Vehicle detection method and device and vehicle

Abstract

The embodiment of the invention provides a vehicle detection method and device and a vehicle. The method comprises the steps that aftershock information of aftershock generated by signals sent by a sensor of the vehicle is obtained; and determining whether the vehicle is soaked in water or not according to the aftershock information. According to the embodiment of the invention, the aftershock information of the aftershock generated by the signal sent by the sensor of the vehicle can be acquired to determine whether the vehicle is immersed in water under the conditions of vehicle driving or flameout parking and the like, the method is suitable for various environments, the accuracy of vehicle immersion judgment is improved, and safer and more reliable vehicle use experience is provided for users.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of automobile technology, and in particular, to a vehicle detection method, a vehicle detection device, a vehicle, an electronic device, and a computer-readable storage medium. Background Art

[0002] In seasons with frequent heavy rains, it is easy for a large amount of water to accumulate in low-lying roads. When a vehicle is wading or parked in a flooded area, if the depth of the water is not identified in time, the vehicle will suffer varying degrees of damage due to different degrees of immersion.

[0003] However, the water immersion warning function of vehicles on the market is not perfect, which makes it impossible to accurately detect whether the vehicle is submerged in water and issue a warning, thereby reducing the losses caused by vehicle submersion. Summary of the invention

[0004] The purpose of the embodiment of the present invention is to provide a vehicle detection method to solve the problem that the vehicle flooding warning function in the current market is not perfect, resulting in the inability to accurately detect whether the vehicle is flooded and warn, thereby reducing the losses caused by vehicle flooding. The specific technical solution is as follows:

[0005] In a first aspect of the present invention, a vehicle detection method is first provided, the method comprising:

[0006] Acquiring aftershock information of aftershocks generated by signals sent by sensors of the vehicle;

[0007] Determine whether the vehicle is submerged in water based on the aftershock information.

[0008] In a second aspect of the present invention, a vehicle detection device is provided, the device comprising:

[0009] A vehicle control module, used to obtain aftershock information of aftershocks generated by signals sent by sensors of the vehicle;

[0010] A water immersion determination module is used to determine whether the vehicle is submerged in water based on the aftershock information.

[0011] In another aspect of the implementation of the present invention, there is also provided an electronic device, including a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus; the memory is used to store computer programs; and the processor is used to implement any of the above-mentioned vehicle detection methods when executing the program stored in the memory.

[0012] In another aspect of the present invention, a computer-readable storage medium is provided, wherein instructions are stored in the computer-readable storage medium, and when the computer-readable storage medium is run on a computer, the computer executes any one of the above-mentioned vehicle detection methods.

[0013] In yet another aspect of the present invention, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute any of the above-mentioned vehicle detection methods.

[0014] In another aspect of the implementation of the present invention, a vehicle is provided, wherein the vehicle implements any of the above-mentioned vehicle detection methods.

[0015] Compared with the related art, the embodiments of the present invention have at least the following advantages:

[0016] In an embodiment of the present invention, aftershock information of aftershocks generated by signals sent by sensors of the vehicle is obtained to determine whether the vehicle is submerged in water according to the aftershock information. In an embodiment of the present invention, aftershock information of aftershocks generated by signals sent by sensors of the vehicle can be obtained when the vehicle is driving or parked with the engine turned off to determine whether the vehicle is submerged in water. The present invention is applicable to various environments, improves the accuracy of judging whether the vehicle is submerged in water, and provides users with a safer and more reliable vehicle use experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art.

[0018] Figure 1 A flow chart of the steps of a vehicle detection method provided in an embodiment of the present invention;

[0019] Figure 2 This is a diagram showing an implementation example of a main control unit providing an embodiment of the present invention processing a signal of an ultrasonic sensor that is sent and received in multiple ways;

[0020] Figure 3 A schematic diagram of obstacle placement provided in an embodiment of the present invention;

[0021] Figure 4 A schematic diagram of the distance for sending and receiving an ultrasonic signal provided in an embodiment of the present invention;

[0022] Figure 5 A flowchart for implementing a water immersion warning during vehicle driving provided in an embodiment of the present invention;

[0023] Figure 6(a)-Figure 6(b) A specific execution flow chart of a water immersion warning during vehicle driving provided in an embodiment of the present invention;

[0024] Figure 7 A structural block diagram of a vehicle detection device provided in an embodiment of the present invention;

[0025] Figure 8 The present invention is a block diagram of an electronic device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present invention will be described below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0027] Reference Figure 1 , is a flow chart of the steps of a vehicle detection method provided in an embodiment of the present invention, such as Figure 1 As shown, the method may specifically include the following steps:

[0028] Step 101, obtaining aftershock information of aftershocks generated by signals sent by sensors of the vehicle;

[0029] Step 102: Determine whether the vehicle is submerged in water based on the aftershock information.

[0030] In a specific implementation, a sensor is usually installed on the vehicle. There are usually multiple sensors or one sensor, such as ultrasonic sensors, humidity sensors, temperature sensors, pressure sensors, optical sensors, position sensors and other types of sensors. Different types of sensors are installed at different positions of the vehicle to achieve their corresponding functions. For example, ultrasonic sensors are usually installed on the front and rear bumpers of the vehicle. Of course, they can also be installed at other positions of the vehicle. During the driving process of the vehicle, or when the vehicle is turned off and parked, the ultrasonic sensor detects the environment around the vehicle by transmitting and receiving ultrasonic signals to assist the owner in driving. For example, it can assist in reversing, detecting obstacles on the road, automatic parking, etc., so as to help the owner improve driving efficiency, avoid collisions, etc., and improve driving safety and convenience. For the sake of convenience, the following mainly uses ultrasonic sensors as an example for explanation, but it should be understood that the embodiments of the present invention are not limited to ultrasonic sensors. Other sensors that can achieve similar functions of ultrasonic sensors in the embodiments of the present invention are all acceptable, and the embodiments of the present invention do not need to be limited to this.

[0031] In an embodiment of the present invention, the vehicle may include other modules such as a main control unit, wherein the main control unit refers to a module on the vehicle for controlling sensors and acquiring data collected by the sensors. Specifically, the main control unit can control the vehicle's sensors to send signals, and then acquire aftershock information of aftershocks generated by the sensor signals. Subsequently, the main control unit can determine whether the vehicle is submerged in water based on the aftershock information.

[0032] In the above vehicle detection method, aftershock information of aftershocks generated by signals sent by sensors of the vehicle is obtained to determine whether the vehicle is submerged in water according to the aftershock information. The embodiment of the present invention can obtain aftershock information of aftershocks generated by signals sent by sensors of the vehicle when the vehicle is driving or parked with the engine turned off to determine whether the vehicle is submerged in water, is applicable to various environments, improves the accuracy of judging whether the vehicle is submerged in water, and provides users with a safer and more reliable vehicle use experience.

[0033] In one embodiment of the present invention, step 101, obtaining aftershock information of an aftershock generated by a signal sent by a sensor of the vehicle, comprises:

[0034] Controlling a sensor of the vehicle to send a first detection signal to an external medium of the vehicle;

[0035] Obtain the aftershock duration of the aftershock generated by the vehicle's sensor sending the first detection signal to the vehicle's external medium; wherein the aftershock duration is the time that the piezoelectric material of the sensor continues to vibrate due to mechanical inertia after generating and sending the first detection signal through vibration.

[0036] Among them, the ultrasonic sensor may include a piezoelectric ultrasonic sensor; a piezoelectric ultrasonic sensor is a sensor that works using the piezoelectric effect. The piezoelectric effect refers to the fact that piezoelectric materials (such as piezoelectric ceramic chips, etc.) will generate electric charges when subjected to mechanical stress. When an electric field is applied, the piezoelectric material will produce mechanical deformation. When an alternating electric field is applied to the piezoelectric material, the material will produce mechanical vibrations, thereby emitting an ultrasonic signal (detection signal). When the ultrasonic signal emitted by the ultrasonic sensor is reflected by an obstacle, the piezoelectric material receives the reflected wave and generates an electrical signal, thereby realizing data collection of the environment around the vehicle.

[0037] In an embodiment of the present invention, the main control unit can periodically control the ultrasonic sensor to send a first detection signal to the external medium, and record the aftershock duration of the first detection signal. Subsequently, the main control unit can identify whether the ultrasonic sensor is in a state of immersion according to the aftershock duration of the first detection signal sent by the ultrasonic sensor. After the ultrasonic sensor and the circuit stop oscillating and the first detection signal is sent, the circuit will continue to work for a period of time due to the effect of mechanical inertia, which will have a certain impact on the power supply and the receiving circuit. Since the control section has been closed, the first detection signal will become weaker and weaker. This process is called aftershock. In a specific implementation, the environment in which the vehicle is located may include other external media such as air and water. The amplitude change of the aftershock duration of the aftershock generated when the ultrasonic sensor sends a detection signal in different external media such as air and water is different. Therefore, the main control unit can preliminarily determine whether the ultrasonic sensor is in a state of immersion by monitoring the aftershock duration of the aftershock generated by the first detection signal, and then determine whether the vehicle is immersed in water. For example, if the amplitude change of the aftershock duration of the aftershock generated by the first detection signal of one or more ultrasonic sensors exceeds 250us (microseconds), it is preliminarily judged that the ultrasonic sensor is in a state of immersion.

[0038] Specifically, in external media such as air and water, the amplitude change of the aftershock duration when the ultrasonic sensor sends a signal is different. Because of the underwater pressure, the piezoelectric ceramic chip of the ultrasonic sensor transducer vibrates less, the signal transmission is weakened, and the aftershock duration is shortened. When the ultrasonic wave encounters obstacles such as bubbles and sediments in the water, it will be absorbed and reflected. When these bubbles, sediments and other obstacles in the water are at a short distance from the signaling ultrasonic sensor, the propagation speed of the ultrasonic wave in the water is about 1500m / s (meters / second), and the reflected wave signal may overlap with the aftershock signal of the signaling sensor, resulting in an increase in the aftershock duration of the signaling sensor in the water. Therefore, in water, the amplitude change of the aftershock duration of the ultrasonic sensor that sends the signal is large. In the case of no obstacles within a close distance of the sensor in the air, the amplitude change of the aftershock duration of the aftershock generated by the signal is small. According to the difference in the amplitude change of the aftershock duration of the above-mentioned sensor sending signals in the air and water, the main control unit can preliminarily identify whether the ultrasonic sensor is in a submerged state, and then determine whether the vehicle is submerged.

[0039] In the above embodiment, whether the vehicle is submerged in water is determined based on the characteristic that the aftershock duration of aftershocks generated by the piezoelectric material of the ultrasonic sensor in different external media is different, which can improve the accuracy of vehicle submersion detection.

[0040] In one embodiment of the present invention, controlling the sensor of the vehicle to send a first detection signal to an external medium of the vehicle includes:

[0041] The sensor of the vehicle is controlled to send a first detection signal to an external medium of the vehicle a preset number of times.

[0042] In an embodiment of the present invention, all ultrasonic sensors of the vehicle can be controlled to send a preset number of first detection signals to the external medium of the vehicle, so that the aftershock duration corresponding to the multiple first detection signals can be obtained. Exemplarily, the preset number of times each ultrasonic sensor drives to send a signal can be 20 times. Of course, the preset number can be adjusted according to actual needs.

[0043] In the above embodiment, all ultrasonic sensors of the vehicle are controlled to send a preset number of first detection signals to the external medium of the vehicle. In this way, the aftershock durations corresponding to the multiple first detection signals can be obtained, and then whether the vehicle is submerged in water can be accurately determined based on the multiple aftershock durations.

[0044] In one embodiment of the present invention, determining whether the vehicle is submerged in water according to the aftershock information includes:

[0045] Filter out a preset number of maximum aftershock durations and minimum aftershock durations from the aftershock durations;

[0046] Calculate a maximum average aftershock duration based on the maximum aftershock duration and the preset number;

[0047] Calculate a minimum average aftershock duration based on the minimum aftershock duration and the preset number;

[0048] Whether the vehicle is flooded is determined according to the maximum average aftershock duration and the minimum average aftershock duration.

[0049] The preset number may be 3. In an embodiment of the present invention, when the number of times the ultrasonic sensor drives to send the first detection signal reaches a preset number, for example, 20 times, the main control unit takes the three minimum aftershock durations and the three maximum aftershock durations of the aftershock durations, and then calculates the average values ​​of the minimum aftershock duration and the maximum aftershock duration, that is, calculates the minimum average aftershock duration and the maximum average aftershock duration. Subsequently, it is possible to determine whether the vehicle is flooded based on the maximum average aftershock duration and the minimum average aftershock duration.

[0050] Wherein, determining whether the vehicle is submerged in water according to the maximum average aftershock duration and the minimum average aftershock duration includes:

[0051] If the difference between the maximum average aftershock duration and the minimum average aftershock duration exceeds a preset aftershock duration, determining that the vehicle is flooded;

[0052] If the difference between the maximum average aftershock duration and the minimum average aftershock duration does not exceed the preset aftershock duration, it is determined that the vehicle is not flooded.

[0053] In an embodiment of the present invention, if the difference between the minimum average aftershock duration and the maximum average aftershock duration does not exceed the preset aftershock duration, for example, the difference does not exceed 250us (microseconds), it can be determined that the vehicle is not submerged in water. At this time, the main control unit returns to sleep mode and waits to wake up again for inspection when the preset wake-up condition is met. If the difference between the minimum average aftershock duration and the maximum average aftershock duration exceeds the preset aftershock duration, for example, when the difference exceeds 250us (microseconds), the main control unit preliminarily determines that the ultrasonic sensor has been submerged in water, that is, it can be preliminarily determined that the vehicle is submerged in water. Among them, the preset aftershock duration can be calibrated according to the ultrasonic sensor installed on the actual vehicle.

[0054] In the above embodiment, a preset number of maximum aftershock durations and minimum aftershock durations are screened out from the aftershock durations generated by all ultrasonic sensors of the vehicle, and then the average is calculated to obtain the maximum average aftershock duration and the minimum average aftershock duration, and then based on the difference between the maximum average aftershock duration and the minimum average aftershock duration, it is determined whether the vehicle is submerged in water, thereby avoiding incorrect judgment of whether the vehicle is submerged in water due to detection errors or errors of individual ultrasonic sensors, and improving the accuracy of identifying vehicle submersion.

[0055] In one embodiment of the present invention, the method may further include:

[0056] Controlling the interaction between sensors of the vehicle to obtain interaction information;

[0057] Determine whether the vehicle is submerged in water according to the interaction information.

[0058] In an embodiment of the present invention, the main control unit can control the interaction between sensors of the vehicle to obtain interactive information. For example, a sensor on the vehicle can be controlled to send a signal to other sensors. Subsequently, the main control unit can obtain the interactive information about the signals sent by the sensors obtained by other sensors, and can determine whether the vehicle is submerged based on the interactive information.

[0059] In the above embodiment, the sensors of the vehicle can be controlled to interact with each other to obtain interactive information, so as to determine whether the vehicle is submerged in water according to the interactive information. In the embodiment of the present invention, the sensors of the vehicle can be controlled to interact with each other to obtain interactive information, and then the information of multiple sensors can be integrated to determine whether the vehicle is submerged in water, thereby improving the accuracy of determining whether the vehicle is submerged in water.

[0060] In one embodiment of the present invention, controlling the interaction between sensors of the vehicle to obtain interaction information includes:

[0061] Controlling the sensor of the vehicle to send a second detection signal to an external medium of the vehicle in a preset order;

[0062] After the sensor of the vehicle sends the second detection signal, the echo time of the echo signal of the second detection signal received by other sensors of the vehicle is obtained.

[0063] In an embodiment of the present invention, the main control unit controls the vehicle's sensors to send a first detection signal to the vehicle's external medium in a preset order. For example, the ultrasonic sensor on the vehicle can be controlled to send a second detection signal (ultrasonic signal), and then the echo time of the echo signal of the second detection signal received by other sensors of the vehicle is obtained.

[0064] In some embodiments, the main control unit can start from the ultrasonic sensor installed on the left corner of the bumper of the vehicle in a preset order, such as a preset order from left to right, and simultaneously control the ultrasonic sensors on the front and rear bumpers to send and receive signals one by one, so as to further confirm the vehicle's submerged state. Specifically, the main control unit processes the ultrasonic sensor's signal one by one by driving the ultrasonic sensor to send out a second detection signal (signal), and the adjacent ultrasonic sensor receives the echo signal for the signal. For example, refer to Figure 2 , is an implementation example diagram of a main control unit for one-send-and-multiple-receive processing of ultrasonic sensor signals provided in an embodiment of the present invention, in which ultrasonic sensor A sends a signal, ultrasonic sensor B receives an echo signal, ultrasonic sensor C sends a signal, and ultrasonic sensor B and ultrasonic sensor D receive the echo signal. Then, the echo signal can be used as one of the interactive information obtained by the interaction between the sensors of the vehicle in the embodiment of the present invention.

[0065] In an embodiment of the present invention, determining whether the vehicle is submerged in water according to the interaction information includes:

[0066] If the echo time does not exceed the preset echo time, determining that the vehicle is submerged in water;

[0067] If the echo time exceeds the preset echo time, it is determined that the vehicle is not immersed in water.

[0068] The external medium may include at least one of air and water; the propagation speed of the signal in different external media is different. Therefore, in the embodiment of the present invention, it is possible to determine whether the vehicle is submerged in water based on the echo time of the signal sent by other sensors to the sensor.

[0069] Taking the ultrasonic sensor as an example, when the ultrasonic sensor sends a signal within a preset echo time, for example, within 1.75ms (milliseconds), and the adjacent ultrasonic sensor receives the echo signal, the main control unit can determine that the ultrasonic sensor that sends the signal and the adjacent ultrasonic sensor that receives the echo signal within 1.75ms are in a water-immersed state, that is, the vehicle is submerged. Specifically, the determination principle has the following two points:

[0070] First, the propagation speed of ultrasonic signals in air and water is different. The propagation speed in air is about 340 m / s (meters per second), and the propagation speed in water is about 1500 m / s (meters per second). Figure 3 , is a schematic diagram of obstacle placement provided in an embodiment of the present invention, in which obstacles are placed 1.35 meters away from the signal-transmitting ultrasonic sensor and the adjacent signal-receiving ultrasonic sensor. In the air, after the signal-transmitting ultrasonic sensor sends a signal, the signal-receiving ultrasonic sensor receives the echo signal reflected by the obstacle in about 7.9ms (milliseconds). In water, the signal-receiving ultrasonic sensor receives the echo signal reflected by the obstacle in about 1.8ms (milliseconds). According to the current manufacturer's statistics, the installation distance of adjacent ultrasonic sensors on vehicle bumpers is about 60cm (centimeter). The one-send-and-multiple-receive triangle distance calculation principle shows that: in the air, the ultrasonic signal sensor cannot receive the echo signal reflected by the obstacle within 1.76ms of the adjacent sensor sending a signal. The sum of the two sides of a triangle must be greater than the other side. For details, please refer to Figure 4 , a schematic diagram of the distance for sending and receiving ultrasonic signals is provided for an embodiment of the present invention, where the side length b of the sending signal + the side length c of the receiving signal > the installation distance a of two adjacent ultrasonic sensors. Therefore, the signal propagation transmission path distance must be greater than 60cm (centimeter), and the path distance within 60cm (centimeter) is the ultrasonic sensor's one-transmit-multiple-receive detection blind spot. Theoretically, for a signal propagation distance of 60cm (centimeter), in the air, the ultrasonic sensor needs to send the ultrasonic signal for 1.76ms (milliseconds) before it can receive the echo signal reflected by the obstacle. In water, the ultrasonic signal can propagate up to 2.64m (meters) in 1.76ms (milliseconds).

[0071] Second, due to the surface tension of water, sound waves will be reflected and refracted when propagating in water. The density of air is relatively small, and the effects of reflection and refraction are relatively small. Therefore, when an ultrasonic sensor sends a signal in water, an adjacent ultrasonic sensor is likely to receive a direct echo signal within 1.75ms (milliseconds) of the signal being sent.

[0072] Therefore, the main control unit of the embodiment of the present invention can control the ultrasonic sensor of the vehicle to send a second detection signal in a preset order, and obtain the echo time of other adjacent ultrasonic sensors of the vehicle receiving the echo signal. If the echo time does not exceed the preset echo time, it means that the ultrasonic sensor has been immersed in water, and it is determined that the vehicle is immersed in water. Of course, if the echo time exceeds the preset echo time, it means that the ultrasonic sensor is in the air, and it is determined that the vehicle is not immersed in water.

[0073] In one embodiment of the present invention, controlling the sensor of the vehicle to send a first detection signal to an external medium of the vehicle includes:

[0074] When the vehicle is parked and the engine is turned off, according to the customized information of the engine-out and water-immersion warning function of the vehicle, the sensor of the vehicle is controlled to send a first detection signal to an external medium of the vehicle; or

[0075] When the vehicle is running, the sensor of the vehicle is controlled to send a first detection signal to an external medium of the vehicle according to the customized information of the flameout and water immersion warning function of the vehicle.

[0076] In an embodiment of the present invention, the vehicle has a flood warning function, and the flood warning function has corresponding customized information, wherein the customized information may include at least one of the opening and closing of the flood warning function and the inspection frequency, which may be configured by the user (e.g., the vehicle owner) or pre-configured by the manufacturer. When the vehicle is parked and the engine is turned off, that is, when the vehicle is powered off, the ultrasonic sensor of the vehicle may be controlled to detect whether the vehicle is flooded according to the customized information of the flood warning function. If the vehicle is detected to be flooded, a warning message of the vehicle being flooded may be issued to remind the owner to reduce the loss caused by the vehicle being flooded. Of course, if the vehicle is not detected to be flooded, no operation may be performed, or when the vehicle is parked and the engine is turned off, the ultrasonic sensor of the vehicle may continue to be controlled to detect whether the vehicle is flooded according to the customized information of the flood warning function of the vehicle.

[0077] In addition, in the embodiment of the present invention, when the vehicle is driving, especially when the vehicle is wading, the ultrasonic sensor of the vehicle can be controlled to detect whether the vehicle is submerged in water according to the customized information of the water submersion warning function. If the vehicle is detected to be submerged in water, a warning message of the vehicle being submerged in water can be issued to remind the owner to reduce the loss caused by the vehicle being submerged in water. Of course, if the vehicle is not detected to be submerged in water, no operation can be performed, or when the vehicle is driving, the ultrasonic sensor of the vehicle can continue to be controlled to detect whether the vehicle is submerged in water according to the customized information of the water submersion warning function of the vehicle.

[0078] In the above embodiment, when the vehicle is parked or driving, the ultrasonic sensor of the vehicle is reused to detect whether the vehicle is submerged in water according to the customized information of the vehicle's water submersion warning function, and a warning message of vehicle submersion is issued when the vehicle is detected to be submerged in water, thereby reducing the losses caused by the vehicle being submerged in water during parking or driving through water.

[0079] In one embodiment of the present invention, the method may further include:

[0080] When the vehicle is powered on, receiving customized information of the flameout and flooding warning function input by a user.

[0081] In a specific implementation, the vehicle may include other modules such as a main control unit, wherein the main control unit refers to a module on the vehicle used to control the ultrasonic sensor and obtain data collected by the ultrasonic sensor.

[0082] When the vehicle is powered on, that is, when the vehicle is in the ON gear, the main control unit can detect the customized information input by the owner for the vehicle's flameout and water immersion warning function, such as whether the flameout and water immersion warning function is turned on or off. If the customized information of the flameout and water immersion warning function is turned on, the main control unit can control the vehicle's ultrasonic sensor to detect whether the vehicle is submerged in water and issue an alarm when water is detected in the vehicle when the vehicle is parked and the flameout and water immersion warning function is turned on. In addition, the main control unit can detect other customized information input by the owner for the vehicle's flameout and water immersion warning function, such as the inspection frequency. For example, the inspection frequency can be set to be inspected every 10 minutes. Therefore, if the customized information of the flameout and water immersion warning function is turned on, the main control unit can wake up the ultrasonic sensor every 10 minutes to detect whether the vehicle is submerged in water according to the inspection frequency of the flameout and water immersion warning function of the vehicle.

[0083] In the above embodiment, when the vehicle is powered on, the customized information of the flameout and flooding warning function input by the user can be received to realize the personalized customization of the flameout and flooding warning function, so as to better protect the vehicle from losses caused by flooding.

[0084] In one embodiment of the present invention, according to the customized information of the flameout and flooding warning function of the vehicle, controlling the sensor of the vehicle to send a first detection signal to an external medium of the vehicle includes:

[0085] The main control unit of the vehicle is awakened according to a preset awakening condition, so as to control the sensor of the vehicle to send a first detection signal to an external medium of the vehicle according to the customized information of the flameout and flooding warning function of the vehicle.

[0086] When the vehicle is turned off and parked, that is, the power is off, the main control unit, vehicle network, ultrasonic sensor and other modules on the vehicle all enter a dormant state, which can save the vehicle's energy consumption. For example, if the vehicle is a new energy vehicle, the consumption of electrical energy can be reduced. If the vehicle is a new energy vehicle, the consumption of fuel can be reduced.

[0087] In an embodiment of the present invention, when the vehicle is parked and the engine is turned off, the main control unit also enters a dormant state, and the main control unit cannot be used to control the ultrasonic sensor of the vehicle to detect whether the vehicle is submerged in water. Therefore, the main control unit of the vehicle can be awakened according to a preset awakening condition, so that the main control unit can control the ultrasonic sensor of the vehicle to detect whether the vehicle is submerged in water according to the customized information of the vehicle's engine-off and water-submerged warning function. Exemplarily, the preset awakening condition can be a periodic awakening, such as waking up the main control unit every 10 minutes. In this way, when the vehicle is parked and the engine is turned off, the main control unit is awakened regularly to inspect whether the vehicle is submerged in water. Since only the main control unit can be awakened without waking up the vehicle network, etc., only part of the vehicle's energy is consumed. It should be noted that the awakening condition of the main control unit can be customized and enabled by the user according to the actual situation, which can avoid unnecessary waste of vehicle energy and meet user needs.

[0088] In the above embodiment, when the vehicle is turned off and parked, in order to inspect whether the vehicle is submerged in water, the main control unit can be awakened periodically based on preset wake-up conditions. Since only the main control unit can be awakened without waking up the on-board network, etc., only part of the vehicle's energy can be consumed, avoiding unnecessary waste of the vehicle's energy and improving the user's vehicle experience.

[0089] In one embodiment of the present invention, the method further comprises:

[0090] If it is determined that the vehicle is not submerged in water, controlling the main control unit of the vehicle to enter a dormant state;

[0091] If it is determined that the vehicle is submerged in water, a warning message of the vehicle being submerged in water is issued.

[0092] In the embodiment of the present invention, if the main control unit determines that the vehicle is not submerged in water, if the vehicle was originally in a shutdown and parked state, the main control unit will go back to sleep mode and wait for a preset wake-up condition to be met before waking up again for inspection. If the main control unit confirms that the vehicle is submerged in water, if the vehicle was originally in a shutdown and parked state, the vehicle network in the sleep state will be awakened, and a vehicle submersion warning signal will be sent to a designated terminal device, such as a terminal device such as a smart phone of the owner. If the vehicle was originally in a driving state, a vehicle submersion warning signal may be sent to a designated terminal device, such as an on-board terminal device on the vehicle, to remind the user.

[0093] In the above embodiment, after determining that the vehicle is submerged in water based on the original state of the vehicle (for example, parked with the engine turned off or in motion), a vehicle submersion warning signal can be sent to a designated terminal device such as the vehicle owner's terminal device or a vehicle-mounted terminal. In this way, the vehicle owner can deal with the submerged vehicle in time to avoid unnecessary losses.

[0094] In one embodiment of the present invention, step 101, obtaining aftershock information of an aftershock generated by a signal sent by a sensor of the vehicle, comprises:

[0095] Aftershock information of aftershocks generated by multiplexing signals emitted by sensors of the vehicle is obtained.

[0096] In actual applications, the sensors are sensors that have been installed on the vehicle, and these sensors themselves have their corresponding functions. For example, ultrasonic sensors detect obstacles by emitting ultrasonic signals to the outside, thereby assisting vehicle driving. The embodiments of the present invention can reuse the signals emitted by the vehicle's sensors when detecting whether the vehicle is submerged in water, such as the ultrasonic signals emitted by the ultrasonic sensors when assisting vehicle driving, and then obtain the aftershock information of the aftershocks generated when the ultrasonic signals emitted by the ultrasonic sensors are emitted to detect whether the vehicle is submerged in water. In this way, multiple functions can be realized at the same time through the signals emitted by the sensors, such as simultaneously assisting vehicle driving and detecting vehicle submersion.

[0097] In the above-mentioned embodiment, the embodiment of the present invention multiplexes the sensors already installed on the vehicle, so that the water immersion detection of the vehicle can be realized without incurring additional hardware costs.

[0098] According to the foregoing, there are multiple schemes for detecting whether a vehicle is submerged in water according to the embodiment of the present invention. One is to detect whether the vehicle is submerged in water according to the interactive information between the sensors of the vehicle, and the other is to detect whether the vehicle is submerged in water according to the aftershock information of the aftershock generated by the signal sent by the sensor of the vehicle. In practical applications, any of the above schemes can be used alone to detect whether the vehicle is submerged in water, that is, when the vehicle is detected to be submerged in water by any of the above schemes, it can be regarded as the vehicle being submerged in water, and then the water submergence warning and other processing can be performed. Preferably, the above two schemes can also be used to jointly detect whether the vehicle is submerged in water (the two schemes can be executed simultaneously, or one scheme can be triggered to execute the other scheme after the vehicle is determined to be submerged in water by the two schemes above), that is, when the vehicle is determined to be submerged in water by both of the above two schemes, it will be regarded as the vehicle being submerged in water, and then the water submergence warning and other processing can be performed. For example, when the vehicle is detected to be submerged in water according to the interactive information between the sensors of the vehicle and the vehicle is determined to be submerged in water, the aftershock information of the aftershock generated by the signal sent by the sensor of the vehicle can be further triggered to detect whether the vehicle is submerged in water, and it is also determined that the vehicle is submerged in water, which can be regarded as the vehicle being submerged in water.

[0099] It should also be noted that in addition to realizing vehicle water immersion detection based on the above two schemes, the embodiments of the present invention can also be combined with other sensors or devices on the vehicle on the basis of the above two schemes to jointly detect whether the vehicle is submerged in water. For example, the vehicle may include a humidity sensor, which can monitor the humidity status of the vehicle. When the humidity sensor detects a sharp rise in the humidity around the vehicle, the above two schemes of the embodiments of the present invention can be triggered to perform further water immersion detection to detect whether the vehicle is submerged in water. By combining a variety of sensors or devices on the vehicle, a multi-level and multi-dimensional vehicle water immersion detection system can be formed, which further improves the accuracy and reliability of vehicle water immersion detection.

[0100] In order to enable those skilled in the art to better understand the embodiments of the present invention, specific examples are used for illustration below.

[0101] Reference Figure 5 , is a flowchart for implementing a water immersion warning during vehicle driving provided in an embodiment of the present invention, specifically including:

[0102] Step 501, the parking ultrasonic sensor works normally;

[0103] Step 502: The main control unit drives the ultrasonic sensor to detect whether it is immersed in water;

[0104] Step 503, determine whether the ultrasonic sensor has been immersed in water; if so, execute step 504, if not, execute step 502;

[0105] Step 504: The vehicle display screen (vehicle terminal) displays a water-wading map warning;

[0106] Step 505: The vehicle issues a wading warning sound.

[0107] 6( a ) is a flowchart of a specific implementation of a water immersion warning during vehicle driving provided in an embodiment of the present invention, which specifically includes:

[0108] Step 601a, the vehicle is driving;

[0109] Step 602a, determine whether the parking system is working; if so, execute step 604, if not, execute step 603a;

[0110] Step 603a, the main control unit drives all the parking ultrasonic sensors of the vehicle to send signals at the same time at a frequency of 1 second, and each sensor sends a signal 20 times;

[0111] Step 604a, the main control unit records the aftershock duration of each parking ultrasonic sensor;

[0112] Step 605a, determine whether the aftershock duration records of each ultrasonic sensor have reached 20 groups; if so, execute step 606, if not, execute step 604a;

[0113] Step 606: Determine whether the difference between the minimum and maximum average values ​​of the aftershock time is more than 250 us; if so, execute step 607a; if not, execute step 605a;

[0114] Step 607a: preliminarily determine that the corresponding ultrasonic sensor has been immersed in water, and the main control unit enters the confirmation stage;

[0115] Step 608a: The main control unit adopts a one-transmit-multiple-receive mode to drive the ultrasonic sensors on the front and rear bumpers to send signals from left to right, and the adjacent ultrasonic sensors receive echo signals;

[0116] Step 609a, determine whether an adjacent sensor receives an echo signal within 1.75 ms of the ultrasonic signal being sent; if so, execute step 610a; if not, execute step 602a;

[0117] Step 610a, the signaling ultrasonic sensor and the adjacent echo receiving ultrasonic sensor are already in a water-immersed state, and a warning signal is issued;

[0118] Step 611a: The car display screen and buzzer send out an alarm signal to remind the driver.

[0119] 6( b ) is a flowchart of a specific implementation of a water immersion warning during vehicle driving provided in an embodiment of the present invention, which specifically includes:

[0120] Step 601b: Turn on the vehicle and check the customized settings of the vehicle flood warning function

[0121] Step 602b: The vehicle is powered off and the main control unit is in sleep mode;

[0122] Step 603b, determine whether the vehicle flooding warning function is turned on; if so, execute step 604, if not, execute step 602b;

[0123] Step 604b, the main control unit wakes up from the sleep state regularly according to the owner's setting information, drives all ultrasonic sensors to send signals 20 times, and records the duration of aftershocks of each sensor;

[0124] Step 605b, determine whether there is an aftershock duration amplitude change of the ultrasonic sensor that exceeds 250us; if so, execute step 602b, if not, execute step 606b;

[0125] Step 606b: preliminarily determine that the ultrasonic sensor has been immersed in water, and the main control unit enters the vehicle immersion confirmation stage;

[0126] Step 607b: The main control unit adopts a one-transmit-multiple-receive mode, and drives the ultrasonic sensors on the front and rear bumpers to send signals in sequence from left to right, and the adjacent ultrasonic sensors receive echo signals;

[0127] Step 608b, determine whether an adjacent sensor receives an echo signal within 1.75ms of the ultrasonic signal being sent; if so, execute step 602b; if not, execute step 609b;

[0128] Step 609b: The main control unit confirms that the vehicle has been flooded, wakes up the vehicle network, and sends out an early warning signal;

[0129] Step 610b: The vehicle sends an early warning reminder to the user's terminal device.

[0130] In summary, the embodiment of the present invention provides a method for detecting water immersion using an ultrasonic sensor when a vehicle is wading, which includes:

[0131] 1. When the parking system of the vehicle is working, the ultrasonic sensor driving information of the parking system is reused to preliminarily identify whether the ultrasonic sensor is immersed in water.

[0132] 2. When the parking system is not working, periodically (the time can be calibrated and set according to actual conditions) drive all the ultrasonic sensors of the vehicle at the same time to preliminarily identify whether any ultrasonic sensor is immersed in water.

[0133] 3. Utilize the difference in the characteristics of ultrasonic sensors sending signals in air and water to detect vehicle submersion. The principle of vehicle submersion detection is: the ultrasonic sensor uses the difference in the duration of the signal aftershock in air and water and the difference in signal propagation to identify whether the parking ultrasonic sensor is submerged in water, and based on this information, determine whether the vehicle is currently submerged in water. If the vehicle is already submerged in water, a warning signal will be issued to alert the driver.

[0134] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0135] Reference Figure 7 , is a structural block diagram of a vehicle detection device provided in an embodiment of the present invention, such as Figure 7 As shown, the device may specifically include the following modules:

[0136] The vehicle control module 701 is used to obtain aftershock information of aftershocks generated by signals sent by sensors of the vehicle;

[0137] The water submersion determination module 702 is used to determine whether the vehicle is submerged in water according to the aftershock information.

[0138] In one embodiment of the present invention, the sensor comprises a piezoelectric ultrasonic sensor; the piezoelectric ultrasonic sensor generates a signal through vibration of a piezoelectric material.

[0139] In one embodiment of the present invention, the vehicle control module 701 is used to:

[0140] Controlling a sensor of the vehicle to send a first detection signal to an external medium of the vehicle;

[0141] Obtain the aftershock duration of the aftershock generated by the vehicle's sensor sending the first detection signal to the vehicle's external medium; wherein the aftershock duration is the time that the piezoelectric material of the sensor continues to vibrate due to mechanical inertia after generating and sending the first detection signal through vibration.

[0142] In an embodiment of the present invention, the external medium includes at least one of air and water; the propagation speed of the signal in different external media is different.

[0143] In one embodiment of the present invention, the vehicle control module 701 is used to:

[0144] The sensor of the vehicle is controlled to send a first detection signal to an external medium of the vehicle a preset number of times.

[0145] In one embodiment of the present invention, the water immersion determination module 702 is used to:

[0146] Filter out a preset number of maximum aftershock durations and minimum aftershock durations from the aftershock durations;

[0147] Calculate a maximum average aftershock duration based on the maximum aftershock duration and the preset number;

[0148] Calculate a minimum average aftershock duration based on the minimum aftershock duration and the preset number;

[0149] Whether the vehicle is flooded is determined according to the maximum average aftershock duration and the minimum average aftershock duration.

[0150] In one embodiment of the present invention, the water immersion determination module 702 is used to:

[0151] If the difference between the maximum average aftershock duration and the minimum average aftershock duration exceeds a preset aftershock duration, determining that the vehicle is flooded;

[0152] If the difference between the maximum average aftershock duration and the minimum average aftershock duration does not exceed the preset aftershock duration, it is determined that the vehicle is not flooded.

[0153] In an embodiment of the present invention, the device further includes: an interaction detection module, configured to:

[0154] Controlling the interaction between sensors of the vehicle to obtain interaction information;

[0155] Determine whether the vehicle is submerged in water according to the interaction information.

[0156] In one embodiment of the present invention, the interaction detection module is used to:

[0157] Controlling the sensor of the vehicle to send a second detection signal to an external medium of the vehicle in a preset order;

[0158] After the sensor of the vehicle sends the second detection signal, the echo time of the echo signal of the second detection signal received by other sensors of the vehicle is obtained.

[0159] In one embodiment of the present invention, the interaction detection module is used to:

[0160] If the echo time does not exceed the preset echo time, determining that the vehicle is submerged in water;

[0161] If the echo time exceeds the preset echo time, it is determined that the vehicle is not immersed in water.

[0162] In one embodiment of the present invention, the vehicle control module 701 is used to:

[0163] When the vehicle is parked with the engine turned off, the sensor of the vehicle is controlled to send a first detection signal to an external medium of the vehicle according to the customized information of the engine turning off and water immersion warning function of the vehicle.

[0164] In an embodiment of the present invention, the customized information includes at least one of the on / off and inspection frequency of the flameout and flooding warning function.

[0165] In one embodiment of the present invention, the device further comprises: a customization module, configured to:

[0166] When the vehicle is powered on, receiving customized information of the flameout and flooding warning function input by a user.

[0167] In one embodiment of the present invention, the vehicle control module 701 is used to:

[0168] The main control unit of the vehicle is awakened according to a preset awakening condition, so as to control the sensor of the vehicle to send a first detection signal to an external medium of the vehicle according to the customized information of the flameout and flooding warning function of the vehicle.

[0169] In an embodiment of the present invention, the device further includes: a sleep module, configured to:

[0170] If it is determined that the vehicle is not immersed in water, the main control unit of the vehicle is controlled to enter a dormant state.

[0171] In one embodiment of the present invention, the device further comprises: an early warning module, configured to:

[0172] If it is determined that the vehicle is submerged in water, a warning message of the vehicle being submerged in water is issued.

[0173] In one embodiment of the present invention, the vehicle control module 701 is used to:

[0174] When the vehicle is running, the sensor of the vehicle is controlled to send a first detection signal to an external medium of the vehicle according to the customized information of the flameout and water immersion warning function of the vehicle.

[0175] In one embodiment of the present invention, the vehicle control module 701 is used to:

[0176] Aftershock information of aftershocks generated by multiplexing signals emitted by sensors of the vehicle is obtained.

[0177] In an embodiment of the present invention, aftershock information of aftershocks generated by signals sent by sensors of the vehicle is obtained to determine whether the vehicle is submerged in water according to the aftershock information. In an embodiment of the present invention, aftershock information of aftershocks generated by signals sent by sensors of the vehicle can be obtained when the vehicle is driving or parked with the engine turned off to determine whether the vehicle is submerged in water. The present invention is applicable to various environments, improves the accuracy of judging whether the vehicle is submerged in water, and provides users with a safer and more reliable vehicle use experience.

[0178] As for the above-mentioned device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0179] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in the present invention are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0180] In another embodiment provided by the present invention, a computer-readable storage medium is provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes the vehicle detection method described in any one of the above embodiments.

[0181] In another embodiment of the present invention, a computer program product including instructions is provided. When the computer program product is run on a computer, the computer executes the vehicle detection method described in any one of the above embodiments.

[0182] In another embodiment of the present invention, a vehicle is provided, and the vehicle implements any of the above-mentioned vehicle detection methods.

[0183] The embodiment of the present invention further provides an electronic device, such as Figure 8 As shown, it includes a processor 801, a communication interface 802, a memory 803 and a communication bus 804, wherein the processor 801, the communication interface 802, and the memory 803 communicate with each other through the communication bus 804.

[0184] Memory 803, used for storing computer programs;

[0185] The processor 801 is used to implement any vehicle detection method described in the above embodiments when executing the program stored in the memory 803.

[0186] The communication bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0187] The communication interface is used for communication between the above terminal and other devices.

[0188] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0189] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0190] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it 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. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention 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 (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated. 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 (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0191] 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 still includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0192] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0193] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A vehicle detection method, characterized in that: The method comprises: Acquiring aftershock information of aftershocks generated by signals sent by sensors of the vehicle; Determine whether the vehicle is submerged in water based on the aftershock information.

2. The method according to claim 1, characterized in that The sensor comprises a piezoelectric ultrasonic sensor; the piezoelectric ultrasonic sensor generates a signal through the vibration of a piezoelectric material.

3. The method according to claim 1 or 2, characterized in that: Acquiring aftershock information of an aftershock generated by a signal sent by a sensor of the vehicle, comprising: Controlling a sensor of the vehicle to send a first detection signal to an external medium of the vehicle; Obtain the aftershock duration of the aftershock generated by the vehicle's sensor sending the first detection signal to the vehicle's external medium; wherein the aftershock duration is the time that the piezoelectric material of the sensor continues to vibrate due to mechanical inertia after generating and sending the first detection signal through vibration.

4. The method according to claim 3, characterized in that The external medium includes at least one of air and water; the propagation speed of the signal is different in different external media.

5. The method according to claim 4, characterized in that Controlling a sensor of the vehicle to send a first detection signal to an external medium of the vehicle includes: The sensor of the vehicle is controlled to send a first detection signal to an external medium of the vehicle a preset number of times.

6. The method according to claim 5, characterized in that Determining whether the vehicle is submerged in water according to the aftershock information includes: Filter out a preset number of maximum aftershock durations and minimum aftershock durations from the aftershock durations; Calculate a maximum average aftershock duration based on the maximum aftershock duration and the preset number; Calculate a minimum average aftershock duration based on the minimum aftershock duration and the preset number; Whether the vehicle is flooded is determined according to the maximum average aftershock duration and the minimum average aftershock duration.

7. The method according to claim 6, characterized in that Determining whether the vehicle is flooded according to the maximum average aftershock duration and the minimum average aftershock duration includes: If the difference between the maximum average aftershock duration and the minimum average aftershock duration exceeds a preset aftershock duration, determining that the vehicle is flooded; If the difference between the maximum average aftershock duration and the minimum average aftershock duration does not exceed the preset aftershock duration, it is determined that the vehicle is not flooded.

8. The method according to claim 1, characterized in that The method further comprises: Controlling the interaction between sensors of the vehicle to obtain interaction information; Determine whether the vehicle is submerged in water according to the interaction information.

9. The method according to claim 8, characterized in that Controlling the interaction between sensors of the vehicle to obtain interaction information includes: Controlling the sensor of the vehicle to send a second detection signal to an external medium of the vehicle in a preset order; After the sensor of the vehicle sends the second detection signal, the echo time of the echo signal of the second detection signal received by other sensors of the vehicle is obtained.

10. The method according to claim 9, characterized in that Determining whether the vehicle is submerged in water according to the interaction information includes: If the echo time does not exceed the preset echo time, determining that the vehicle is submerged in water; If the echo time exceeds the preset echo time, it is determined that the vehicle is not immersed in water.

11. The method according to claim 4, characterized in that Controlling a sensor of the vehicle to send a first detection signal to an external medium of the vehicle includes: When the vehicle is parked with the engine turned off, the sensor of the vehicle is controlled to send a first detection signal to an external medium of the vehicle according to the customized information of the engine turning off and water immersion warning function of the vehicle.

12. The method according to claim 11, characterized in that The customized information includes at least one of the on / off and inspection frequency of the flameout and flooding warning function.

13. The method according to claim 12, characterized in that When the vehicle is parked and the engine is turned off, before controlling the sensor of the vehicle to send a first detection signal to an external medium of the vehicle according to the customized information of the engine-off and water-immersion warning function of the vehicle, the method further includes: When the vehicle is powered on, receiving customized information of the flameout and flooding warning function input by a user.

14. The method according to claim 11, characterized in that According to the customized information of the flameout and flooding warning function of the vehicle, controlling the sensor of the vehicle to send a first detection signal to an external medium of the vehicle includes: The main control unit of the vehicle is awakened according to a preset awakening condition, so as to control the sensor of the vehicle to send a first detection signal to an external medium of the vehicle according to the customized information of the flameout and flooding warning function of the vehicle.

15. The method according to claim 10, characterized in that The method further comprises: If it is determined that the vehicle is not immersed in water, the main control unit of the vehicle is controlled to enter a dormant state.

16. The method according to claim 1, characterized in that The method further comprises: If it is determined that the vehicle is submerged in water, a warning message of the vehicle being submerged in water is issued.

17. The method according to claim 11, characterized in that Controlling the sensor of the vehicle to send a second detection signal to an external medium of the vehicle includes: When the vehicle is running, the sensor of the vehicle is controlled to send a first detection signal to an external medium of the vehicle according to the customized information of the flameout and water immersion warning function of the vehicle.

18. The method according to claim 1, characterized in that The obtaining of aftershock information of aftershocks generated by signals sent by sensors of the vehicle comprises: Aftershock information of aftershocks generated by multiplexing signals emitted by sensors of the vehicle is obtained.

19. A vehicle detection device, characterized in that: The device comprises: A vehicle control module, used to obtain aftershock information of aftershocks generated by signals sent by sensors of the vehicle; A water immersion determination module is used to determine whether the vehicle is submerged in water based on the aftershock information.

20. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; The processor is used to implement the method steps described in any one of claims 1-18 when executing the computer program stored in the memory.

21. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the method according to any one of claims 1 to 18 is implemented.

22. A vehicle, characterized in that: The vehicle implements the method according to any one of claims 1-18.

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