection height error may be in dynamic conditions: when vertically incident, the main energy area of ​​the beam is directly facing the target object, and the detection height deviation is very small. However, in situations such as obstacles, potholes, and dynamic changes in the water surface in wading areas, the original ultrasonic radar transmission wave is no longer vertically incident with the water surface or the road surface. At this time, the two sides of the beam are likely to contact the reflective interface layer first, resulting in the echo signal received by the ultrasonic radar receiver being the reflected wave caused by the interface layer of other objects on both sides. The present application obtains a detection height value with a smaller error by averaging the detection heights obtained by dual radar measurements.

[0054] For example, assume that there are two ultrasonic radars A and B, which form a horizontal straight line parallel to the horizontal ground. The lateral beam angle of A and B is 60° (deviation + / -10°) and the longitudinal beam angle is 30° (deviation + / -5°). A and B both transmit at an angle perpendicular to the horizontal ground. When a vehicle is driving through water, the water surface will surge back and forth as the vehicle enters, and the surge amplitude is related to the vehicle speed, the volume of the vehicle, etc.; during the surge, the values ​​of the water waves from the crest to the trough vary greatly, and the density of the water waves is also more diverse and complex. The above scenario assumes that the road surface being waded is in a horizontal and hard state. If the bottom of the road surface being waded is made of materials such as silt, the transmission waves of the A and B ultrasonic radars are no longer in a simple vertical incidence relationship with the target point on the water surface; please refer to Figure 5 , Figure 5 FIG. 1 is another schematic diagram of a signal reflection scenario provided by an embodiment of the present application. Figure 5 For example, the triangle is a non-target obstacle, and the horizontal line is the target. Due to fluctuations, it is likely to cause Figure 5 The occurrence of a situation: the side end of the wide beam will touch the obstacle in advance, and then touch the target object. In this situation, especially when both are on the water surface, the reflection systems are consistent. Even when the reflection coefficient at the obstacle is stronger, the ultrasonic wave that touches the obstacle in advance will be reflected back to the receiver in advance, which will cause an error at the signal processing end: the height value that is about to reach the obstacle is misjudged as the height value that actually reaches the target object. To improve this error, the present application uses dual ultrasonic radars, A detects a distance d1 (marked as L1 in the figure), B detects a distance d2 (marked as L2 in the figure), the distance between A and B is Sd, the lateral beam angle is β, and the tilt angle is ( and Here, it can be regarded as the same definition: In order to distinguish the calculations for the two cases of small inclination angle and large inclination angle, use and ). The geometric relationship is as follows:

[0055]

[0056] when

[0057] when

[0058] It can be seen that in this example, the new detection height value obtained based on the above formula can reduce the detection error to a certain extent, effectively improving the reliability and safety of the vehicle's wading system, compared with a single ultrasonic radar in dynamic water surface conditions and complex road conditions, without affecting the performance of other parameters. In addition, it reduces the occurrence of false alarms of the vehicle's wading system, thereby reducing the impact on the driver's driving judgment and improving driving safety.

[0059] In a possible example, after determining the actual wading height based on the first depth distance, the second depth distance and the interval distance, the method further includes: triggering a warning function or adjusting the current driving state of the vehicle based on the actual wading height.

[0060] Among them, see Figure 6 , Figure 6 Schematic diagram of a vehicle wading function provided by an embodiment of the present application. Figure 6 As shown, taking the ultrasonic radar L1 and ultrasonic radar L2 on the left as examples, the main control transmits ultrasonic signals through the dual ultrasonic radars and receives the corresponding reflected ultrasonic reflection signals and performs corresponding processing to obtain the processed and updated depth information (i.e., the actual wading height). According to the actual wading height and the control signal, the vehicle is controlled to perform subsequent warning functions or adjust the current driving status of the vehicle.

[0061] It can be seen that in this example, the present application measures the depth distance in the wading state through the dual radar system, and obtains the actual wading height through certain processing. Corresponding measures are taken based on the actual wading height to ensure driving safety and early warning to the driver, thereby improving the reliability, comprehensiveness and safety of the vehicle's wading system.

[0062] In one possible example, triggering a warning function or adjusting the current driving state of the vehicle based on the actual wading height includes: when the actual wading height does not exceed a first depth threshold, not triggering the warning function of the vehicle; when the actual wading height exceeds the first depth threshold but does not exceed a second depth threshold, triggering the warning function based on the actual wading height; when the actual wading height exceeds the second depth threshold, adjusting the current driving state.

[0063] The first depth threshold and the second depth threshold can be determined according to the tire height and the chassis height. Specifically, the first depth threshold is one-third of the vehicle tire height, and the second depth threshold is one-half of the vehicle tire height, which is not limited here. It can be understood that the first depth threshold should be greater than the second depth threshold.

[0064] It can be seen that in this example, by setting the first depth threshold and the second depth threshold at different heights, the vehicle adopts different wading warnings at different wading heights, which improves the comprehensiveness and flexibility of the wading system and enables the driver and the vehicle to cope with different wading situations.

[0065] In one possible example, when the actual wading height exceeds the second depth threshold, adjusting the current driving state includes: obtaining the current motion mode of the vehicle; when the current motion mode is the hybrid mode or the fuel mode, detecting whether the vehicle supports the pure electric mode; if it is detected that the vehicle supports the pure electric mode, obtaining the current power of the vehicle; and determining whether the current power is greater than a preset power: if the current power is greater than the preset power, switching the vehicle from the current motion mode to the pure electric mode; if the current power is equal to or less than the preset power, adjusting the driving state of the vehicle to a low-speed and uniform speed state; if it is detected that the vehicle does not support the pure electric mode, adjusting the driving state of the vehicle to the low-speed and uniform speed state.

[0066] The current sport mode is any one of the following: pure electric mode, hybrid mode, fuel mode, and the pure electric mode means that the vehicle stops using the engine and is driven by electric energy. The low-speed constant speed state means that the vehicle automatically adjusts the driving speed to a preset low speed and maintains a constant speed after the adjustment is completed.

[0067] The preset power level may be pre-set or determined according to actual conditions. Determining according to actual conditions includes: determining according to the distance from the wading position determined by a camera, or according to the distance to the nearest charging pile, which is not limited here.

[0068] Among them, the principle of switching to electric mode according to the current power of the vehicle is that the vehicle in pure electric mode will stop using the engine, thereby avoiding the problem of engine stalling caused by water entering the engine. The principle of the vehicle automatically entering the low-speed constant speed state is that the vehicle's driving resistance is low in the wading state, and there is a fear that the driver's improper driving will cause the engine to stall, or the vehicle's speed is too fast and cause too many water waves. In addition, by maintaining a constant speed state, the vehicle can gradually drive away from the wading section.

[0069] It can be seen that in this example, intelligent switching is achieved by obtaining the vehicle's current motion mode and detecting whether the vehicle supports multiple motion modes, ensuring that the vehicle's motion mode and driving method can maximize the normal driving of the vehicle, thereby improving the vehicle's intelligence, reliability and safety, and effectively improving the user experience.

[0070] In one possible example, when the actual wading height exceeds the first depth threshold but does not exceed the second depth threshold, the warning function is triggered based on the actual wading height, including: calling the vehicle's in-vehicle projector to project the warning information to a preset head-up display position; or, calling the vehicle's on-board tablet computer to display the warning information on the screen of the on-board tablet computer; and controlling the warning indicator light in the vehicle's dashboard to flash, and controlling the vehicle's audio to broadcast a preset voice alarm.

[0071] The warning information includes the actual wading height, a danger notification statement and subsequent driving operation instructions. The warning indicator light is used to indicate that the vehicle is in a wading state.

[0072] For example, the danger notification statement may be: "The vehicle is wading, please drive away as soon as possible.", to remind the driver of the current situation.

[0073] Exemplarily, the subsequent driving operation guidance can be associated with the actual wading height and the vehicle status. For example, the driver is prompted with the following information: 1. When the car is wading, it should be done when the engine is running normally and the steering and braking mechanisms are sensitive and reliable. You have to put the low gear into the water smoothly, avoid stepping on the accelerator or rushing, and prevent water splashing into the engine and stalling. 2. Keep the throttle steady when driving, keep the car's power sufficient and stable, and try to avoid stopping, shifting gears or making sharp turns in the middle of the journey, especially when the underwater road is muddy. 3. Look far and near, try to look at fixed targets in the distance, hold the steering wheel with both hands, and go straight. 4. Do not look at the water flow or splashes, so as not to confuse your vision and create illusions, causing the vehicle to deviate from the normal wading route and cause an accident. 5. If the car is stalled in the water, it must not be started immediately to avoid serious damage to the engine.

[0074] It can be seen that in this example, by calling various devices in the vehicle to prompt the driver of the current driving situation and subsequent processing operations in various ways, the driver is helped to deal with the vehicle's wading situation, thereby improving the reliability and flexibility of the wading system, thereby effectively improving the user experience and the user's driving safety.

[0075] In one possible example, before triggering a warning function or adjusting the current driving state of the vehicle based on the actual wading height, the method also includes: controlling a third ultrasonic radar and a fourth ultrasonic radar to respectively transmit the ultrasonic signals, and receiving corresponding reflected wave signals through the third ultrasonic radar and the fourth ultrasonic radar to obtain a third depth distance and a fourth depth distance; calculating a reference wading height according to the third depth distance, the fourth depth distance and the installation position of the ultrasonic radar; judging whether the reference wading height is greater than the actual wading height: if the reference wading height is greater than the actual wading height, updating the actual wading height according to the reference wading height; if the reference wading height is less than or equal to the actual wading height, maintaining the actual wading height.

[0076] Among them, the loading positions of the third ultrasonic radar and the fourth ultrasonic radar are located on the same side of the vehicle, and the same side is the other side of the vehicle of the loading positions of the first ultrasonic radar and the second ultrasonic radar. The third depth distance refers to the depth distance between the third ultrasonic radar and the water surface detected by the third ultrasonic radar, and the fourth depth distance refers to the depth distance between the fourth ultrasonic radar and the water surface detected by the fourth ultrasonic radar.

[0077] Among them, radars are usually installed on both sides of the vehicle. Therefore, the wading state judgment scheme of this application can also be implemented by installing dual radars on both sides of the vehicle. In addition, through repeated detection by the dual radars on the other side, the vehicle can obtain two wading heights, namely the actual wading height and the reference wading height. By adopting the higher numerical wading height as the actual wading height used in the end, the corresponding wading safety measures are carried out in the subsequent process.

[0078] It can be seen that in this example, by using the dual radars on the other side to obtain a reference wading height, and using a higher wading height as the basis for judging wading safety measures, it can be more conducive to ensuring the driving safety of the vehicle and preventing the harm caused by wading to the vehicle.

[0079] visible, Figure 2 This is a flow chart of a method for detecting wading height provided in an embodiment of the present application. The controller of the vehicle determines the first depth distance by receiving the reflection signal corresponding to the ultrasonic signal sent by the first ultrasonic radar; and determines the second depth distance by receiving the reflection signal corresponding to the ultrasonic signal sent by the second ultrasonic radar; and determines the actual wading height according to the first depth distance and the interval distance. In this way, the present application improves the accuracy and reliability of the wading height detection of the vehicle's wading system by installing dual radars on the same side of the vehicle and determining the final actual wading height based on the detection height measured by the dual radars, thereby improving the driving stability of the vehicle.

[0080] The following is an embodiment of the device of the present application. The embodiment of the device of the present application and the embodiment of the method of the present application are of the same concept and are used to execute the method described in the embodiment of the present application. For the convenience of explanation, the embodiment of the device of the present application only shows the part related to the embodiment of the device of the present application. For the specific technical details not disclosed, please refer to the description of the embodiment of the method of the present application, which will not be repeated here one by one.

[0081] The embodiment of the present application provides a device for detecting wading height, and the device for determining wading status is applied to Figure 1a The controller 110 in the vehicle wading system 100 is specifically used for executing the steps executed by the vehicle controller in the above wading height detection method. The wading height detection device provided in the embodiment of the present application may include modules corresponding to the corresponding steps.

[0082] The embodiment of the present application can divide the functional modules of the wading height detection device according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. The division of modules in the embodiment of the present application is schematic and is only a logical functional division. There may be other division methods in actual implementation.

[0083] In the case of dividing each functional module into corresponding functional modules, Figure 7a : This is a functional unit composition block diagram of a wading height detection device provided in an embodiment of the present application, which is applied to a vehicle. The wading height detection device 70 includes: a data acquisition unit 701, used to acquire a first ultrasonic transmission signal of a first ultrasonic sensor, a first ultrasonic reflection signal corresponding to the first ultrasonic transmission signal, a second ultrasonic transmission signal of a second ultrasonic sensor, and a second ultrasonic reflection signal corresponding to the two ultrasonic transmission signals; a processing unit 702, used to calculate a first depth distance of the first ultrasonic radar from a target object according to the first ultrasonic transmission signal of the first ultrasonic sensor and the first ultrasonic reflection signal corresponding to the first ultrasonic transmission signal; calculate a second depth distance of the second ultrasonic radar from the target object according to the second ultrasonic transmission signal of the second ultrasonic sensor and the second ultrasonic reflection signal corresponding to the two ultrasonic transmission signals, wherein the first ultrasonic radar and the second ultrasonic radar are located on the same side of the vehicle; determine the actual wading height according to the first depth distance, the second depth distance and the interval distance, and the interval distance is the distance between the first ultrasonic radar and the second ultrasonic radar.

[0084] In one possible example, in terms of determining the actual wading height based on the first depth distance, the second depth distance and the interval distance, the processing unit 702 is specifically used to: determine the current tilt angle of the vehicle based on the first depth distance, the second depth distance and the interval distance; obtain the lateral beam angles of the first ultrasonic radar and the second ultrasonic radar; determine the actual depth distance based on the current tilt angle, the first depth distance, the second depth distance, the lateral beam angle and the radar interval distance; determine the actual wading height based on the actual depth distance and a pre-stored radar installation height.

[0085] In a possible example, after determining the actual wading height based on the first depth distance, the second depth distance and the interval distance, the wading height detection device 70 is also used to: trigger a warning function or adjust the current driving state of the vehicle based on the actual wading height.

[0086] In one possible example, in terms of triggering a warning function or adjusting the current driving state of the vehicle based on the actual wading height, the wading height detection device 70 is specifically used to: when the actual wading height does not exceed a first depth threshold, not triggering the warning function of the vehicle; when the actual wading height exceeds the first depth threshold but does not exceed a second depth threshold, triggering the warning function based on the actual wading height; when the actual wading height exceeds the second depth threshold, adjusting the current driving state.

[0087] In one possible example, in terms of adjusting the current driving state when the actual wading height exceeds the second depth threshold, the wading height detection device 70 is specifically used to: obtain the current motion mode of the vehicle, the current motion mode is any one of the following: pure electric mode, hybrid mode, fuel mode, the pure electric mode means that the vehicle stops using the engine and is driven by electric energy; when the current motion mode is the hybrid mode or the fuel mode, detect whether the vehicle supports the pure electric mode; if it is detected that the vehicle supports the pure electric mode, obtain the current power of the vehicle; and determine whether the current power is greater than a preset power: if the current power is greater than the preset power, switch the vehicle from the current motion mode to the pure electric mode; if the current power is equal to or less than the preset power, adjust the driving state of the vehicle to a low-speed and uniform speed state, the low-speed and uniform speed state means that the vehicle automatically adjusts the driving speed to a preset low speed and maintains a driving state of uniform speed after the adjustment is completed; if it is detected that the vehicle does not support the pure electric mode, adjust the driving state of the vehicle to the low-speed and uniform speed state.

[0088] In one possible example, in terms of triggering the warning function based on the actual wading height when the actual wading height exceeds the first depth threshold and does not exceed the second depth threshold, the wading height detection device 70 is specifically used to: call the vehicle's in-vehicle projector to project the warning information to a preset head-up display position, the warning information including the actual wading height, danger notification statements and subsequent driving operation instructions; or, call the vehicle's on-board tablet computer to display the warning information on the screen of the on-board tablet computer; and control the warning indicator light in the vehicle dashboard of the vehicle to flash, and control the vehicle's audio to broadcast a preset voice alarm, the warning indicator light is used to indicate that the vehicle is in a wading state.

[0089] In one possible example, in terms of calculating the first depth distance of the first ultrasonic radar from the target object based on the first ultrasonic transmission signal of the first ultrasonic sensor and the first ultrasonic reflection signal corresponding to the first ultrasonic transmission signal, the processing unit 702 is specifically used to: determine a first time point when the first ultrasonic radar sends the first ultrasonic transmission signal based on the first ultrasonic transmission signal; and determine a second time point when the first ultrasonic radar receives the first ultrasonic reflection signal based on the first ultrasonic reflection signal; determine a sound wave propagation time based on the first time point and the second time point; obtain a sound wave emission inclination angle, the sound wave emission inclination angle refers to an angle formed between a horizontal plane of the vehicle and the first ultrasonic radar under the current driving state; and determine the first depth distance based on the sound wave propagation time, the sound wave emission inclination angle and a preset depth distance calculation formula.

[0090] In the case of integrated units, such as Figure 7b As shown, Figure 7b This is a block diagram of the functional units of another water height detection device provided in an embodiment of the present application. Figure 7b In the embodiment, the wading height detection device 70 includes: a processing module 72 and a communication module 71. The processing module 72 is used to control and manage the actions of the wading height detection device, for example, the steps of the data acquisition unit 701 and the processing unit 702, and / or other processes for executing the technology described herein. The communication module 71 is used to support the interaction between the wading height detection device and other devices. Figure 7b As shown, the wading height detection device may include a storage module 73, and the storage module 73 is used to store program codes and data of the wading height detection device.

[0091] Among them, the processing module 72 can be a processor or a controller, for example, a central processing unit (CPU), a general processor, a digital signal processor (DSP), an ASIC, an FPGA or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It can implement or execute various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements a computing function, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and the like. The communication module 71 can be a transceiver, an RF circuit or a communication interface, and the like. The storage module 73 can be a memory.

[0092] Among them, all relevant contents of each scenario involved in the above method embodiment can be referred to the functional description of the corresponding functional module, and will not be repeated here. The above-mentioned wading height detection device 70 can execute the above-mentioned Figure 2 The water height detection method shown.

[0093] The above embodiments can be implemented in whole or in part by software, hardware, firmware or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0094] Figure 8 is a structural block diagram of a controller provided in an embodiment of the present application. Figure 8As shown, the controller may include one or more of the following components: a processor 801, and a memory 802 coupled to the processor 801, wherein the memory 802 may store one or more computer programs, and the one or more computer programs may be configured to implement the methods described in the above embodiments when executed by one or more processors 801.

[0095] The processor 801 may include one or more processing cores. The processor 801 uses various interfaces and lines to connect the various parts of the entire controller, and executes various functions of the controller and processes data by running or executing instructions, programs, code sets or instruction sets stored in the memory 802, and calling data stored in the memory 802. Optionally, the processor 801 can be implemented in at least one hardware form of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), and programmable logic array (Programmable Logic Array, PLA). The processor 801 can integrate one or a combination of a central processing unit (Central Processing Unit, CPU), a graphics processing unit (Graphics Processing Unit, GPU) and a modem. Among them, the CPU mainly processes the operating system, user interface and application programs; the GPU is responsible for rendering and drawing display content; and the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 801, but may be implemented separately through a communication chip.

[0096] The memory 802 may include a random access memory (RAM) or a read-only memory (ROM). The memory 802 may be used to store instructions, programs, codes, code sets or instruction sets. The memory 802 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc. The data storage area may also store data created by the controller during use, etc.

[0097] It can be understood that the controller may include more or fewer structural elements than those in the above structural block diagram, which is not limited here.

[0098] An embodiment of the present application also provides a computer storage medium, on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, part or all of the steps of any method recorded in the above method embodiments are implemented.

[0099] An embodiment of 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 part or all of the steps of any method recorded in the above method embodiments.

[0100] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0101] In the several embodiments provided in the present application, it should be understood that the disclosed methods, devices and systems can be implemented in other ways. For example, the device embodiments described above are merely schematic; for example, the division of the units is only a logical function division, and there may be other division methods in actual implementation; for example, 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, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0102] The units described 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.

[0103] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may be physically included 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 hardware plus software functional units.

[0104] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform some steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a volatile memory or a non-volatile memory. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM) or a flash memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (double data rate SDRAM, DDR SDRAM), enhanced synchronous dynamic random access memory (enhanced SDRAM, ESDRAM), synchronous link dynamic random access memory (synchlink DRAM, SLDRAM) and direct memory bus random access memory (directrambus RAM, DR RAM) and other media that can store program code.

[0105] Although the present invention is disclosed as above, the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions without departing from the spirit and scope of the present invention, and can make various changes and modifications, including the combination of the above-mentioned different functions and implementation steps, including software and hardware implementation methods, all of which are within the scope of protection of the present invention.

Claims

1. A method for detecting wading height, characterized in that: The method is applied to a vehicle, and comprises: Calculating a first depth distance between the first ultrasonic radar and the target object according to a first ultrasonic transmission signal of the first ultrasonic sensor and a first ultrasonic reflection signal corresponding to the first ultrasonic transmission signal; Calculating a second depth distance between the second ultrasonic radar and the target object according to a second ultrasonic transmission signal of the second ultrasonic sensor and a second ultrasonic reflection signal corresponding to the second ultrasonic transmission signal, wherein the first ultrasonic radar and the second ultrasonic radar are located on the same side of the vehicle; An actual wading height is determined according to the first depth distance, the second depth distance, and a spacing distance, where the spacing distance is a distance between the first ultrasonic radar and the second ultrasonic radar.

2. The method according to claim 1, characterized in that Determining the actual wading height according to the first depth distance, the second depth distance and the interval distance includes: determining a current tilt angle of the vehicle according to the first depth distance, the second depth distance and the interval distance; Acquire the lateral beam angles of the first ultrasonic radar and the second ultrasonic radar; Determining an actual depth distance according to the current tilt angle, the first depth distance, the second depth distance, the lateral beam angle, and the radar separation distance; The actual wading height is determined according to the actual depth distance and the pre-stored radar installation height.

3. The method according to claim 1, characterized in that After determining the actual wading height according to the first depth distance, the second depth distance and the interval distance, the method further includes: Based on the actual wading height, a warning function is triggered or the current driving state of the vehicle is adjusted.

4. The method according to claim 3, characterized in that The triggering of the warning function or adjusting the current driving state of the vehicle based on the actual wading height includes: When the actual wading height does not exceed the first depth threshold, the warning function of the vehicle is not triggered; When the actual wading height exceeds the first depth threshold and does not exceed the second depth threshold, triggering the early warning function based on the actual wading height; When the actual wading height exceeds the second depth threshold, the current driving state is adjusted.

5. The method according to claim 4, characterized in that When the actual wading height exceeds the second depth threshold, adjusting the current driving state includes: Obtaining a current motion mode of the vehicle, wherein the current motion mode is any one of the following: a pure electric mode, a hybrid electric mode, and a fuel mode, wherein the pure electric mode means that the vehicle stops using an engine and is driven by electric energy; When the current sport mode is the oil-electric hybrid mode or the fuel mode, detecting whether the vehicle supports the pure electric mode; If it is detected that the vehicle supports the pure electric mode, obtaining the current power of the vehicle; and determining whether the current power is greater than a preset power; If the current power level is greater than the preset power level, switching the vehicle from the current sports mode to the pure electric mode; If the current power is equal to or less than the preset power, the driving state of the vehicle is adjusted to a low-speed and uniform speed state, wherein the low-speed and uniform speed state refers to a driving state in which the vehicle automatically adjusts the driving speed to a preset low speed and maintains a uniform speed after the adjustment is completed; If it is detected that the vehicle does not support the pure electric mode, the driving state of the vehicle is adjusted to the low-speed and uniform-speed state.

6. The method according to claim 4, characterized in that When the actual wading height exceeds the first depth threshold and does not exceed the second depth threshold, triggering the early warning function based on the actual wading height includes: Invoke the in-vehicle projector of the vehicle to project the warning information to a preset head-up display position, wherein the warning information includes the actual wading height, the danger notification statement and subsequent driving operation instructions; or, The vehicle's onboard tablet computer is called to display the warning information on the screen of the onboard tablet computer; and the warning indicator light in the vehicle dashboard of the vehicle is controlled to flash, and the vehicle's audio system is controlled to broadcast a preset voice alarm, wherein the warning indicator light is used to indicate that the vehicle is in a wading state.

7. The method according to any one of claims 1 to 6, characterized in that: The calculating a first depth distance between the first ultrasonic radar and the target object according to the first ultrasonic transmission signal of the first ultrasonic sensor and the first ultrasonic reflection signal corresponding to the first ultrasonic transmission signal includes: Determine, according to the first ultrasonic transmission signal, a first time point at which the first ultrasonic radar transmits the first ultrasonic transmission signal; and, according to the first ultrasonic reflection signal, determine a second time point at which the first ultrasonic radar receives the first ultrasonic reflection signal; Determining a sound wave propagation time according to the first time point and the second time point; Obtaining a sound wave emission inclination angle, where the sound wave emission inclination angle refers to an angle formed between a horizontal plane and the first ultrasonic radar in a current driving state of the vehicle; The first depth distance is determined according to the sound wave propagation time, the sound wave emission inclination angle and a preset depth distance calculation formula.

8. A wading height detection device, characterized in that: The device is applied to a vehicle, and comprises: A data acquisition unit, used for acquiring a first ultrasonic transmission signal of a first ultrasonic sensor, a first ultrasonic reflection signal corresponding to the first ultrasonic transmission signal, a second ultrasonic transmission signal of a second ultrasonic sensor, and a second ultrasonic reflection signal corresponding to the second ultrasonic transmission signal; A processing unit, configured to calculate a first depth distance between the first ultrasonic radar and the target object according to a first ultrasonic transmission signal of the first ultrasonic sensor and a first ultrasonic reflection signal corresponding to the first ultrasonic transmission signal; Calculating a second depth distance between the second ultrasonic radar and the target object according to a second ultrasonic transmission signal of the second ultrasonic sensor and a second ultrasonic reflection signal corresponding to the second ultrasonic transmission signal, wherein the first ultrasonic radar and the second ultrasonic radar are located on the same side of the vehicle; An actual wading height is determined according to the first depth distance, the second depth distance, and a spacing distance, where the spacing distance is a distance between the first ultrasonic radar and the second ultrasonic radar.

9. A controller, characterized in that: The method comprises 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 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: It includes the water wading height detection device as described in claim 8 or the controller as described in claim 9.

11. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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