Method and device for determining fording depth of vehicle and related equipment

Abstract

The invention discloses a vehicle fording depth determination method and device and related equipment, and relates to the technical field of vehicles. The method is applied to a vehicle-mounted terminal and comprises the steps that under the condition that it is determined that a pedal exists in a vehicle, the first height of an outside rear-view mirror of the vehicle on a wading road section is obtained, the first height is the distance detected by a radar when the outside rear-view mirror is in an unfolded state, and the radar is located below the outside rear-view mirror of the vehicle; and calculating the fording depth according to the first height.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and in particular, relates to a method, device and related equipment for determining the wading depth of a vehicle. Background Art

[0002] Driving through water poses a potential threat to the safety of vehicles and passengers. In order to avoid problems such as water ingress into the engine and short circuit of the electrical system due to wading too deep, the vehicle can improve driving safety through the on-board water depth detection system. The on-board water depth detection system uses ultrasonic radars installed on the exterior rearview mirrors and the chassis of the vehicle to detect whether the current vehicle is wading. If it has waded through water, the current wading depth is calculated based on the vehicle parameters, and the current wading status of the vehicle is displayed to the user on the LCD screen, and an alarm is issued when the vehicle wades deep. However, in the prior art, when the ultrasonic radar detects the wading depth of the current vehicle, there is a situation where the owner installs an additional pedal, resulting in an error in the detection distance of the wading detection system. Summary of the invention

[0003] The embodiments of the present application provide a method, device and related equipment for determining the wading depth of a vehicle, which can identify whether the vehicle has a pedal and accurately obtain the wading depth.

[0004] In a first aspect, an embodiment of the present application provides a method for determining a vehicle wading depth, which is applied to a vehicle-mounted terminal, and the method includes:

[0005] In the case where it is determined that the vehicle has a pedal, obtaining a first height of the exterior rearview mirror of the vehicle in a wading section, where the first height is a distance detected by a radar when the exterior rearview mirror is in an unfolded state, and the radar is located below the exterior rearview mirror of the vehicle;

[0006] The wading depth is calculated based on the first height.

[0007] In a second aspect, an embodiment of the present application provides a device for determining a vehicle wading depth, which is applied to a vehicle-mounted terminal, and the device includes:

[0008] A first acquisition module is used to acquire a first height of the exterior rearview mirror of the vehicle in a wading section when it is determined that the vehicle has a pedal, wherein the first height is a distance detected by a radar when the exterior rearview mirror is deployed, and the radar is located below the exterior rearview mirror of the vehicle;

[0009] A calculation module is used to calculate the wading depth according to the first height.

[0010] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, it implements the method for determining the wading depth of a vehicle as described in any one of the above.

[0011] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium having computer program instructions stored thereon, and when the computer program instructions are executed by a processor, a method for determining the wading depth of a vehicle as described in any one of the above items is implemented.

[0012] In a fifth aspect, an embodiment of the present application provides a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the method for determining the wading depth of a vehicle as described in any one of the above.

[0013] In a sixth aspect, an embodiment of the present application provides a vehicle, comprising at least one of the following:

[0014] The device for determining the wading depth of a vehicle as described above;

[0015] Electronic devices as described above;

[0016] The computer readable storage medium as described above;

[0017] A computer program product as described above.

[0018] The method, device and related equipment for determining the wading depth of a vehicle in the embodiment of the present application are applied to a vehicle-mounted terminal, and can obtain the first height of the vehicle's exterior rearview mirror in the wading section when it is determined that the vehicle has a pedal. The first height is the distance detected by the radar when the exterior rearview mirror is in the unfolded state, and the radar is located below the vehicle's exterior rearview mirror; finally, the wading depth can be accurately calculated based on the first height detected by the radar when the vehicle's exterior rearview mirror is in the fully unfolded state; thus, in the embodiment of the present application, when the vehicle has a pedal, the wading depth can be accurately calculated based on the first height detected by the radar when the vehicle's exterior rearview mirror is in the wading section. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solution of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 is a flow chart of a method for determining a vehicle wading depth provided in an embodiment of the present application;

[0021] Figure 2is a system framework diagram of a system for determining a vehicle wading depth provided in an embodiment of the present application;

[0022] Figure 3 It is a detection schematic diagram of a wading ultrasonic radar provided in an embodiment of the present application;

[0023] Figure 4 This is a flowchart of a scenario embodiment provided by an embodiment of the present application;

[0024] Figure 5 It is a schematic diagram of the minimum detection distance of two ultrasonic radars provided in an embodiment of the present application;

[0025] Figure 6 is a schematic diagram of ultrasonic detection during the folding process of the rearview mirror provided in an embodiment of the present application;

[0026] Figure 7 is a schematic diagram of detecting an ultrasonic secondary echo provided in an embodiment of the present application;

[0027] Figure 8 is a schematic structural diagram of a device for determining a vehicle wading depth provided in an embodiment of the present application;

[0028] Fig. 9 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0029] The features and exemplary embodiments of various aspects of the present application will be described in detail below. In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, rather than to limit the present application. For those skilled in the art, the present application can be implemented without the need for some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by illustrating the examples of the present application.

[0030] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "include..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0031] Driving through water poses a potential threat to the safety of vehicles and passengers. In order to avoid problems such as water ingress into the engine and short circuit of the electrical system due to wading too deep, the vehicle can improve driving safety through the on-board water depth detection system. The on-board water depth detection system uses ultrasonic radars installed on the exterior rearview mirrors and the chassis of the vehicle to detect whether the current vehicle is wading. If it has waded through water, the current wading depth is calculated based on the vehicle parameters, and the current wading status of the vehicle is displayed to the user on the LCD screen, and an alarm is issued when the vehicle wades deep. However, in the prior art, when the ultrasonic radar detects the wading depth of the current vehicle, there is a situation where the owner installs an additional pedal, resulting in an error in the detection distance of the wading detection system.

[0032] In order to solve the problems in the prior art, the embodiments of the present application provide a method, device and related equipment for determining the wading depth of a vehicle. The method for determining the wading depth of a vehicle provided in the embodiments of the present application is first introduced below.

[0033] Figure 1 FIG. 1 is a flow chart of a method for determining a vehicle wading depth provided by an embodiment of the present application. Figure 1 As shown, a method for determining the wading depth of a vehicle is applied to a vehicle-mounted terminal. The method may include the following steps S101 to S102:

[0034] S101. When it is determined that the vehicle has a pedal, obtain a first height of an exterior rearview mirror of the vehicle on a wading section, where the first height is a distance detected by a radar when the exterior rearview mirror is deployed, and the radar is located below the exterior rearview mirror of the vehicle;

[0035] S102: Calculate the wading depth according to the first height.

[0036] The method for determining the wading depth of a vehicle in the embodiment of the present application is applied to a vehicle-mounted terminal, and can obtain the first height of the vehicle's exterior rearview mirror in the wading section when it is determined that the vehicle has a pedal. The first height is the distance detected by the radar when the exterior rearview mirror is in the unfolded state, and the radar is located below the vehicle's exterior rearview mirror; finally, the wading depth can be accurately calculated based on the first height detected by the radar when the vehicle's exterior rearview mirror is in the fully unfolded state; thus, in the embodiment of the present application, when the vehicle has a pedal, the wading depth can be accurately calculated based on the first height detected by the radar when the vehicle's exterior rearview mirror is in the wading section.

[0037] The above method for determining the wading depth of a vehicle is mainly applied to a vehicle-mounted terminal. The present application is not limited thereto, and may also be a vehicle central control system or other terminal equipment with data processing capabilities.

[0038] In S101, the above determination of the presence of pedals on the vehicle may be, for example, obtaining multiple reflection intensities of the vehicle's radar on a non-water-wading section, the multiple reflection intensities including the reflection intensities of multiple cycles when the exterior rearview mirror changes from a fully extended state to a folded state; determining the monotonic type of the multiple reflection intensities based on the multiple reflection intensities; and determining the presence of pedals on the vehicle when the monotonic type is monotonically increasing. Alternatively, it may be obtaining multiple echo information of the vehicle's radar on a non-water-wading section, the multiple echo information including the echo information of multiple cycles when the exterior rearview mirror changes from a fully extended state to a folded state; and determining the presence of pedals on the vehicle when at least two of the multiple echo information are different (such as different echo times).

[0039] The above-mentioned radar is located below the vehicle's exterior rearview mirror, wherein the radar may be an ultrasonic radar. Of course, the radar in the present application is not limited thereto, and may also be set according to actual user needs.

[0040] The above-mentioned first height may be the distance detected by the radar when the vehicle's exterior rearview mirror is in the unfolded state on a wading section of road.

[0041] In S102, the wading depth is calculated based on the first height. For example, the difference between the preset rearview mirror height and the first height may be determined as the wading depth. Alternatively, when the first height includes a first sub-height and a second sub-height, the average of the first sub-height and the second sub-height is calculated; and the difference between the preset rearview mirror height and the average is determined as the wading depth.

[0042] As an implementation of the present application, in order to determine whether the vehicle has a pedal, before the above S201, the above method may further include:

[0043] Acquire multiple reflection intensities of the vehicle's radar on a non-water-wading section, the multiple reflection intensities including reflection intensities of multiple cycles when the exterior rearview mirror changes from a fully unfolded state to a folded state;

[0044] Determining the monotonic type of the multiple reflection intensities according to the multiple reflection intensities;

[0045] When the monotonic type is monotonically increasing, it is determined that the vehicle has a pedal.

[0046] The above-mentioned multiple reflection intensities may include the reflection intensities of multiple cycles when the exterior rearview mirror changes from a fully unfolded state to a folded state. The fully unfolded state is the state in which the exterior rearview mirror is fully unfolded, and the folded state is the state in which the exterior rearview mirror is fully folded. It should be noted that the folding time of the vehicle rearview mirror (the time from the unfolded state to the fully folded state of the rearview mirror) is T b , during this folding time, the number of cycles running is Record the ultrasonic reflection intensities R1, R2, ..., R in these N cycles (i.e., the above-mentioned multiple cycles) respectively. N , that is, the above-mentioned multiple reflection intensities.

[0047] The above monotonic type can be used to indicate the changing trend of multiple reflection intensities during the folding time of the vehicle rearview mirror. The monotonic type can include monotonic increase, that is, indicating that the multiple reflection intensities are getting larger and larger during the folding time of the vehicle rearview mirror.

[0048] The above-mentioned monotonic type of multiple reflection intensities is determined based on multiple reflection intensities. Exemplarily, when the first reflection intensity is less than the fourth reflection intensity, and the second reflection intensity is less than or equal to the third reflection intensity, the monotonic type of the multiple reflection intensities is determined to be monotonically increasing; or when the first reflection intensity, the second reflection intensity, the third reflection intensity and the fourth reflection intensity are equal, the monotonic type of the multiple reflection intensities is determined not to be monotonically increasing.

[0049] For vehicles equipped with foot pedals, R1 to R N Maintaining a monotonic increase, based on this characteristic, when the monotonic type of multiple reflection intensities is monotonic increasing, it can be determined that the vehicle has a pedal.

[0050] In an embodiment of the present application, the radar under the vehicle's exterior rearview mirror can detect multiple reflection intensities when the exterior rearview mirror changes from a fully unfolded state to a folded state on non-water-wading sections, and identify its monotonous type to accurately determine whether the vehicle has a pedal.

[0051] In some embodiments, the above-mentioned multiple reflection intensities may include a first reflection intensity, a second reflection intensity, a third reflection intensity and a fourth reflection intensity, the first reflection intensity is the reflection intensity of the exterior rearview mirror in a fully unfolded state, the fourth reflection intensity is the reflection intensity of the exterior rearview mirror in a folded state, and the second reflection intensity and the third reflection intensity are the reflection intensities of any two consecutive cycles of the multiple reflection intensities; the above-mentioned determination of the monotonic types of the multiple reflection intensities based on the multiple reflection intensities may specifically include:

[0052] When the first reflection intensity is less than the fourth reflection intensity and the second reflection intensity is less than or equal to the third reflection intensity, determining that the monotonic type of the multiple reflection intensities is monotonically increasing;

[0053] In a case where the first reflection intensity, the second reflection intensity, the third reflection intensity and the fourth reflection intensity are equal, it is determined that the monotonic type of the plurality of reflection intensities is not monotonically increasing.

[0054] The above-mentioned multiple reflection intensities may include a first reflection intensity, a second reflection intensity, a third reflection intensity and a fourth reflection intensity.

[0055] The first reflection intensity may be the reflection intensity of the exterior rearview mirror in a fully unfolded state. The fourth reflection intensity may be the reflection intensity of the exterior rearview mirror in a folded state. The second reflection intensity and the third reflection intensity may be the reflection intensity of any two consecutive periods of the multiple reflection intensities.

[0056] In an embodiment of the present application, by comparing the first reflection intensity, the second reflection intensity, the third reflection intensity and the fourth reflection intensity and identifying the change trend of multiple reflection intensities, the monotonous type of multiple reflection intensities can be accurately identified, and then it can be accurately identified whether the vehicle has a pedal.

[0057] As an implementation of the present application, in order to accurately calculate the wading depth when the vehicle does not have a pedal, the above method may further include:

[0058] When the monotonic type is not monotonically increasing, it is determined that the vehicle does not have a pedal;

[0059] Obtain the second height of the vehicle's exterior rearview mirror on the wading section, where the second height is the closest echo distance detected by the radar;

[0060] The wading depth is calculated based on the second height.

[0061] The second height may be the closest echo distance detected by the radar when there is no pedal on the vehicle.

[0062] The wading depth is calculated based on the second height, and illustratively, the difference between the preset rearview mirror height and the second height is determined as the wading depth. Alternatively, when the second height includes the third sub-height and the fourth sub-height, the average of the third sub-height and the fourth sub-height is calculated; and the difference between the preset rearview mirror height and the average is determined as the wading depth.

[0063] In an embodiment of the present application, when the monotonic type is not monotonically increasing, it can be determined that the vehicle does not have a pedal. Therefore, the wading depth can be accurately calculated directly based on the second height of the exterior rearview mirror of the vehicle in the wading section.

[0064] As another implementation of the present application, in order to obtain the actual wading depth of the wading section, before the above S101, the above method may further include:

[0065] Get the pedal height of the foot pedal;

[0066] Obtain the third height of the vehicle's exterior rearview mirror on the wading section, where the third height is the closest echo distance detected by the radar;

[0067] According to the third height, the initial wading depth is calculated;

[0068] The above S101 may specifically include:

[0069] When the initial wading depth is less than the pedal height, a first height of the exterior rearview mirror of the vehicle on the wading section is obtained.

[0070] The above-mentioned pedal height can be the difference between the preset rearview mirror height and the radar detection distance of the vehicle when the exterior rearview mirror is in a folded state on a non-wading road section (that is, when the radar reflection intensity is the maximum).

[0071] The third height mentioned above may be the closest echo distance detected by the radar when there is a pedal on the vehicle.

[0072] The initial wading depth is calculated based on the third height. For example, the difference between the preset rearview mirror height and the third height may be determined as the initial wading depth. Alternatively, when the third height includes the fifth sub-height and the sixth sub-height, the average of the fifth sub-height and the sixth sub-height may be calculated; and the difference between the preset rearview mirror height and the average may be determined as the initial wading depth.

[0073] In an embodiment of the present application, by comparing the initial wading depth with the pedal height, it is identified whether the water level of the wading section is higher than the pedal height. When the initial wading depth is less than the pedal height, that is, the water level of the wading section is lower than the pedal height, it means that the initial wading depth is not the actual wading depth of the wading section. Therefore, it is necessary to obtain the first height of the vehicle's exterior rearview mirror under the wading section to obtain the actual wading depth of the wading section.

[0074] In some embodiments, the above method may further include:

[0075] When the initial wading depth is greater than or equal to the pedal height, the initial wading depth is determined as the wading depth.

[0076] In the embodiment of the present application, the initial wading depth is greater than or equal to the pedal height, that is, the water level of the wading section is higher than or equal to the pedal height, which means that the initial wading depth is the actual wading depth of the wading section. Therefore, the initial wading depth is directly determined as the wading depth.

[0077] In some embodiments, the first height may include a first sub-height and a second sub-height, and S102 may specifically include:

[0078] Calculate the average of the first sub-height and the second sub-height;

[0079] The difference between the preset rearview mirror height and the average value is determined as the wading depth.

[0080] The above-mentioned first height may include a first sub-height and a second sub-height, wherein the first sub-height is the distance detected by the radar of the left exterior rearview mirror in the unfolded state, and the second sub-height is the distance detected by the radar of the right exterior rearview mirror in the unfolded state.

[0081] In the embodiment of the present application, since the vehicle body may be tilted, the first sub-height of the left exterior rearview mirror and the second sub-height of the right exterior rearview mirror are calculated by the average of the two, which can reduce the error caused by the different heights of the left exterior rearview mirror and the right exterior rearview mirror, and the difference between the preset rearview mirror height and the average is determined as the wading depth, further improving the accuracy and reliability of the wading depth detection.

[0082] In order to facilitate the understanding of the method for determining the wading depth of a vehicle in the embodiment of the present application, the actual application process of the method for determining the wading depth of a vehicle is described as follows:

[0083] like Figure 2As shown in the figure, the autonomous driving domain controller is connected to the wading ultrasonic radar through the LIN bus to control the operation of the ultrasonic radar and obtain the detection distance from the ultrasonic radar; the autonomous driving domain controller is connected to the gateway through the CAN bus, and the gateway is connected to the left and right rearview mirrors through LIN to control the folding of the rearview mirrors. The final detected water depth is transmitted from the autonomous driving domain controller to the cockpit end through the ETH bus for display.

[0084] like Figure 3 As shown in the figure, the black part is the detection area of ​​the wading ultrasonic radar. When the vehicle is driving on the road, the ultrasonic radars installed on the left and right rearview mirrors detect the distance from the rearview mirror to the ground. For vehicles with pedals installed, the pedals are within the detection area. When the wading radar system is working, it will mistake the distance from the pedals to the rearview mirror as the distance from the water surface to the rearview mirror, resulting in false detection. Through the principle and characteristics of ultrasonic ranging, it can automatically identify whether the vehicle is equipped with pedals, and based on the processing of secondary echoes, for vehicles with pedals installed, the true water surface depth information can be identified.

[0085] like Figure 4 As shown, the embodiment of the present application provides a process of determining the wading depth of a vehicle. For a detailed description, please refer to the following steps:

[0086] (1) Water detection system is turned on

[0087] The driver turns on the wading detection system, and the ultrasonic radars installed under the two rearview mirrors (i.e., the exterior rearview mirrors) start working, using a direct measurement method to detect the detection distance from the ground to the rearview mirror (equivalent to the second height or the third height). The current closest detection distances of the two ultrasonic radars are recorded as H L and H R ,like Figure 5 As shown, the system detection cycle time is T a .H L H is the distance between the left ultrasonic radar and the nearest echo from the ground. R The distance between the right ultrasonic radar and the nearest echo from the ground.

[0088] (2) Folding rearview mirror

[0089] The wading detection system automatically controls the folding of the vehicle's rearview mirror. Assume that the folding time of the vehicle's exterior rearview mirror is T b (The time it takes for the exterior rearview mirror to be fully folded from the open state). During this folding time, the total number of cycles that the wading detection system runs is The detection distance of these N cycles (equivalent to the above multiple cycles) is H L1， H R1， H L2， HR2…… H LN， H RN .

[0090] (3) Logical judgment on whether to install the pedal

[0091] On non-water-wading roads, record the distance between the left and right rearview mirrors of the vehicle and the ground, which is equal to H. O (equivalent to the height of the rearview mirror mentioned above), then the wading depth is

[0092] like Figure 6 As shown in the figure, when the rearview mirror is unfolded, because the ultrasonic reflection area is outside and exceeds the range of the pedal, the ultrasonic detection distance is the distance from the ground to the rearview mirror. At this time, the recorded water depth is The ultrasonic reflection intensity R1 is equivalent to the first reflection intensity mentioned above). During the folding process of the rearview mirror, part of the ultrasonic reflection area is the pedal and part is the ground. The water depth detected by the ultrasonic wave will become the distance D2 of the pedal at a certain position. The ultrasonic reflection intensity R1, R2...R in the whole folding process is recorded. N After the rearview mirror is folded, the ultrasonic reflection area is mostly the pedal, and the minimum detection distance is And the reflection intensity reaches the maximum value R N (equivalent to the fourth reflection intensity mentioned above).

[0093] Because of the horizontal nature of the water surface, R1 to R N are equal; for vehicles equipped with pedals, when the water depth is less than the pedals, R1 to R N Keep monotonically increasing. So cross the judgment R1 to R N The monotonic consistency of can indirectly determine whether the vehicle is equipped with pedals. If the following conditions 1 and 2 are met at the same time, it is determined that the vehicle is equipped with pedals.

[0094] Judgment method: 1) R M-1 ≤R M ,M∈(1,N](R M-1 and R M Equivalent to the above second reflection intensity and third reflection intensity); 2) R1 <R N At the same time, it can be concluded that D2 is the height of the vehicle's foot pedal (i.e. the above-mentioned pedal height).

[0095] (4) Reopen the left and right rearview mirrors.

[0096] After completing step (3), the autonomous driving domain controller automatically opens the left and right rearview mirrors and starts detecting the water depth.

[0097] (5) Wading depth detection without foot pedals installed

[0098] For a vehicle without a footrest, the wading depth is

[0099] (6) Detection of wading depth for vehicles with installed footrests

[0100] For vehicles with installed footrests, different calculation methods are adopted according to the current water depth:

[0101] 1) When the current water depth (equivalent to the above initial wading depth) is greater than or equal to the height of the footrest (D ≥ D2), the system outputs the final water depth as

[0102] 2) When the current water depth is less than the height of the footrest (D < D2), then D is not the real water depth, and the real water depth needs to be detected by the secondary echo of ultrasonic waves.

[0103] As Figure 7 shown, in this case, the current nearest heights detected by ultrasonic waves are H L and H R , and the detected heights of the secondary echo are H L1 and H R1 (equivalent to the first sub-height and the second sub-height in the above first height), then the current water depth is

[0104] (7) Output of wading depth

[0105] According to the result of step (6), the autonomous driving domain controller outputs the final detected water depth D to the cockpit controller for display.

[0106] Based on the method for determining the wading depth of a vehicle provided in the above embodiments, correspondingly, the present application also provides a specific implementation manner of a device for determining the wading depth of a vehicle. Please refer to the following embodiments.

[0107] As Figure 8 shown, the device 800 for determining the wading depth of a vehicle provided in the embodiments of the present application is applied to an in-vehicle terminal, and the device 800 may include the following modules: a first acquisition module 801 and a calculation module 802.

[0108] The first acquisition module 801 is configured to, when it is determined that the vehicle has a footrest, acquire the first height of the outside rearview mirror of the vehicle in a wading section, where the first height is the distance detected by radar when the outside rearview mirror is in the unfolded state, and the radar is located below the outside rearview mirror of the vehicle;

[0109] The calculation module 802 is configured to calculate the wading depth according to the first height.

[0110] The device for determining the wading depth of a vehicle in the embodiment of the present application is applied to a vehicle-mounted terminal, and can obtain the first height of the vehicle's exterior rearview mirror in the wading section when it is determined that the vehicle has a pedal. The first height is the distance detected by the radar when the exterior rearview mirror is in the unfolded state, and the radar is located below the vehicle's exterior rearview mirror; finally, the wading depth can be accurately calculated based on the first height detected by the radar when the vehicle's exterior rearview mirror is in the fully unfolded state; thus, in the embodiment of the present application, when the vehicle has a pedal, the wading depth can be accurately calculated based on the first height detected by the radar when the vehicle's exterior rearview mirror is in the wading section.

[0111] As an implementation of the present application, in order to determine whether the vehicle has a pedal, the device 800 may further include:

[0112] A second acquisition module is used to acquire multiple reflection intensities of a vehicle's radar on a non-wading road section, where the radar is located below an exterior rearview mirror of the vehicle, and the multiple reflection intensities include reflection intensities of multiple cycles when the exterior rearview mirror changes from a fully unfolded state to a folded state;

[0113] A first determining module, configured to determine the monotonic type of the multiple reflection intensities according to the multiple reflection intensities;

[0114] The second determination module is used to determine that the vehicle has a pedal when the monotonic type is monotonically increasing.

[0115] In some embodiments, the above-mentioned multiple reflection intensities may include a first reflection intensity, a second reflection intensity, a third reflection intensity and a fourth reflection intensity, the first reflection intensity is the reflection intensity of the exterior rearview mirror in a fully unfolded state, the fourth reflection intensity is the reflection intensity of the exterior rearview mirror in a folded state, and the second reflection intensity and the third reflection intensity are the reflection intensities of any two consecutive cycles of the multiple reflection intensities; the above-mentioned first determination module may specifically include:

[0116] A first determining unit, configured to determine that the monotonic type of the plurality of reflection intensities is monotonically increasing when the first reflection intensity is less than the fourth reflection intensity and the second reflection intensity is less than or equal to the third reflection intensity;

[0117] The second determining unit is configured to determine that the monotonic types of the plurality of reflection intensities are not monotonically increasing when the first reflection intensity, the second reflection intensity, the third reflection intensity and the fourth reflection intensity are equal.

[0118] As an implementation of the present application, in order to accurately calculate the wading depth when the vehicle does not have a pedal, the above-mentioned device 800 may further include:

[0119] A third determination module, configured to determine that the vehicle does not have a pedal when the monotonic type is not monotonically increasing;

[0120] The third acquisition module is used to obtain the second height of the exterior rearview mirror of the vehicle on the wading section, where the second height is the closest echo distance detected by the radar;

[0121] The above-mentioned calculation module is also used to calculate the wading depth according to the second height.

[0122] As another implementation of the present application, in order to obtain the actual wading depth of the wading section, the above device 800 may further include:

[0123] A fourth acquisition module, used for acquiring a pedal height of a foot pedal;

[0124] A fifth acquisition module is used to acquire a third height of the exterior rearview mirror of the vehicle on a wading section, where the third height is the closest echo distance detected by the radar;

[0125] The calculation module is further used to calculate an initial wading depth according to the third height;

[0126] The first acquisition module 801 is specifically used to acquire a first height of an exterior rearview mirror of the vehicle on a wading section when the initial wading depth is less than the pedal height.

[0127] In some embodiments, the above apparatus may further include:

[0128] The fourth determining module is configured to determine the initial wading depth as the wading depth when the initial wading depth is greater than or equal to the pedal height.

[0129] In some embodiments, the first height may include a first sub-height and a second sub-height, and the calculation module 802 may specifically include:

[0130] A calculation unit, used for calculating the average of the first sub-height and the second sub-height;

[0131] The third determining unit is used to determine the difference between the preset rearview mirror height and the average value as the wading depth.

[0132] Fig. 9 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application is shown.

[0133] The electronic device may include a processor 901 and a memory 902 storing computer program instructions.

[0134] Specifically, the processor 901 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present application.

[0135] The memory 902 may include a large capacity memory for data or instructions. By way of example and not limitation, the memory 902 may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory 902 may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory 902 may be inside or outside the integrated gateway disaster recovery device. In a specific embodiment, the memory 902 is a non-volatile solid-state memory.

[0136] In certain embodiments, the memory 902 may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage media device, an optical storage media device, a flash memory device, an electrical, optical or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) computer-readable storage media (e.g., a memory device) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0137] The processor 901 reads and executes computer program instructions stored in the memory 902 to implement any one of the methods for determining the wading depth of a vehicle in the above embodiments.

[0138] In one example, the electronic device may further include a communication interface 903 and a bus 910. Fig. 9 As shown, the processor 901, the memory 902, and the communication interface 903 are connected via a bus 910 and communicate with each other.

[0139] The communication interface 903 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiments of the present application.

[0140] Bus 910 includes hardware, software or both, and the parts of electronic equipment are coupled to each other.For example, but not limitation, bus may include accelerated graphics port (AGP) or other graphics bus, enhanced industrial standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industrial standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnection (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. In appropriate cases, bus 910 may include one or more buses. Although the present application embodiment describes and shows a specific bus, the application considers any suitable bus or interconnection.

[0141] The electronic device can execute the method for determining the wading depth of a vehicle in the embodiment of the present application, thereby realizing the combination of Figure 1 and Figure 8 A method and device for determining the wading depth of a vehicle are described.

[0142] In addition, in combination with the method for determining the wading depth of a vehicle in the above embodiments, the embodiment of the present application may provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by a processor, any of the methods for determining the wading depth of a vehicle in the above embodiments is implemented.

[0143] In combination with the method for determining the vehicle wading depth in the above embodiments, an embodiment of the present application may provide a computer program product. When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes any one of the methods for determining the vehicle wading depth as described above.

[0144] In combination with the method for determining the wading depth of a vehicle in the above embodiment, the embodiment of the present application can provide a vehicle for implementation. The vehicle includes at least one of the following: the above-mentioned device for determining the wading depth of a vehicle; the above-mentioned electronic device; the above-mentioned computer-readable storage medium; the above-mentioned computer program product.

[0145] It should be clear that the present application is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present application is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present application.

[0146] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present application are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0147] It should also be noted that the exemplary embodiments mentioned in this application describe some methods or systems based on a series of steps or devices. However, this application is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiment, or in a different order from the embodiment, or several steps can be performed simultaneously.

[0148] Aspects of the present disclosure are described above with reference to the flowchart and / or block diagram of the method, device (system) and computer program product according to the embodiment of the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to produce a machine so that these instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the function / action specified in one or more boxes of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field programmable logic circuit. It can also be understood that each box in the block diagram and / or flowchart and the combination of boxes in the block diagram and / or flowchart can also be implemented by dedicated hardware that performs a specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions.

[0149] The above is only a specific implementation of the present application. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present application is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed in this application, and these modifications or replacements should be included in the protection scope of this application.

Claims

1. A method for determining the wading depth of a vehicle, characterized in that: Applied to a vehicle-mounted terminal, the method comprises: In the case where it is determined that the vehicle has a pedal, obtaining a first height of the exterior rearview mirror of the vehicle in the wading section, where the first height is a distance detected by a radar when the exterior rearview mirror is in an unfolded state, and the radar is located below the exterior rearview mirror of the vehicle; The wading depth is calculated based on the first height.

2. The method according to claim 1, characterized in that Before obtaining the first height of the exterior rearview mirror of the vehicle on the wading section, the method further includes: Acquiring multiple reflection intensities of the radar of the vehicle on a non-wading road section, the multiple reflection intensities including reflection intensities of multiple cycles when the exterior rearview mirror changes from a fully unfolded state to a folded state; Determining, based on the multiple reflection intensities, monotonic types of the multiple reflection intensities; When the monotonic type is monotonically increasing, it is determined that the vehicle has a pedal.

3. The method according to claim 2, characterized in that The multiple reflection intensities include a first reflection intensity, a second reflection intensity, a third reflection intensity and a fourth reflection intensity, the first reflection intensity is the reflection intensity of the exterior rearview mirror in the fully unfolded state, the fourth reflection intensity is the reflection intensity of the exterior rearview mirror in the folded state, the second reflection intensity and the third reflection intensity are the reflection intensities of any two consecutive periods among the multiple reflection intensities; The step of determining the monotonic type of the multiple reflection intensities according to the multiple reflection intensities comprises: When the first reflection intensity is less than the fourth reflection intensity, and the second reflection intensity is less than or equal to the third reflection intensity, determining that the monotonic type of the multiple reflection intensities is monotonically increasing; In a case where the first reflection intensity, the second reflection intensity, the third reflection intensity, and the fourth reflection intensity are equal, it is determined that the monotonic type of the plurality of reflection intensities is not the monotonic increase.

4. The method according to claim 3, characterized in that The method further comprises: When the monotonic type is not the monotonic increasing type, determining that the vehicle does not have the pedal; Acquire a second height of the exterior rearview mirror of the vehicle on the wading section, where the second height is the closest echo distance detected by the radar; The wading depth is calculated based on the second height.

5. The method according to claim 1, characterized in that Before obtaining the first height of the exterior rearview mirror of the vehicle on the wading section, the method further includes: Obtaining a pedal height of the foot pedal; Acquire a third height of the exterior rearview mirror of the vehicle on the wading section, where the third height is the closest echo distance detected by the radar; Calculating an initial wading depth according to the third height; The obtaining of a first height of the exterior rearview mirror of the vehicle on a wading section includes: When the initial wading depth is less than the pedal height, a first height of the exterior rearview mirror of the vehicle on the wading section is obtained.

6. The method according to claim 5, characterized in that The method further comprises: When the initial wading depth is greater than or equal to the pedal height, the initial wading depth is determined as the wading depth.

7. The method according to claim 1, characterized in that The first height includes a first sub-height and a second sub-height, and the wading depth is calculated according to the first height, including: Calculating a mean of the first sub-height and the second sub-height; The difference between the preset rearview mirror height and the average value is determined as the wading depth.

8. A device for determining the wading depth of a vehicle, characterized in that: Applied to a vehicle-mounted terminal, the device comprises: A first acquisition module is used to acquire a first height of the exterior rearview mirror of the vehicle in a wading section when it is determined that the vehicle has a pedal, wherein the first height is a distance detected by a radar when the exterior rearview mirror is in an unfolded state, and the radar is located below the exterior rearview mirror of the vehicle; A calculation module is used to calculate the wading depth according to the first height.

9. An electronic device, characterized in that: The device comprises: a processor and a memory storing computer program instructions; when the processor executes the computer program instructions, the method for determining the wading depth of a vehicle as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions, and when the computer program instructions are executed by a processor, the method for determining the wading depth of a vehicle as described in any one of claims 1 to 7 is implemented.

11. A computer program product, characterized in that When the instructions in the computer program product are executed by a processor of an electronic device, the electronic device executes the method for determining the vehicle wading depth as described in any one of claims 1 to 7.

12. A vehicle, characterized in that: Include at least one of the following: The device for determining the wading depth of a vehicle as claimed in claim 8; The electronic device as claimed in claim 9; The computer readable storage medium of claim 10; The computer program product of claim 11.

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