Vehicle water immersion identification method, electronic equipment, vehicle and medium

Abstract

The embodiment of the invention provides a vehicle water immersion identification method, electronic equipment, a vehicle and a medium. The method comprises the following steps: acquiring a time interval of transmitting and receiving waves of first ultrasonic equipment and second ultrasonic equipment; and when the time interval meets a first preset condition, identifying that the vehicle is in an immersion state. As the propagation speeds of the ultrasonic waves in the water and the air are different, whether the vehicle is soaked in water or not is identified by analyzing the time interval of the receiving and transmitting waves of the ultrasonic waves in the water and the air, and the accuracy of vehicle soaking identification can be improved.

Description

Technical Field

[0001] The present application belongs to the field of vehicle technology, and specifically relates to a vehicle water immersion identification method, electronic equipment, vehicle and medium. Background Art

[0002] Vehicle water immersion detection or identification technology is an important part of the intelligent transportation system and automobile safety field, involving the performance and safety assessment of vehicles when driving on flooded roads.

[0003] In the prior art, a method of installing a water level sensor and a camera on a vehicle is used to determine whether the vehicle is submerged in water.

[0004] However, the accuracy of vehicle water immersion identification using the existing technology is not high. Summary of the invention

[0005] Embodiments of the present application provide a vehicle water immersion identification method, electronic equipment, vehicle and medium to solve the problem of low accuracy in vehicle water immersion identification in the prior art.

[0006] In a first aspect, an embodiment of the present application provides a vehicle water immersion identification method, comprising:

[0007] Acquire the time interval between the first ultrasonic device and the second ultrasonic device for transmitting and receiving waves;

[0008] When the time interval meets a first preset condition, it is identified that the vehicle is in a water immersed state.

[0009] Optionally, obtaining the time interval between the first ultrasonic device and the second ultrasonic device for transmitting and receiving waves includes:

[0010] The first ultrasonic device is controlled to receive waves and the second ultrasonic device is controlled to transmit waves, so as to obtain a time interval between the transmitting and receiving waves.

[0011] Optionally, the first preset condition includes:

[0012] The time interval of at least a first preset number of times is less than a first preset threshold, wherein the first ultrasonic device is a corner radar, and the second ultrasonic device is a middle radar adjacent to the first ultrasonic device; or, the first ultrasonic device is a middle radar, and the second ultrasonic device is a corner radar adjacent to the middle radar.

[0013] Optionally, the first preset condition includes:

[0014] The time interval of at least a second preset number of times is smaller than a second preset threshold, wherein the first ultrasonic device is an intermediate radar, and the second ultrasonic device is an intermediate radar adjacent to the first ultrasonic device.

[0015] Optionally, before obtaining the time interval between the first ultrasonic device and the second ultrasonic device for transmitting and receiving waves, the method further includes:

[0016] Acquire a first aftershock time of an ultrasonic wave emitted by a first ultrasonic device;

[0017] When the first aftershock time meets a second preset condition, a water immersion identification function is activated.

[0018] Optionally, the second preset condition includes:

[0019] The difference between the first aftershock time and the second aftershock time of at least a third preset number of times is greater than a third preset threshold, wherein the second aftershock time is the aftershock time of the ultrasonic wave emitted in the air by the first ultrasonic device.

[0020] Optionally, obtaining the first aftershock time of the ultrasonic wave emitted by the first ultrasonic device includes:

[0021] Acquire multiple first aftershock times of the ultrasonic wave emitted by the first ultrasonic device;

[0022] The second preset condition includes:

[0023] The multiple first aftershock times include: at least a fourth preset number of first aftershock times greater than a fourth preset threshold, and at least a fifth preset number of first aftershock times less than a fifth preset threshold;

[0024] The difference between the first mean of the first aftershock time greater than the fourth preset threshold value of at least the fourth preset number of times and the second mean of the first aftershock time less than the fifth preset threshold value of at least the fifth preset number of times is greater than the sixth preset threshold value.

[0025] Optionally, also include:

[0026] Based on the water immersion status, a water immersion prompt signal is sent.

[0027] Optionally, sending a water immersion prompt signal based on the water immersion state includes at least one of the following:

[0028] Based on the water immersion status, sending water immersion prompt information to the vehicle system;

[0029] Based on the water immersion status, sending water immersion prompt information to a vehicle control system;

[0030] Based on the water immersion status, water immersion prompt information is sent to the cloud platform data monitoring system.

[0031] Optionally, after sending water immersion prompt information to the vehicle control system based on the water immersion state, the method further includes:

[0032] Based on the water immersion prompt information, at least one of the following is controlled:

[0033] Turn on the water detection system;

[0034] Raise the suspension height;

[0035] Switch to powerful mode;

[0036] Limit vehicle speed;

[0037] Turn on the camera.

[0038] Optionally, after sending the water immersion prompt information to the vehicle system based on the water immersion state, the method further includes:

[0039] The vehicle's instrument panel is controlled to display water immersion warning information.

[0040] Optionally, also include:

[0041] Send flood warning information.

[0042] Optionally, the first ultrasonic device and the second ultrasonic device are arranged outside the vehicle.

[0043] Optionally, the first ultrasonic device and the second ultrasonic device are reversing radars.

[0044] Optionally, the starting of the water immersion recognition function includes:

[0045] Switch from the reversing radar function to the water immersion recognition function.

[0046] Optionally, also include:

[0047] Obtaining a third aftershock time of the ultrasonic wave emitted by the second ultrasonic device;

[0048] It is determined that the third aftershock time meets the third preset condition.

[0049] Optionally, also include:

[0050] Obtaining a third aftershock time of the ultrasonic wave emitted by the second ultrasonic device;

[0051] If the third aftershock time does not meet the third preset condition, and the time interval does not meet the first preset condition, it is determined that the first ultrasonic device is covered by a foreign object.

[0052] Optionally, the third preset condition includes:

[0053] The difference between the third aftershock time and the second aftershock time of at least a third preset number of times is greater than a third preset threshold.

[0054] Optionally, obtaining the third aftershock time of the ultrasonic wave emitted by the second ultrasonic device includes:

[0055] acquiring a plurality of third aftershock times of the ultrasonic wave emitted by the second ultrasonic device;

[0056] The third preset condition includes:

[0057] The plurality of third aftershock times include: at least a fourth preset number of third aftershock times greater than a fourth preset threshold, and at least a fifth preset number of third aftershock times less than a fifth preset threshold;

[0058] The difference between the third mean of the third aftershock times greater than the fourth preset threshold value of at least the fourth preset number of times and the fourth mean of the third aftershock times less than the fifth preset threshold value of at least the fifth preset number of times is greater than the sixth preset threshold value.

[0059] Optionally, also include:

[0060] When the time interval does not meet the first preset condition, it is identified that the first ultrasonic device is covered by a foreign object.

[0061] Optionally, also include:

[0062] obtaining a fourth aftershock time of the ultrasonic wave emitted by the third ultrasonic device;

[0063] It is determined that the fourth aftershock time meets a fourth preset condition.

[0064] Optionally, also include:

[0065] Obtaining a third aftershock time of the ultrasonic wave emitted by the second ultrasonic device;

[0066] obtaining a fourth aftershock time of the ultrasonic wave emitted by the third ultrasonic device;

[0067] If the third aftershock time does not meet the third preset condition, the fourth aftershock time does not meet the fourth preset condition, and the time interval does not meet the first preset condition, it is determined that the first ultrasonic device is covered by a foreign object.

[0068] Optionally, the fourth preset condition includes:

[0069] The difference between the fourth aftershock time and the second aftershock time of at least a third preset number of times is greater than a third preset threshold.

[0070] Optionally, obtaining the fourth aftershock time of the ultrasonic wave emitted by the third ultrasonic device includes:

[0071] acquiring a plurality of fourth aftershock times of the ultrasonic waves emitted by the third ultrasonic device;

[0072] The fourth preset condition includes:

[0073] The plurality of fourth aftershock times include: at least a fourth preset number of fourth aftershock times greater than a fourth preset threshold, and at least a fifth preset number of fourth aftershock times less than a fifth preset threshold;

[0074] The difference between the fifth mean of the fourth aftershock times greater than the fourth preset threshold value of at least the fourth preset number of times and the sixth mean of the fourth aftershock times less than the fifth preset threshold value of at least the fifth preset number of times is greater than the sixth preset threshold value.

[0075] Optionally, before acquiring the plurality of fourth aftershock times of the ultrasonic waves emitted by the third ultrasonic device, the method further includes:

[0076] It is determined that the height difference between the third ultrasonic device and the second ultrasonic device is lower than a seventh preset threshold.

[0077] In a second aspect, an embodiment of the present application provides a processing device for vehicle water immersion identification, comprising:

[0078] An acquisition module, used for acquiring the time interval between the first ultrasonic device and the second ultrasonic device for transmitting and receiving waves;

[0079] The identification module is used to identify that the vehicle is in a water-immersed state when the time interval meets a first preset condition.

[0080] Optionally, the acquisition module is further used to control the first ultrasonic device to receive waves and the second ultrasonic device to transmit waves, so as to obtain the time interval between the transmitting and receiving waves.

[0081] Optionally, the first preset condition includes: the time interval of at least a first preset number of times is less than a first preset threshold, wherein the first ultrasonic device is a corner radar, and the second ultrasonic device is an intermediate radar adjacent to the first ultrasonic device; or, the first ultrasonic device is an intermediate radar, and the second ultrasonic device is a corner radar adjacent to the intermediate radar.

[0082] Optionally, the first preset condition includes: the time interval of at least a second preset number of times is less than a second preset threshold, wherein the first ultrasonic device is an intermediate radar, and the second ultrasonic device is an intermediate radar adjacent to the first ultrasonic device.

[0083] Optionally, the acquisition module is specifically used to acquire a first aftershock time of an ultrasonic wave emitted by a first ultrasonic device; when the first aftershock time meets a second preset condition, a water immersion recognition function is started.

[0084] Optionally, the second preset condition includes: the difference between the first aftershock time and the second aftershock time for at least a third preset number of times is greater than a third preset threshold, wherein the second aftershock time is the aftershock time of the ultrasonic wave emitted by the first ultrasonic device in the air.

[0085] Optionally, the acquisition module is specifically used to acquire multiple first aftershock times of the ultrasonic wave emitted by the first ultrasonic device; the second preset condition includes: the multiple first aftershock times include: at least a fourth preset number of first aftershock times greater than a fourth preset threshold, and at least a fifth preset number of first aftershock times less than a fifth preset threshold; the difference between the first mean of the first aftershock times greater than the fourth preset threshold of at least the fourth preset number and the second mean of the first aftershock times less than the fifth preset threshold of at least the fifth preset number is greater than a sixth preset threshold.

[0086] Optionally, the processing module is further used to send a water immersion prompt signal based on the water immersion state.

[0087] Optionally, sending a water immersion warning signal based on the water immersion status includes at least one of the following: sending water immersion warning information to the vehicle system based on the water immersion status; sending water immersion warning information to the vehicle control system based on the water immersion status; sending water immersion warning information to the cloud platform data monitoring system based on the water immersion status.

[0088] Optionally, the processing module is specifically used to control at least one of the following based on the water immersion prompt information: turning on the water detection system; raising the suspension height; switching to a high-power mode; limiting the vehicle speed; turning on the camera.

[0089] Optionally, the processing module is also used to control the vehicle's instrument panel to display water immersion prompt information.

[0090] Optionally, the processing module is also used to send water flooding warning information.

[0091] Optionally, the first ultrasonic device and the second ultrasonic device are arranged outside the vehicle.

[0092] Optionally, the first ultrasonic device and the second ultrasonic device are reversing radars.

[0093] Optionally, starting the water immersion recognition function includes: switching from a reversing radar function to a water immersion recognition function.

[0094] Optionally, the acquisition module is specifically used to acquire a third aftershock time of the ultrasonic wave emitted by the second ultrasonic device; and determine whether the third aftershock time meets a third preset condition.

[0095] Optionally, the acquisition module is also used to acquire the third aftershock time of the ultrasonic wave emitted by the second ultrasonic device; if the third aftershock time does not meet the third preset condition, and the time interval does not meet the first preset condition, it is determined that the first ultrasonic device is covered by foreign matter.

[0096] Optionally, the third preset condition includes: the difference between the third aftershock time and the second aftershock time of at least a third preset number of times is greater than a third preset threshold.

[0097] Optionally, the acquisition module is specifically used to acquire multiple third aftershock times of the ultrasonic wave emitted by the second ultrasonic device; the third preset condition includes: the multiple third aftershock times include: at least a fourth preset number of third aftershock times greater than a fourth preset threshold, and at least a fifth preset number of third aftershock times less than a fifth preset threshold; the third mean of the third aftershock times greater than the fourth preset threshold of at least the fourth preset number, and the fourth mean of the third aftershock times less than the fifth preset threshold of at least the fifth preset number, the difference being greater than a sixth preset threshold.

[0098] Optionally, the processing module is further used to identify that the first ultrasonic device is covered by a foreign object when the time interval does not meet a first preset condition.

[0099] Optionally, the acquisition module is specifically used to acquire the fourth aftershock time of the ultrasonic wave emitted by the third ultrasonic device; and determine whether the fourth aftershock time meets a fourth preset condition.

[0100] Optionally, the acquisition module is specifically used to acquire the third aftershock time of the ultrasonic wave emitted by the second ultrasonic device; to acquire the fourth aftershock time of the ultrasonic wave emitted by the third ultrasonic device; if the third aftershock time does not meet the third preset condition, the fourth aftershock time does not meet the fourth preset condition, and the time interval does not meet the first preset condition, it is determined that the first ultrasonic device is covered by foreign matter.

[0101] Optionally, the fourth preset condition includes: the difference between the fourth aftershock time and the second aftershock time of at least a third preset number of times is greater than a third preset threshold.

[0102] Optionally, the acquisition module is specifically used to acquire multiple fourth aftershock times of the ultrasonic wave emitted by the third ultrasonic device; the fourth preset condition includes: the multiple fourth aftershock times include: at least a fourth preset number of fourth aftershock times greater than a fourth preset threshold, and at least a fifth preset number of fourth aftershock times less than a fifth preset threshold; the fifth mean of the fourth aftershock times greater than the fourth preset threshold of at least the fourth preset number, and the sixth mean of the fourth aftershock times less than the fifth preset threshold of at least the fifth preset number, the difference being greater than a sixth preset threshold.

[0103] Optionally, the processing module is further used to determine that a height difference between the third ultrasonic device and the second ultrasonic device is lower than a seventh preset threshold.

[0104] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the program or instructions are executed by the processor, the steps of the vehicle immersion identification method as described in any one of the first aspects are implemented.

[0105] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising: a processor and a memory, wherein the memory stores programs or instructions that can be run on the processor, and when the programs or instructions are executed by the processor, the steps of the vehicle immersion identification method as described in any one of the first aspects are implemented.

[0106] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the vehicle water immersion identification method as described in any one of the first aspects are implemented.

[0107] In a sixth aspect, an embodiment of the present application provides a computer program product, which, when executed by a processor of a vehicle or a cloud server, implements the steps of the vehicle water immersion identification method as described in any one of the first aspects.

[0108] The vehicle submersion identification method, electronic device, vehicle and medium provided in the embodiments of the present application obtain the time interval between the transceiver waves of the first ultrasonic device and the second ultrasonic device; when the time interval meets the first preset condition, the vehicle is identified as being submerged. Since the propagation speed of ultrasonic waves in water and air is different, the time interval between the transceiver waves of ultrasonic waves in water and air is analyzed to identify whether the vehicle is submerged, thereby improving the accuracy of vehicle submersion identification. BRIEF DESCRIPTION OF THE DRAWINGS

[0109] Figure 1 A schematic diagram of an area where an ultrasonic radar is installed provided in an embodiment of the present application;

[0110] Figure 2 A schematic diagram of the interaction flow of various modules of a vehicle water immersion identification system provided in an embodiment of the present application;

[0111] Figure 3 A schematic diagram of a process flow of a vehicle water immersion identification method provided in an embodiment of the present application;

[0112] Figure 4 A schematic diagram of a flow chart of another vehicle water immersion identification method provided in an embodiment of the present application;

[0113] Figure 5 A schematic flow chart of another vehicle water immersion identification method provided in an embodiment of the present application;

[0114] Figure 6 A schematic flow chart of another vehicle water immersion identification method provided in an embodiment of the present application;

[0115] Figure 7 A schematic flow chart of another vehicle water immersion identification method provided in an embodiment of the present application;

[0116] Figure 8 A schematic flow chart of another vehicle water immersion identification method provided in an embodiment of the present application;

[0117] Fig. 9 A schematic flow chart of another vehicle water immersion identification method provided in an embodiment of the present application;

[0118] Fig.10 A schematic flow chart of another vehicle water immersion identification method provided in an embodiment of the present application;

[0119] Fig.11 A schematic flow chart of another vehicle water immersion identification method provided in an embodiment of the present application;

[0120] Fig.12 A schematic flow chart of another vehicle water immersion identification method provided in an embodiment of the present application;

[0121] Fig.13 A schematic flow chart of another vehicle water immersion identification method provided in an embodiment of the present application;

[0122] Fig.14 A schematic flow chart of another vehicle water immersion identification method provided in an embodiment of the present application;

[0123] Fig.15 A schematic flow chart of another vehicle water immersion identification method provided in an embodiment of the present application;

[0124] Fig.16 A schematic flow chart of another vehicle water immersion identification method provided in an embodiment of the present application;

[0125] Fig.17 A schematic flow chart of another vehicle water immersion identification method provided in an embodiment of the present application;

[0126] Fig.18 A schematic flow chart of another vehicle water immersion identification method provided in an embodiment of the present application;

[0127] Fig.19A schematic flow chart of another vehicle water immersion identification method provided in an embodiment of the present application;

[0128] Fig. 20 A schematic flow chart of another vehicle water immersion identification method provided in an embodiment of the present application;

[0129] Fig.21 A schematic structural diagram of a vehicle water immersion identification and processing device is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0130] The technical solutions in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of the present application.

[0131] The terms "first", "second", etc. of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited.

[0132] In the related art, the vehicle's surround-view camera is used to confirm whether the vehicle is submerged in water, and then the distance is calculated using the ultrasonic radar's propagation time in the air. However, the camera is easily affected by weather, light intensity, etc., and may judge a state with obstacles as a state without obstacles, causing the ultrasonic radar to misjudge the detected obstacle as a water surface; or misjudge a state without obstacles as a state with obstacles, causing the ultrasonic radar to not detect the water surface. Moreover, there is no essential difference between the ultrasonic radar detecting water surface echoes and detecting obstacle echoes in the air. Simply using the propagation time of ultrasonic waves in the air to calculate the distance cannot distinguish between the water surface and obstacles, resulting in misjudgment.

[0133] In order to improve the accuracy of vehicle water immersion identification, the present application provides a method for vehicle water immersion identification. The method for vehicle water immersion identification can analyze the time interval between the transmitting and receiving waves of a first ultrasonic device and a second ultrasonic device to determine whether the vehicle is submerged in water, thereby improving the accuracy of the judgment.

[0134] The following embodiments of the present application can be executed by a vehicle. Existing vehicles are usually equipped with a reversing radar alarm system. The reversing radar alarm system sends an ultrasonic signal through the reversing radar at the rear of the vehicle. When the ultrasonic signal encounters an obstacle, an echo will be generated. After the ultrasonic radar receives the echo, the system will calculate the distance between the vehicle and the obstacle and issue a warning through a buzzer. After the ultrasonic radar emits ultrasonic waves, due to the characteristics of its mechanical vibration system, it will continue to generate weak vibrations for a period of time, that is, the aftershocks of the ultrasonic waves. The propagation speeds of the ultrasonic waves in water and air are different, and the aftershock time of the ultrasonic waves is different in water and air. Therefore, based on the existing on-board reversing radar alarm system, it is possible to identify whether the vehicle is submerged in water, thereby improving the accuracy of identifying vehicle submersion, while reducing the development cost of the vehicle.

[0135] Figure 1 This is a schematic diagram of the installation location of an ultrasonic radar provided in an embodiment of the present application. The embodiment of the present application does not limit the number of ultrasonic radars, and takes 4 ultrasonic radars as an example. Figure 1 As shown, the external area of ​​the vehicle can be divided into four areas, including: the left corner area, the left middle area, the right middle area and the right corner area. Among them, the left middle area and the right middle area both belong to the middle area outside the vehicle; the left corner area and the right corner area both belong to the corner area outside the vehicle. This application does not limit the number of ultrasonic radars. The embodiment of this application takes four ultrasonic radars as an example. The corresponding installation positions are: ultrasonic radar A is located in the left corner area, ultrasonic radar B is located in the left middle area, ultrasonic radar C is located in the right middle area, and ultrasonic radar D is located in the right corner area.

[0136] Figure 2 A schematic diagram of the interaction flow of various modules of a vehicle submersion identification system provided in an embodiment of the present application is shown in FIG. Figure 2As shown, the use scenarios of the water immersion identification system include but are not limited to: driving a vehicle at a low speed 201, unmanned driving / flashing / power-off scenarios 202, and after-sales vehicle water immersion history information requirements 203. The vehicle control system includes: user terminal equipment 206, vehicle system 207, advanced driver-assistance system domain controller (Adas domain controller) 208, instrument 209, vehicle control unit (VCU) 210, communication satellite module 211 and intelligent integrated braking system (Integrated Power Brake, IPB) 212. When the working conditions of the reversing radar system are met, the ultrasonic radar 204 detects and uploads the identified information to the domain controller (integrated radar APP) 205, controls the vehicle through the vehicle communication network 200, and uploads it to the cloud management platform 214. The Adas domain controller 208 is usually connected to multiple sensor devices, such as cameras, millimeter-wave radars, laser radars, etc., and has the capabilities of multi-sensor fusion, positioning, path planning, decision control, wireless communication and high-speed communication.

[0137] Among them, vehicle control includes but is not limited to: the instrument 209 prompts water immersion, the vehicle system 207 sends prompt information to the user terminal device 206 (for example, sent to the user's mobile phone) through the ground base station 213, the communication satellite module 211 connects to the communication satellite 215, and the base station 213 sends to the cloud management platform 214 for data collection or the user terminal device 206 prompts.

[0138] The following describes several specific embodiments of the vehicle immersion identification method. Figure 3 A schematic diagram of a vehicle flooding identification method provided in an embodiment of the present application is shown in FIG. Figure 3 As shown:

[0139] S33: Obtain the time interval between the first ultrasonic device and the second ultrasonic device for transmitting and receiving waves.

[0140] Specifically, the first ultrasonic device may be controlled to receive waves and the second ultrasonic device may be controlled to transmit waves to obtain the time interval between the receiving and transmitting waves. The first ultrasonic device and the second ultrasonic device are arranged outside the vehicle, and the first ultrasonic device and the second ultrasonic device are reversing radars.

[0141] Among them, the wave is transmitted due to the vibration of the medium. The ultrasonic transmitter applies an electric field to the piezoelectric ceramic, which triggers the inverse piezoelectric effect and generates ultrasonic waves. The wave reception refers to the mechanical force caused by the ultrasonic wave at the ultrasonic receiving end, which triggers the positive piezoelectric effect of the piezoelectric ceramic and generates an electrical signal. The wave transmission working mode means that the ultrasonic radar sends ultrasonic waves and does not receive echo processing. The wave reception working mode means that the ultrasonic radar only receives ultrasonic waves and does not send ultrasonic waves.

[0142] S34: When the time interval meets the first preset condition, identifying that the vehicle is in a water-immersed state.

[0143] The propagation speed of ultrasound in water is greater than that in air. A first preset condition can be set. When the time interval between the transmitting and receiving waves of the first ultrasonic device and the second ultrasonic device meets the first preset condition, it is recognized that the vehicle is submerged in water.

[0144] In this embodiment, the time interval between the first ultrasonic device and the second ultrasonic device for transmitting and receiving waves is obtained; when the time interval meets the first preset condition, the vehicle is identified as being submerged in water. That is, the vehicle is identified as being submerged in water by the different propagation speeds of ultrasonic waves in water and in air, thereby improving the accuracy of vehicle submergence identification.

[0145] Figure 4 A flow chart of another vehicle flooding identification method provided in an embodiment of the present application is shown as follows: Figure 4 As shown, Figure 4 is Figure 3 On the basis of the illustrated embodiment, further, a possible implementation of S34 is as follows:

[0146] S341: Determine that the time interval of at least a first preset number of times is less than a first preset threshold.

[0147] The first ultrasonic device is a corner radar, and the second ultrasonic device is a middle radar adjacent to the first ultrasonic device; or, the first ultrasonic device is a middle radar, and the second ultrasonic device is a corner radar adjacent to the middle radar.

[0148] For example, assuming that the first ultrasonic device is a middle radar, which may be ultrasonic radar B, and the second ultrasonic device is a corner radar, which may be ultrasonic radar A, wherein ultrasonic radar B receives waves and ultrasonic radar A transmits waves. The first preset threshold is set to 1500us, and 10 times of receiving and transmitting waves are collected, that is, 10 time intervals of receiving and transmitting waves are obtained, of which 3 time intervals are less than 1500us, that is, less than the first preset threshold, and it is determined that the vehicle is submerged in water.

[0149] For another example, assume that the first ultrasonic device is a corner radar, which may be ultrasonic radar A, and the second ultrasonic device is an intermediate radar, which may be ultrasonic radar B, wherein ultrasonic radar A receives waves and ultrasonic radar B transmits waves. The first preset threshold is set to 1500us, and the time of receiving and transmitting waves is collected 10 times, that is, the time intervals of 10 receiving and transmitting waves are obtained, of which 4 time intervals are less than 1500us, that is, less than the first preset threshold, and it is determined that the vehicle is submerged.

[0150] In this embodiment, the time intervals of transmitting and receiving waves of the first ultrasonic device and the second ultrasonic device are obtained, and the time intervals of transmitting and receiving waves of multiple ultrasonic radars are collected to obtain multiple time intervals of transmitting and receiving waves. Since the propagation speeds of ultrasonic waves in water and in air are different, a first preset threshold can be set. When the time intervals of transmitting and receiving waves for at least a first preset number of times are less than the first preset threshold, the vehicle is identified as being submerged, thereby improving the accuracy of identifying vehicle submersion.

[0151] Figure 5 A flow chart of another vehicle water immersion identification method provided in an embodiment of the present application is shown as follows: Figure 5 As shown, Figure 5 is Figure 3 On the basis of the embodiment shown, further, another possible implementation of S34 is as follows:

[0152] S341': Determine that the time interval of at least a second preset number of times is less than a second preset threshold.

[0153] The first ultrasonic device is a middle radar, and the second ultrasonic device is a middle radar adjacent to the first ultrasonic device.

[0154] For example, assuming that the first ultrasonic device is ultrasonic radar B, and the second ultrasonic device is ultrasonic radar C adjacent to ultrasonic radar B, wherein ultrasonic radar B receives waves and ultrasonic radar C transmits waves. The second preset threshold is set to 1800us, and 10 times of receiving and transmitting waves are collected, that is, 10 time intervals of receiving and transmitting waves are obtained, of which 3 time intervals are less than 1800us, that is, less than the first preset threshold, and it is determined that the vehicle is submerged in water.

[0155] In this embodiment, when the first ultrasonic device and the second ultrasonic device are both intermediate radars, the time intervals of multiple transceiver waves are obtained by acquiring the time intervals of transceiver waves of the first ultrasonic device and the second ultrasonic device, collecting the time intervals of transceiver waves of multiple ultrasonic radars, and obtaining the time intervals of multiple transceiver waves. Since the propagation speeds of ultrasonic waves in water and in air are different, a second preset threshold value can be set. When the time intervals of transceiver waves are less than the second preset threshold value for at least a second preset number of times, the vehicle is identified as being submerged, thereby improving the accuracy of identifying the vehicle being submerged.

[0156] Figure 6 A flow chart of another vehicle flooding identification method provided in an embodiment of the present application is shown as follows: Figure 6 As shown, Figure 6 is Figure 3 or Figure 4 or Figure 5 On the basis of the illustrated embodiment, further, before executing S33, the following may be further included:

[0157] S30: Acquire the first aftershock time of the ultrasonic wave emitted by the first ultrasonic device.

[0158] The first ultrasonic device refers to the ultrasonic radar used to determine whether the vehicle is submerged in water among the multiple ultrasonic radars. The aftershock time of the ultrasonic wave refers to the weak vibration that the target ultrasonic device continues to produce for a period of time due to the characteristics of its mechanical vibration after emitting the ultrasonic wave. The installation position of the first ultrasonic device is as follows: Figure 1 shown.

[0159] The aftershock time of the ultrasonic wave can be obtained by using an oscilloscope, which is a device that can display the graph of the change of electrical signals over time. By connecting the output signal of the ultrasonic radar to an oscilloscope, the signal waveform after the ultrasonic wave is emitted can be observed. Aftershocks usually appear as a series of gradually decaying oscillating waveforms after the main pulse. By analyzing the oscillating waveforms, the duration of the aftershock can be determined.

[0160] S31: When the first aftershock time meets the second preset condition, the water immersion recognition function is activated.

[0161] Specifically, starting the water immersion recognition function may be switching from the reversing radar function to the water immersion recognition function.

[0162] The vehicle turns on obstacle detection based on conditions such as speed and gear position, and the ultrasonic radar works to produce aftershocks. In the air, due to the difference in acoustic impedance, the aftershocks may decay faster. In water, since the density of water is much greater than that of air, the attenuation of sound waves when propagating in it is smaller, so the aftershocks will last longer.

[0163] The first aftershock time meets the second preset condition, and the vehicle is initially judged to be flooded. At this time, the flooding identification function is activated to further determine the flooding condition. Users can customize the setting to automatically start the flooding identification function after the vehicle is powered off or when the vehicle is in sentry mode.

[0164] In this embodiment, the first aftershock time of the ultrasonic wave emitted by the first ultrasonic device is obtained; when the first aftershock time meets the second preset condition, the water immersion recognition function is activated. That is, based on the different aftershock times in different media, it is determined that the vehicle may be wading, and the water immersion recognition function is activated to further identify whether the vehicle is wading, thereby improving the accuracy of vehicle wading recognition.

[0165] Figure 7 A flow chart of another vehicle flooding identification method provided in an embodiment of the present application is shown as follows: Figure 7 As shown, Figure 7 is Figure 6 On the basis of the illustrated embodiment, further, a possible implementation manner of S31 is as follows:

[0166] S311: If the difference between the first aftershock time and the second aftershock time of at least a third preset number of times is greater than a third preset threshold, it is determined that the second preset condition is met.

[0167] The second aftershock time is the aftershock time of the ultrasonic wave emitted in the air by the first ultrasonic device.

[0168] Specifically, it can be to obtain multiple first aftershock times of the ultrasonic wave emitted by the first ultrasonic device. For example, the third preset number is set to 4 times, the third preset threshold is 600us, and it is assumed that the aftershock time in the air is 700us, that is, the second aftershock time is 700us, and the 10 first aftershock times of the first ultrasonic device are obtained, which are: 900us, 720us, 1850us, 860us, 1990us, 1000us, 1800us, 1900us, 900us and 1400us. The difference between the first aftershock time and the second aftershock time is: 200us, 20us, 1150us, 160us, 1290us, 300us, 1100us, 1200us, 200us and 700us. Among them, the difference between the first aftershock time and the second aftershock time is greater than the third preset threshold of 600us for 5 times. At this time, the second preset condition is met and the water immersion recognition function can be started.

[0169] In this embodiment, after obtaining the first aftershock time of the ultrasonic wave emitted by the first ultrasonic device, the difference between the first aftershock time and the second aftershock time of at least the third preset number of times is greater than the third preset threshold, that is, the aftershock time of the first ultrasonic device is obtained before the vehicle is identified as being submerged in water, and it is determined that the second preset condition is met, then the vehicle may be submerged in water, and the water submersion identification function is activated, thereby further improving the accuracy of vehicle water submersion identification.

[0170] Figure 8 A flow chart of another vehicle flooding identification method provided in an embodiment of the present application is shown as follows: Figure 8 As shown, Figure 8 is Figure 6 On the basis of the embodiment shown, further, another possible implementation of S31 is as follows:

[0171] S311': Determine that the multiple first aftershock times include: at least a fourth preset number of first aftershock times greater than a fourth preset threshold, and at least a fifth preset number of first aftershock times less than a fifth preset threshold.

[0172] For example, the fourth preset number is set to 2 times, the fifth preset number is set to 2 times, the fourth preset threshold is 500us, the fifth preset threshold is 900us, and the sixth preset threshold is 100us. It is known that the second aftershock time is 700us, and multiple first aftershock times of the first ultrasonic device are obtained: 550us, 850us, 1450us, 1400us, 690us, 500us, 1600us, 750us, 960us and 890us. First, calculate the maximum aftershock value and the minimum aftershock value, where the maximum aftershock value is the first aftershock time greater than the second aftershock time and less than or equal to the fifth preset threshold, and the minimum aftershock value is the first aftershock time greater than or equal to the fourth preset threshold and less than or equal to the second aftershock time. That is, the range of the maximum aftershock value is (700us, 900us], and the range of the minimum aftershock value is [500us, 700us]. The obtained maximum aftershock values ​​include: 850us, 750us and 890us, and the obtained minimum aftershock values ​​include: 550us, 690us and 500us.

[0173] Among them, 3 first aftershock times are within the range of the aftershock minimum value, that is, they are within the range of the first aftershock time greater than the fourth preset threshold value for at least the fourth preset number of times; 3 first aftershock times are within the range of the aftershock maximum value, that is, they are within the range of the first aftershock time less than the fifth preset threshold value for at least the fifth preset number of times.

[0174] S312: If the difference between the first mean of the first aftershock time greater than the fourth preset threshold for at least the fourth preset number of times and the second mean of the first aftershock time less than the fifth preset threshold for at least the fifth preset number of times is greater than the sixth preset threshold, it is determined that the second preset condition is met.

[0175] For example, the first mean obtained by S311' is 580us for the small aftershock value, and the second mean is 830us for the large aftershock value. The difference between the first mean and the second mean is 250us>100us, that is, the difference between the first mean and the second mean is greater than the sixth preset threshold.

[0176] In this embodiment, by acquiring multiple aftershock times of the first ultrasonic device, and by at least the fourth preset number of the first aftershock time being greater than the fourth preset threshold, at least the fifth preset number of times being less than the fifth preset threshold, and the difference between the first mean and the second mean being greater than the sixth preset threshold, it is determined that the second preset condition is met, thereby identifying that the vehicle is in a water-submerged state, and further improving the accuracy of vehicle water-submerged identification.

[0177] Fig. 9 A flow chart of another vehicle flooding identification method provided in an embodiment of the present application is shown as follows: Fig. 9 As shown, Fig. 9 is Figure 3 or Figure 4 or Figure 5 On the basis of the embodiment shown, further, the method may include:

[0178] S35: Based on the submerged state, a submerged warning signal is sent.

[0179] Specifically, based on the water immersion status, a water immersion warning signal is sent, including at least one of the following: based on the water immersion status, sending water immersion warning information to the vehicle system; based on the water immersion status, sending water immersion warning information to the vehicle control system; based on the water immersion status, sending water immersion warning information to the cloud platform data monitoring system.

[0180] When the VCU detects that the vehicle is submerged in water, it sends a water submersion warning signal to the vehicle computer system through the vehicle's internal network. The vehicle computer system can display a warning and remind the driver to take action.

[0181] In this embodiment, a water immersion warning signal is sent after determining that the vehicle is submerged in water, so that the driver can determine the submerged state of the vehicle, thereby improving the safety of vehicle driving.

[0182] Fig.10 A flow chart of another vehicle flooding identification method provided in an embodiment of the present application is shown as follows: Fig.10 As shown, Fig.10 is Fig. 9 On the basis of the embodiment shown, further, the method may include:

[0183] S36: Based on the water immersion warning information, control at least one of the following: turn on the water detection system; increase the suspension height; switch to the high-power mode; limit the vehicle speed; turn on the camera.

[0184] For example, when the vehicle is identified as submerged in water, the water detection system will be automatically activated to provide the driver with an alarm and operation prompts to reduce the loss of personnel and vehicles. After identifying the submergence, the control system can automatically raise the suspension height to the highest position to reduce the intrusion of water into the vehicle and damage to the chassis components, or the vehicle's electronic control unit can adjust the output characteristics of the engine, and can switch to a powerful mode to increase the engine's torque and power output to help the vehicle get out of the water. The vehicle's cruise control or adaptive cruise control system can automatically reduce the speed after identifying the submergence to ensure that the vehicle remains stable and safe on slippery or flooded roads. In the case of submergence, the system can automatically turn on the front camera to help the driver better observe the road conditions ahead, and can also turn on cameras in other directions to monitor the water depth and obstacles around the vehicle.

[0185] In this embodiment, based on the flooding status, after sending a flooding warning signal, the vehicle is prompted to take a series of safety measures, thereby improving the accuracy of vehicle flooding identification and enhancing driving safety.

[0186] Fig.11 A flow chart of another vehicle flooding identification method provided in an embodiment of the present application is shown as follows: Fig.11 As shown, Fig.11 is Fig. 9 On the basis of the embodiment shown, further, it may also include:

[0187] S37: Control the vehicle's instrument panel to display water immersion warning information.

[0188] It is determined that the vehicle is in a water-immersed state, and a water-immersion prompt message is displayed on the instrument panel of the vehicle.

[0189] In this embodiment, the instrument panel of the vehicle is controlled to display water immersion prompt information to remind the driver that the vehicle is in a water immersion state, thereby improving the safety of vehicle driving.

[0190] Fig.12 A flow chart of another vehicle flooding identification method provided in an embodiment of the present application is shown as follows: Fig.12 As shown, Fig.12 is Figure 6 On the basis of the embodiment shown, further, it may also include:

[0191] S32: Sending flood warning information.

[0192] For example, when the vehicle is submerged in water, the owner can interact through the vehicle's user devices, such as the central control screen, to choose whether to share water level information and receive warning information.

[0193] In this embodiment, it is determined that the vehicle is in a water-immersed state, and a water-immersion warning message is sent to the user, thereby improving driving safety.

[0194] Fig.13 A flow chart of another vehicle flooding identification method provided in an embodiment of the present application is shown as follows: Fig.13 As shown, Fig.13 is Figure 6 On the basis of the embodiment shown, further, it may also include:

[0195] S38: Obtain the third aftershock time of the ultrasonic wave emitted by the second ultrasonic device.

[0196] A plurality of third aftershock times of the ultrasonic waves emitted by the second ultrasonic device are acquired.

[0197] For example, multiple third aftershock times of the second ultrasonic device are obtained as follows: 800us, 850us, 1450us, 1400us, 1510us, 2000us, 1600us, 750us, 960us and 890us.

[0198] S39: Determine whether the third aftershock time meets the third preset condition.

[0199] The third aftershock time meets the third preset condition, and it is identified that the vehicle is submerged in water.

[0200] In this embodiment, based on the time interval between the transmitting and receiving waves of the first ultrasonic device and the second ultrasonic device, a third aftershock time of the second ultrasonic device is further added. If the aftershock time of the second ultrasonic device meets the third preset condition, it is recognized that the vehicle is submerged in water, thereby further improving the accuracy of vehicle submersion identification.

[0201] Fig.14 A flow chart of another vehicle flooding identification method provided in an embodiment of the present application is shown as follows: Fig.14 As shown, Fig.14 is Fig.13 On the basis of the illustrated embodiment, further, a possible implementation of S39 is as follows:

[0202] S391: If the difference between the third aftershock time and the second aftershock time of at least a third preset number of times is greater than a third preset threshold, it is determined that the third preset condition is met.

[0203] For example, the second aftershock time is 700us, the third preset number is set to 4 times, and the third preset threshold is 600us. According to the third aftershock time obtained above, the difference between the third aftershock time and the second aftershock time is: 100us, 150us, 750us, 700us, 810us, 1300us, 900us, 50us, 260us and 190us. Among them, 5 differences are greater than the third preset threshold of 600us, which meets the third preset condition.

[0204] In this embodiment, based on the time interval between the transmitting and receiving waves of the first ultrasonic device and the second ultrasonic device, it is further determined that the third preset condition is met by the difference between the third aftershock time and the second aftershock time being greater than a third preset threshold, thereby identifying that the vehicle is submerged in water, further improving the accuracy of vehicle submersion identification.

[0205] Fig.15 A flow chart of another vehicle flooding identification method provided in an embodiment of the present application is shown as follows: Fig.15 As shown, Fig.15 is Fig.13On the basis of the illustrated embodiment, further, another possible implementation of S39 is as follows:

[0206] S391': Determine that the multiple third aftershock times include: at least a fourth preset number of third aftershock times greater than a fourth preset threshold, and at least a fifth preset number of third aftershock times less than a fifth preset threshold.

[0207] For example, the fourth preset number is set to 2 times, the fifth preset number is set to 2 times, the fourth preset threshold is 500us, the fifth preset threshold is 900us, and the sixth preset threshold is 100us. It is known that the second aftershock time is 700us, and multiple third aftershock times of the second ultrasonic device are obtained: 550us, 850us, 1450us, 1400us, 690us, 500us, 1600us, 750us, 960us and 890us. First, calculate the maximum aftershock value and the minimum aftershock value, where the maximum aftershock value is the third aftershock time greater than the second aftershock time and less than or equal to the fifth preset threshold, and the minimum aftershock value is the third aftershock time greater than or equal to the fourth preset threshold and less than or equal to the second aftershock time. That is, the range of the maximum aftershock value is (700us, 900us], and the range of the minimum aftershock value is [500us, 700us]. The obtained maximum aftershock values ​​include: 850us, 750us and 890us, and the obtained minimum aftershock values ​​include: 550us, 690us and 500us. Among them, there are 3 third aftershock times that meet the range of the minimum aftershock value, that is, they meet the third aftershock time greater than the fourth preset threshold value for at least the fourth preset number of times; there are 3 third aftershock times that meet the range of the maximum aftershock value, that is, they meet the third aftershock time less than the fifth preset threshold value for at least the fifth preset number of times.

[0208] S392: If the difference between the third mean of the third aftershock time greater than the fourth preset threshold for at least the fourth preset number of times and the fourth mean of the third aftershock time less than the fifth preset threshold for at least the fifth preset number of times is greater than the sixth preset threshold, it is determined that the third preset condition is met.

[0209] For example, in the example of S391', the third mean is the mean of the small aftershock value is 580us, and the fourth mean is the mean of the large aftershock value is 830us. The difference between the third mean and the fourth mean is 250us>100us, that is, the difference between the third mean and the fourth mean is greater than the sixth preset threshold.

[0210] In this embodiment, based on the time interval between the transmitting and receiving waves of the first ultrasonic device and the second ultrasonic device, a method for judging the aftershock time of the second ultrasonic device is further added. By determining that at least a fourth preset number of times in the third aftershock time is greater than a fourth preset threshold, at least a fifth preset number of times is less than a fifth preset threshold, and the difference between the third mean and the fourth mean is greater than a sixth preset threshold, it is determined that the third preset condition is met, thereby identifying that the vehicle is submerged in water, and further improving the accuracy of identifying that the vehicle is submerged in water.

[0211] Fig.16 A flow chart of another vehicle flooding identification method provided in an embodiment of the present application is shown as follows: Fig.16 As shown, Fig.16 is Fig.13 On the basis of the implementation example shown, further, it may also include:

[0212] S1604: Obtain the fourth aftershock time of the ultrasonic wave emitted by the third ultrasonic device.

[0213] Among them, the third ultrasonic device can be a corner radar.

[0214] Specifically, multiple fourth aftershock times of the ultrasonic waves emitted by the third ultrasonic device may be obtained.

[0215] S1605: Determine whether the fourth aftershock time meets the fourth preset condition.

[0216] One possible implementation method is: the fourth preset condition includes: the difference between the time of the fourth aftershock of at least a third preset number of times and the time of the second aftershock is greater than a third preset threshold.

[0217] The implementation method of this step is similar to S391 and will not be repeated here.

[0218] Another possible implementation method is: the multiple fourth aftershock times include: at least a fourth preset number of fourth aftershock times greater than a fourth preset threshold, at least a fifth preset number of fourth aftershock times less than a fifth preset threshold; the fifth mean of at least the fourth preset number of fourth aftershock times greater than the fourth preset threshold, and the sixth mean of at least the fifth preset number of fourth aftershock times less than the fifth preset threshold, the difference of which is greater than the sixth preset threshold.

[0219] The implementation method of this step is similar to S391' and will not be repeated here.

[0220] This embodiment further obtains the fourth aftershock time of the ultrasonic wave emitted by the third ultrasonic device, and determines whether the fourth aftershock time meets the fourth preset condition, thereby identifying that the vehicle is in a water-submerged state, further improving the accuracy of vehicle water-submerged identification.

[0221] Fig.17 A flow chart of another vehicle flooding identification method provided in an embodiment of the present application is shown as follows: Fig.17 As shown, Fig.17 is Fig.16 Based on the implementation example shown, further, before executing S1604, the following may also be included:

[0222] S1600: Determine whether the height difference between the third ultrasonic device and the second ultrasonic device is lower than a seventh preset threshold.

[0223] Among them, the first ultrasonic device is a corner radar, the second ultrasonic device is an intermediate radar, and the third ultrasonic device is a corner radar. That is, it is determined whether the height difference between the installation positions of the intermediate radar and the corner radar is lower than the seventh preset threshold. When the height difference is lower than the seventh preset threshold, it is further considered whether the fourth aftershock time of the third ultrasonic device meets the fourth preset condition.

[0224] In this embodiment, in the case where the height difference between the third ultrasonic device and the second ultrasonic device is lower than the seventh preset threshold, the step of determining whether the fourth aftershock time of the third ultrasonic device meets the fourth preset condition is executed; if not, the step of determining whether the fourth aftershock time of the third ultrasonic device meets the fourth preset condition is not executed, thereby making the technical solution applicable to different vehicle models and improving the versatility of application.

[0225] Fig.18 A schematic diagram of a flow chart of another vehicle flooding identification method provided in an embodiment of the present application, Fig.18 It is to identify the scene where the ultrasonic radar is covered by foreign objects, such as Fig.18 As shown, the method of this embodiment is as follows:

[0226] S1801: Determine whether the first aftershock time of the first ultrasonic device meets the second preset condition.

[0227] S1802: Obtain the time interval between the first ultrasonic device and the second ultrasonic device for transmitting and receiving waves.

[0228] S1803: When the time interval does not meet the first preset condition, identifying that the first ultrasonic device is covered by a foreign object.

[0229] For the detailed description of the above steps, please refer to the steps in the above embodiments. The implementation principles are similar and will not be repeated here.

[0230] For example, assuming that ultrasonic radar A and ultrasonic radar B are taken as examples, ultrasonic radar B is determined to be the first ultrasonic device, and ultrasonic radar A is the second ultrasonic device. If the first aftershock time of ultrasonic radar B meets the second preset condition, and the time interval between the transceiver waves of ultrasonic radar A and ultrasonic radar B does not meet the first preset condition, it is determined that ultrasonic radar B is covered by foreign matter.

[0231] For another example, assuming that ultrasonic radar C and ultrasonic radar B are taken as examples, ultrasonic radar B is determined to be the first ultrasonic device, and ultrasonic radar C is the second ultrasonic device. If the first aftershock time of ultrasonic radar B meets the second preset condition, and the time interval between the transceiver waves of ultrasonic radar C and ultrasonic radar B does not meet the first preset condition, it is determined that ultrasonic radar B is covered by a foreign object.

[0232] For another example, assuming that ultrasonic radar A and ultrasonic radar B are taken as examples, ultrasonic radar A is determined to be the first ultrasonic device and ultrasonic radar B is the second ultrasonic device. If the first aftershock time of ultrasonic radar A meets the second preset condition, and the time interval between the transceiver waves of ultrasonic radar A and ultrasonic radar B does not meet the first preset condition, it is determined that ultrasonic radar A is covered by a foreign object.

[0233] In this embodiment, by determining that the first aftershock time of the first ultrasonic device meets the second preset condition, but the time interval between the first ultrasonic device and the second ultrasonic device does not meet the first preset condition, it is identified that the first ultrasonic device is covered by foreign objects, thereby identifying that the ultrasonic radar is covered by foreign objects, thereby improving the recognition accuracy.

[0234] Fig.19 A schematic diagram of a flow chart of another vehicle flooding identification method provided in an embodiment of the present application, Fig.19 It is to identify the scene where the ultrasonic radar is covered by foreign objects, such as Fig.19 As shown, the method of this embodiment is as follows:

[0235] S1901: Determine whether the first aftershock time of the first ultrasonic device meets the second preset condition.

[0236] S1902: Obtain the time interval between the first ultrasonic device and the second ultrasonic device for transmitting and receiving waves.

[0237] S1903: Obtain the third aftershock time of the ultrasonic wave emitted by the second ultrasonic device.

[0238] S1904: If the third aftershock time does not meet the third preset condition, and the time interval does not meet the first preset condition, it is determined that the first ultrasonic device is covered by a foreign object.

[0239] For the detailed description of the above steps, please refer to the steps in the above embodiments. The implementation principles are similar and will not be repeated here.

[0240] For example, assuming that ultrasonic radar A and ultrasonic radar B are taken as examples, ultrasonic radar B is determined to be the first ultrasonic device, and ultrasonic radar A is the second ultrasonic device. The first aftershock time of ultrasonic radar B meets the second preset condition, and the third aftershock time of ultrasonic radar A is obtained. If the third aftershock time of ultrasonic radar A does not meet the third preset condition, and the time interval between the transceiver waves of ultrasonic radar A and ultrasonic radar B does not meet the first preset condition, it is determined that ultrasonic radar B is covered by a foreign object.

[0241] For another example, assuming that ultrasonic radar C and ultrasonic radar B are taken as examples, ultrasonic radar B is determined to be the first ultrasonic device and ultrasonic radar C is the second ultrasonic device. The first aftershock time of ultrasonic radar B meets the second preset condition, and the third aftershock time of ultrasonic radar C is obtained. If the third aftershock time of ultrasonic radar C does not meet the third preset condition, and the time interval between the transceiver waves of ultrasonic radar C and ultrasonic radar B does not meet the first preset condition, it is determined that ultrasonic radar B is covered by a foreign object.

[0242] For another example, assuming that ultrasonic radar A and ultrasonic radar B are taken as examples, ultrasonic radar A is determined to be the first ultrasonic device and ultrasonic radar B is the second ultrasonic device. The first aftershock time of ultrasonic radar A meets the second preset condition, and the third aftershock time of ultrasonic radar B is obtained. If the third aftershock time of ultrasonic radar B does not meet the third preset condition, and the time interval between the transceiver waves of ultrasonic radar A and ultrasonic radar B does not meet the first preset condition, it is determined that ultrasonic radar A is covered by a foreign object.

[0243] In this embodiment, by determining that the first aftershock time of the first ultrasonic device meets the second preset condition, but the third aftershock time of the second ultrasonic device does not meet the third preset condition, when the time interval between the first ultrasonic device and the second ultrasonic device does not meet the first preset condition, it is identified that the first ultrasonic device is covered by foreign objects, thereby identifying the situation that the ultrasonic radar is covered by foreign objects, thereby improving the recognition accuracy.

[0244] Fig. 20 A schematic diagram of a flow chart of another vehicle flooding identification method provided in an embodiment of the present application, Fig. 20 It is to identify the scene where the ultrasonic radar is covered by foreign objects, such as Fig. 20 As shown, Fig. 20 This is for the scenario where the installation heights of the corner ultrasonic device and the middle ultrasonic device are inconsistent, and the installation height of the corner ultrasonic device is higher than the installation height of the middle ultrasonic device. The method of this embodiment is as follows:

[0245] S2001: Determine whether the first aftershock time of the first ultrasonic device meets the second preset condition.

[0246] S2002: Acquire the time interval between the first ultrasonic device and the second ultrasonic device for transmitting and receiving waves.

[0247] S2003: Obtain the third aftershock time of the ultrasonic wave emitted by the second ultrasonic device.

[0248] S2004: Obtain the fourth aftershock time of the ultrasonic wave emitted by the third ultrasonic device.

[0249] S2005: If the third aftershock time does not meet the third preset condition, the fourth aftershock time does not meet the fourth preset condition, and the time interval does not meet the first preset condition, it is determined that the first ultrasonic device is covered by a foreign object.

[0250] For the detailed description of the above steps, please refer to the steps in the above embodiments. The implementation principles are similar and will not be repeated here.

[0251] Assume that ultrasonic radar A, ultrasonic radar B, and ultrasonic radar D are taken as examples, and ultrasonic radar A is determined to be the first ultrasonic device, ultrasonic radar B is the second ultrasonic device, and ultrasonic radar D is the third ultrasonic device. If the first aftershock time of ultrasonic radar A meets the second preset condition, the third aftershock time of ultrasonic radar B is obtained. If the third aftershock time of ultrasonic radar B does not meet the third preset condition, the fourth aftershock time of ultrasonic radar D is obtained. If the fourth aftershock time does not meet the fourth preset condition, and the time interval between the receiving and transmitting waves of ultrasonic radar A and ultrasonic radar B does not meet the first preset condition, it is determined that ultrasonic radar A is covered by foreign matter.

[0252] In this embodiment, by determining that the first aftershock time of the first ultrasonic device meets the second preset condition, but the third aftershock time of the second ultrasonic device does not meet the third preset condition, the fourth aftershock time of the third ultrasonic device does not meet the fourth preset condition, and the time interval between the first ultrasonic device and the second ultrasonic device does not meet the first preset condition, it is identified that the first ultrasonic device is covered by foreign objects, thereby identifying the situation that the ultrasonic radar is covered by foreign objects, thereby improving the recognition accuracy.

[0253] Fig.21 A schematic diagram of a vehicle water immersion identification and processing device is provided for an embodiment of the present application, including: an acquisition module 2101 and an identification module 2102. The acquisition module 2101 is used to acquire the time interval between the first ultrasonic device and the second ultrasonic device for transmitting and receiving waves; the identification module 2102 is used to identify that the vehicle is in a water immersion state when the time interval meets a first preset condition.

[0254] Optionally, the acquisition module 2101 is further used to control the first ultrasonic device to receive waves and the second ultrasonic device to transmit waves, so as to obtain the time interval between the transmitting and receiving waves.

[0255] Optionally, the first preset condition includes: the time interval of at least a first preset number of times is less than a first preset threshold, wherein the first ultrasonic device is a corner radar, and the second ultrasonic device is an intermediate radar adjacent to the first ultrasonic device; or, the first ultrasonic device is an intermediate radar, and the second ultrasonic device is a corner radar adjacent to the intermediate radar.

[0256] Optionally, the first preset condition includes: the time interval of at least a second preset number of times is less than a second preset threshold, wherein the first ultrasonic device is an intermediate radar, and the second ultrasonic device is an intermediate radar adjacent to the first ultrasonic device.

[0257] Optionally, the acquisition module 2101 is specifically used to acquire the first aftershock time of the ultrasonic wave emitted by the first ultrasonic device; when the first aftershock time meets the second preset condition, the water immersion recognition function is started.

[0258] Optionally, the second preset condition includes: the difference between the first aftershock time and the second aftershock time for at least a third preset number of times is greater than a third preset threshold, wherein the second aftershock time is the aftershock time of the ultrasonic wave emitted by the first ultrasonic device in the air.

[0259] Optionally, the acquisition module 2101 is specifically used to acquire multiple first aftershock times of the ultrasonic wave emitted by the first ultrasonic device; the second preset condition includes: the multiple first aftershock times include: at least a fourth preset number of first aftershock times greater than a fourth preset threshold, and at least a fifth preset number of first aftershock times less than a fifth preset threshold; the first mean of the first aftershock times greater than the fourth preset threshold of at least the fourth preset number, and the second mean of the first aftershock times less than the fifth preset threshold of at least the fifth preset number, the difference between which is greater than a sixth preset threshold.

[0260] Optionally, the processing module 2102 is further configured to send a water immersion prompt signal based on the water immersion status.

[0261] Optionally, sending a water immersion warning signal based on the water immersion status includes at least one of the following: sending water immersion warning information to the vehicle system based on the water immersion status; sending water immersion warning information to the vehicle control system based on the water immersion status; sending water immersion warning information to the cloud platform data monitoring system based on the water immersion status.

[0262] Optionally, the processing module 2102 is specifically used to control at least one of the following based on the water immersion prompt information: turning on the water detection system; raising the suspension height; switching to a high-power mode; limiting the vehicle speed; turning on the camera.

[0263] Optionally, the processing module 2102 is also used to control the vehicle's instrument panel to display water immersion prompt information.

[0264] Optionally, the processing module 2102 is also used to send water flooding warning information.

[0265] Optionally, the first ultrasonic device and the second ultrasonic device are arranged outside the vehicle.

[0266] Optionally, the first ultrasonic device and the second ultrasonic device are reversing radars.

[0267] Optionally, starting the water immersion recognition function includes: switching from a reversing radar function to a water immersion recognition function.

[0268] Optionally, the acquisition module 2101 is specifically used to acquire the third aftershock time of the ultrasonic wave emitted by the second ultrasonic device; and determine whether the third aftershock time meets a third preset condition.

[0269] Optionally, the acquisition module 2101 is also used to acquire the third aftershock time of the ultrasonic wave emitted by the second ultrasonic device; if the third aftershock time does not meet the third preset condition, and the time interval does not meet the first preset condition, it is determined that the first ultrasonic device is covered by foreign matter.

[0270] Optionally, the third preset condition includes: the difference between the third aftershock time and the second aftershock time of at least a third preset number of times is greater than a third preset threshold.

[0271] Optionally, the acquisition module 2101 is specifically used to acquire multiple third aftershock times of the ultrasonic wave emitted by the second ultrasonic device; the third preset condition includes: the multiple third aftershock times include: at least a fourth preset number of third aftershock times greater than a fourth preset threshold, and at least a fifth preset number of third aftershock times less than a fifth preset threshold; the third mean of the third aftershock times greater than the fourth preset threshold of at least the fourth preset number, and the fourth mean of the third aftershock times less than the fifth preset threshold of at least the fifth preset number, the difference being greater than a sixth preset threshold.

[0272] Optionally, the processing module 2102 is further configured to identify that the first ultrasonic device is covered by a foreign object when the time interval does not meet a first preset condition.

[0273] Optionally, the acquisition module 2101 is specifically used to acquire the fourth aftershock time of the ultrasonic wave emitted by the third ultrasonic device; and determine whether the fourth aftershock time meets a fourth preset condition.

[0274] Optionally, the acquisition module 2101 is specifically used to acquire the third aftershock time of the ultrasonic wave emitted by the second ultrasonic device; acquire the fourth aftershock time of the ultrasonic wave emitted by the third ultrasonic device; if the third aftershock time does not meet the third preset condition, the fourth aftershock time does not meet the fourth preset condition, and the time interval does not meet the first preset condition, it is determined that the first ultrasonic device is covered by foreign matter.

[0275] Optionally, the fourth preset condition includes: the difference between the fourth aftershock time and the second aftershock time of at least a third preset number of times is greater than a third preset threshold.

[0276] Optionally, the acquisition module 2101 is specifically used to acquire multiple fourth aftershock times of the ultrasonic wave emitted by the third ultrasonic device; the fourth preset condition includes: the multiple fourth aftershock times include: at least a fourth preset number of fourth aftershock times greater than a fourth preset threshold, and at least a fifth preset number of fourth aftershock times less than a fifth preset threshold; the fifth mean of the fourth aftershock times greater than the fourth preset threshold of at least the fourth preset number, and the sixth mean of the fourth aftershock times less than the fifth preset threshold of at least the fifth preset number, the difference between which is greater than the sixth preset threshold.

[0277] Optionally, the processing module 2102 is further configured to determine that a height difference between the third ultrasonic device and the second ultrasonic device is lower than a seventh preset threshold.

[0278] The device of this embodiment can be used to execute the technical solutions of the above-mentioned method embodiments. Its implementation principles and technical effects are similar and will not be repeated here.

[0279] The present application also provides an electronic device, the electronic device comprising a processor and a memory. The memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the following is achieved: Figures 3 to 20 The steps of the vehicle water immersion identification method are shown.

[0280] The embodiment of the present application further provides a vehicle, the vehicle comprising a processor and a memory, the memory storing a program or instruction that can be run on the processor, the program or instruction being executed by the processor to implement the following Figures 3 to 20 The steps of the vehicle water immersion identification method are shown.

[0281] The embodiment of the present application also provides a computer-readable storage medium, wherein a program or instruction is stored on the computer-readable storage medium, and when the program or instruction is executed by a processor, the following is implemented: Figures 3 to 20 The steps of the vehicle water immersion identification method are shown.

[0282] The present application also provides a computer program product, which, when executed by a processor of a vehicle or a cloud server, implements the following Figures 3 to 20 The steps of the vehicle water immersion identification method are shown.

[0283] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment method can be implemented by means of a computer software product plus a necessary general hardware platform, and of course, it can also be implemented by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, disk, CD, etc.), including several instructions to enable the terminal or network side device to execute the method described in each embodiment of the present application.

[0284] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms of implementation methods without departing from the purpose of the present application and the scope of protection of the claims, and these implementation methods are all within the protection of the present application.

Claims

1. A vehicle flooding identification method, characterized in that: include: Acquire the time interval between the first ultrasonic device and the second ultrasonic device for transmitting and receiving waves; When the time interval meets a first preset condition, it is identified that the vehicle is in a water immersed state.

2. The method according to claim 1, characterized in that The step of obtaining the time interval between the first ultrasonic device and the second ultrasonic device for transmitting and receiving waves includes: The first ultrasonic device is controlled to receive waves and the second ultrasonic device is controlled to transmit waves, so as to obtain a time interval between the transmitting and receiving waves.

3. The method according to claim 2, characterized in that The first preset condition includes: The time interval of at least a first preset number of times is less than a first preset threshold, wherein the first ultrasonic device is a corner radar, and the second ultrasonic device is a middle radar adjacent to the first ultrasonic device; or, the first ultrasonic device is a middle radar, and the second ultrasonic device is a corner radar adjacent to the middle radar.

4. The method according to claim 2, characterized in that: The first preset condition includes: The time interval of at least a second preset number of times is smaller than a second preset threshold, wherein the first ultrasonic device is an intermediate radar, and the second ultrasonic device is an intermediate radar adjacent to the first ultrasonic device.

5. The method according to any one of claims 1 to 4, characterized in that: Before obtaining the time interval between the first ultrasonic device and the second ultrasonic device for transmitting and receiving waves, the method further includes: Acquire a first aftershock time of an ultrasonic wave emitted by a first ultrasonic device; When the first aftershock time meets a second preset condition, a water immersion identification function is activated.

6. The method according to claim 5, characterized in that The second preset condition includes: The difference between the first aftershock time and the second aftershock time of at least a third preset number of times is greater than a third preset threshold, wherein the second aftershock time is the aftershock time of the ultrasonic wave emitted in the air by the first ultrasonic device.

7. The method according to claim 5, characterized in that The step of obtaining the first aftershock time of the ultrasonic wave emitted by the first ultrasonic device comprises: Acquire multiple first aftershock times of the ultrasonic wave emitted by the first ultrasonic device; The second preset condition includes: The multiple first aftershock times include: at least a fourth preset number of first aftershock times greater than a fourth preset threshold, and at least a fifth preset number of first aftershock times less than a fifth preset threshold; The difference between the first mean of the first aftershock time greater than the fourth preset threshold value of at least the fourth preset number of times and the second mean of the first aftershock time less than the fifth preset threshold value of at least the fifth preset number of times is greater than the sixth preset threshold value.

8. The method according to any one of claims 1 to 4, characterized in that: Also includes: Based on the water immersion status, a water immersion prompt signal is sent.

9. The method according to claim 8, characterized in that The sending of a water immersion warning signal based on the water immersion state includes at least one of the following: Based on the water immersion status, sending water immersion prompt information to the vehicle system; Based on the water immersion status, sending water immersion prompt information to a vehicle control system; Based on the water immersion status, water immersion prompt information is sent to the cloud platform data monitoring system.

10. The method according to claim 9, characterized in that After sending the water immersion prompt information to the vehicle control system based on the water immersion state, the method further includes: Based on the water immersion prompt information, at least one of the following is controlled: Turn on the water detection system; Raise the suspension height; Switch to powerful mode; Limit vehicle speed; Turn on the camera.

11. The method according to claim 9, characterized in that After sending the water immersion prompt information to the vehicle system based on the water immersion state, the method further includes: The vehicle's instrument panel is controlled to display water immersion warning information.

12. The method according to claim 5, characterized in that Also includes: Send flood warning information.

13. The method according to claim 12, characterized in that The first ultrasonic device and the second ultrasonic device are provided outside the vehicle.

14. The method according to claim 13, characterized in that The first ultrasonic device and the second ultrasonic device are reversing radars.

15. The method according to claim 14, characterized in that The starting water immersion identification function includes: Switch from the reversing radar function to the water immersion recognition function.

16. The method according to claim 5, characterized in that Also includes: Obtaining a third aftershock time of the ultrasonic wave emitted by the second ultrasonic device; It is determined that the third aftershock time meets the third preset condition.

17. The method according to claim 5, characterized in that Also includes: Obtaining a third aftershock time of the ultrasonic wave emitted by the second ultrasonic device; If the third aftershock time does not meet the third preset condition, and the time interval does not meet the first preset condition, it is determined that the first ultrasonic device is covered by a foreign object.

18. The method according to claim 16 or 17, characterized in that The third preset condition includes: The difference between the third aftershock time and the second aftershock time of at least a third preset number of times is greater than a third preset threshold.

19. The method according to claim 16 or 17, characterized in that The step of obtaining the third aftershock time of the ultrasonic wave emitted by the second ultrasonic wave device comprises: acquiring a plurality of third aftershock times of the ultrasonic wave emitted by the second ultrasonic device; The third preset condition includes: The plurality of third aftershock times include: at least a fourth preset number of third aftershock times greater than a fourth preset threshold, and at least a fifth preset number of third aftershock times less than a fifth preset threshold; The difference between the third mean of the third aftershock times greater than the fourth preset threshold value of at least the fourth preset number of times and the fourth mean of the third aftershock times less than the fifth preset threshold value of at least the fifth preset number of times is greater than the sixth preset threshold value.

20. The method according to claim 5, characterized in that Also includes: When the time interval does not meet the first preset condition, it is identified that the first ultrasonic device is covered by a foreign object.

21. The method according to claim 5, characterized in that Also includes: obtaining a fourth aftershock time of the ultrasonic wave emitted by the third ultrasonic device; It is determined that the fourth aftershock time meets a fourth preset condition.

22. The method according to claim 5, characterized in that Also includes: Obtaining a third aftershock time of the ultrasonic wave emitted by the second ultrasonic device; obtaining a fourth aftershock time of the ultrasonic wave emitted by the third ultrasonic device; If the third aftershock time does not meet the third preset condition, the fourth aftershock time does not meet the fourth preset condition, and the time interval does not meet the first preset condition, it is determined that the first ultrasonic device is covered by a foreign object.

23. The method according to claim 21 or 22, characterized in that The fourth preset condition includes: The difference between the fourth aftershock time and the second aftershock time of at least a third preset number of times is greater than a third preset threshold.

24. The method according to claim 21 or 22, characterized in that The obtaining of the fourth aftershock time of the ultrasonic wave emitted by the third ultrasonic wave device comprises: acquiring a plurality of fourth aftershock times of the ultrasonic waves emitted by the third ultrasonic device; The fourth preset condition includes: The plurality of fourth aftershock times include: at least a fourth preset number of fourth aftershock times greater than a fourth preset threshold, and at least a fifth preset number of fourth aftershock times less than a fifth preset threshold; The difference between the fifth mean of the fourth aftershock times greater than the fourth preset threshold value of at least the fourth preset number of times and the sixth mean of the fourth aftershock times less than the fifth preset threshold value of at least the fifth preset number of times is greater than the sixth preset threshold value.

25. The method according to claim 24, characterized in that Before obtaining the plurality of fourth aftershock times of the ultrasonic waves emitted by the third ultrasonic device, the method further comprises: It is determined that the height difference between the third ultrasonic device and the second ultrasonic device is lower than a seventh preset threshold.

26. An electronic device, characterized in that: include: A processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the vehicle water immersion identification method as described in any one of claims 1 to 25 are implemented.

27. A vehicle, characterized in that: include: A processor and a memory, wherein the memory stores a program or instruction that can be run on the processor, and when the program or instruction is executed by the processor, the steps of the vehicle water immersion identification method as described in any one of claims 1 to 25 are implemented.

28. A computer-readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by the processor, the steps of the vehicle water immersion identification method as described in any one of claims 1 to 25 are implemented.

29. A computer program product, characterized in that When the program product is executed by a processor of a vehicle or a cloud server, the steps of the vehicle water immersion identification method as described in any one of claims 1 to 25 are implemented.

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