Vehicle wading detection method and related device

Abstract

The embodiment of the invention provides a vehicle wading detection method and a related device, and the method comprises the steps: calculating and determining the wading depth of a vehicle during wading according to the time interval between the moment when a sonar outputs a sound wave signal and the moment when an echo signal is received, thereby improving the precision of measuring the wading depth during wading of the vehicle.

Description

Technical Field

[0001] This application relates to the technical field of vehicles, and particularly to a method for detecting vehicle wading and related devices. Background Art

[0002] Currently, when a vehicle is driving in a waterlogged section, generally, devices such as on-vehicle radars are used to transmit high-frequency acoustic wave detection signals to the water area to detect the wading depth. However, high-frequency signals are extremely prone to attenuation in water, with a limited propagation distance and a weak intensity of the received effective signals, resulting in an inability to accurately measure the wading depth. Summary of the Invention

[0003] Embodiments of this application provide a method for detecting vehicle wading and related devices. Using the embodiments of this application is beneficial to improving the accuracy of determining the wading depth when a vehicle is driving through water.

[0004] In a first aspect, embodiments of this application provide a method for detecting vehicle wading, the method including:

[0005] Sending an acoustic wave signal through a sonar sensor; the sonar is disposed on the vehicle;

[0006] Based on the sending time of the acoustic wave signal and the receiving time of the target echo signal of the acoustic wave signal, determining the wading depth when the vehicle is driving through water, where the wading depth is the distance between the ground and the water surface.

[0007] It can be seen that in the embodiments of this application, the wading depth when the vehicle is driving through water is calculated and determined based on the time of the acoustic wave signal output by the sonar and the time of receiving the echo signal, improving the accuracy of measuring the wading depth when the vehicle is driving through water, enabling the user to execute coping strategies for wading driving according to the accurate wading depth, such as decelerating, to avoid water ingress into the vehicle during driving, thereby improving the safety of wading driving.

[0008] In a feasible embodiment, based on the sending time of the acoustic wave signal and the receiving time of the target echo signal of the acoustic wave signal, determining the wading depth when the vehicle is driving through water includes: obtaining the angle between the ground and the water surface; determining the distance between the sonar and the ground based on the difference between the sending time and the receiving time and the propagation speed of the acoustic wave in water; determining the wading depth based on the distance between the sonar and the ground and the angle.

[0009] In a feasible embodiment, the vehicle is provided with an inclination sensor for obtaining the angle between the ground and the water surface.

[0010] In the embodiments of this application, obtaining the angle between the ground and the water surface through the inclination sensor disposed on the vehicle and determining the wading depth based on the distance between the sonar and the ground and the angle can improve the accuracy of the measured wading depth when the vehicle is driving on various sections.

[0011] In a feasible embodiment, the target echo signal is selected from multiple echo signals based on the effective echo intensity of the multiple echo signals for the acoustic wave signal.

[0012] In a feasible embodiment, the target echo signal is the acoustic wave signal with the maximum effective echo intensity among the multiple echo signals.

[0013] In the embodiment of the present application, by screening out the acoustic wave signal with the maximum effective echo intensity from the multiple echo signals as the target echo signal, the reliability of the target echo signal can be improved, and further the accuracy of measuring the wading depth can be improved.

[0014] In a feasible embodiment, the effective echo intensity of the multiple echo signals is obtained based on the intensities of the multiple processed echo signals after noise reduction and filtering processing is performed on the multiple echo signals received by the sonar for the acoustic wave signal.

[0015] In the embodiment of the present application, after noise reduction and filtering processing is performed on the multiple received echo signals by the sonar, and the effective echo intensity of the multiple echo signals is obtained based on the intensities of the echo signals, the information reliability of the effective echo signal can be improved, and further the accuracy of measuring the wading depth can be improved.

[0016] In a feasible embodiment, the method of this embodiment further includes: displaying the wading depth on the display system of the vehicle.

[0017] In the embodiment of the present application, by displaying the wading depth on the display system of the vehicle, the user can be intuitively prompted of the wading depth when the vehicle is wading, enabling the user to understand the current driving environment.

[0018] In a feasible embodiment, the method of this embodiment further includes: when the wading depth is greater than or equal to a preset wading depth, sending an alarm prompt.

[0019] In the embodiment of the present application, by using an alarm signal to prompt the user that the current wading depth exceeds the preset wading depth, the user can be prompted of a potential safety hazard.

[0020] In a feasible embodiment, the method of this embodiment further includes: when the sonar receives the echo signal of the acoustic wave signal, determining that the driving state of the vehicle is wading.

[0021] In a feasible embodiment, the method of this embodiment further includes: sending a control signal to the control system of the vehicle, where the control signal is used to request the control system to switch the driving mode of the vehicle from the on-land driving mode to the wading driving mode.

[0022] In an embodiment of the present application, through the vehicle control system, when the echo signal is received, the driving mode of the vehicle is switched from the on-road driving mode to the wading driving mode, realizing assisting the user in controlling the vehicle, which is beneficial to improving the safety of the user's vehicle during wading driving.

[0023] In a feasible embodiment, after determining the wading depth of the vehicle during wading driving based on the transmission time of the acoustic wave signal and the reception time of the target echo signal of the acoustic wave signal, the method further includes: obtaining the underwater topographic map corresponding to the current driving area of the vehicle through sonar, and displaying the underwater topographic map on the display system of the vehicle.

[0024] In a feasible embodiment, obtaining the underwater topographic map corresponding to the current driving area of the vehicle through sonar includes: obtaining the distances between multiple positions in the driving area and the sonar through sonar scanning; generating the underwater topographic map corresponding to the driving area based on the distances between the multiple positions and the sonar, where the pixel points in the underwater topographic map correspond to the multiple positions, and the pixel values of the pixel points are determined based on the distances between the corresponding positions and the sonar.

[0025] In an embodiment of the present application, the underwater topographic map corresponding to the current driving area of the vehicle obtained through sonar and displayed on the display system of the vehicle can improve the user's control of the underwater environment during current wading driving, enabling the user to further determine the driving strategy according to the underwater terrain, such as bypassing dangerous terrain in advance, thereby improving the safety during wading driving.

[0026] In a feasible embodiment, the method of this embodiment further includes: determining the first signal intensity of the valid echo signal, where the first signal intensity is used to characterize the performance index of the sonar; when the first signal intensity is less than the second signal intensity, perform the operation of determining the wading depth of the vehicle during wading driving based on the transmission time of the acoustic wave signal and the reception time of the target echo signal of the acoustic wave signal, and the second signal intensity is the signal intensity of the target echo signal received by the sonar.

[0027] In a feasible embodiment, the first signal intensity of the valid echo signal is determined based on the preset transmission intensity of the acoustic wave signal, the propagation loss of the acoustic wave signal, the propagation environmental noise intensity of the acoustic wave signal, the reflection intensity of the ground on the acoustic wave signal, and the directivity index of the sonar.

[0028] In an embodiment of the present application, the signal intensity of the valid echo signal obtained through the above method can be used to evaluate the performance index of the measurement system including the sonar and the intelligent domain, and thus can indirectly characterize the accuracy of the above first moment and second moment. And when the signal intensity of the valid echo signal is less than the actually received acoustic wave signal intensity, that is, when the accuracy of the above first moment and second moment is relatively high, perform the operation of measuring the wading depth, thereby improving the accuracy of measuring the wading depth.

[0029] In a feasible embodiment, the acoustic wave signal is obtained by modulating and amplifying the pulse signal generated by the sonar.

[0030] In the embodiment of the present application, by modulating and amplifying the pulse signal generated by the sonar to obtain the acoustic wave signal, the acoustic wave signal can be transmitted over a longer distance, is not easily interfered by external noise, and the transmission stability of the acoustic wave signal is improved.

[0031] In a second aspect, the embodiment of the present application provides a detection device for a vehicle wading through water. The device includes: a transmitting unit and a determining unit; wherein, the transmitting unit is configured to transmit an acoustic wave signal through a sonar sensor; the sonar is disposed on the vehicle; the determining unit is configured to determine the wading depth when the vehicle is wading through water based on the transmission time of the acoustic wave signal and the reception time of the target echo signal of the acoustic wave signal, and the wading depth is the distance between the ground and the water surface.

[0032] In a third aspect, the embodiment of the present application provides an electronic device, which includes a processor and a memory. The processor is coupled to the memory, and the processor calls the executable program code stored in the memory to execute some or all of the steps described in any method of the first aspect, for example.

[0033] In a fourth aspect, the embodiment of the present application provides a vehicle, which includes the detection device of the second aspect or the electronic device shown in the third aspect.

[0034] In a fifth aspect, the embodiment of the present application provides a computer-readable storage medium, in which electronic data is stored. When the electronic data is executed by a processor, it is used to execute the electronic data to implement some or all of the steps described in the first aspect of the embodiment of the present application.

[0035] In a sixth aspect, the embodiment of the present application provides a computer program product. The computer program product includes a non-transitory computer-readable storage medium storing a computer program. The computer program is operable to cause a computer to execute some or all of the steps described in the first aspect of the embodiment of the present application. The computer program product can be a software installation package. Description of the Drawings

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0037] Figure 1It is a schematic structural diagram of a vehicle depth measurement system provided by an embodiment of the present application;

[0038] Figure 2 It is a schematic flow diagram of a method for detecting vehicle wading provided by an embodiment of the present application;

[0039] Figure 3 It is a structural block diagram of a sonar provided by an embodiment of the present application;

[0040] Figure 4 It is a schematic diagram of the principle for measuring wading depth provided by an embodiment of the present application;

[0041] Figure 5 It is a schematic diagram of the scenario of a vehicle wading provided by an embodiment of the present application;

[0042] Figure 6 It is a schematic diagram of the scenario of a sonar scanning the terrain provided by an embodiment of the present application;

[0043] Figure 7 It is a block diagram of the functional units of a detection device for vehicle wading provided by an embodiment of the present application;

[0044] Figure 8 It is a block diagram of the functional units of another detection device for vehicle wading provided by an embodiment of the present application;

[0045] Figure 9 It is a structural block diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0046] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0047] The terms "first", "second", etc. in the specification, claims and above-mentioned drawings of the present application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or devices.

[0048] References to "embodiments" in this specification mean that the particular features, structures, or characteristics described in connection with the embodiments can be included in at least one embodiment of the present application. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0049] The "and / or" in the embodiments of the present application describes the association relationship of associated objects and indicates that three relationships can exist. For example, A and / or B can represent the following three situations: A exists alone; A and B exist simultaneously; B exists alone. Among them, A and B can be singular or plural.

[0050] In the embodiments of the present application, the symbol " / " can represent an "or" relationship between the preceding and following associated objects. Additionally, the symbol " / " can also represent a division sign, that is, perform a division operation. For example, A / B can represent A divided by B.

[0051] The "at least one (item)" or its similar expressions in the embodiments of the present application refer to any combination of these items, including any combination of a single item or multiple items, and refer to one or more. Multiple refers to two or more. For example, at least one (item) of a, b, or c can represent the following seven situations: a, b, c, a and b, a and c, b and c, a, b, and c. Among them, each of a, b, and c can be an element or a set containing one or more elements.

[0052] The "equal to" in the embodiments of the present application can be used in combination with "greater than" and is applicable to the technical solutions adopted when it is greater than, or can also be used in combination with "less than" and is applicable to the technical solutions adopted when it is less than. When "equal to" is used in combination with "greater than", it is not used in combination with "less than"; when "equal to" is used in combination with "less than", it is not used in combination with "greater than".

[0053] Please refer to Figure 1 , Figure 1 which is a schematic diagram of the structure of a vehicle depth measurement system provided by the embodiments of the present application. As Figure 1 shown, the vehicle depth measurement system 10 includes a sonar 110, an intelligent domain 120, and a vehicle intelligent management system 130. Among them, the sonar 110 is electrically connected to the intelligent domain 120.

[0054] The sonar 110 is used to emit acoustic wave signals and receive echo signals of the acoustic wave signals under drive. Optionally, the sonar 110 can be an underwater transducer. In one example, the sonar 110 is a sonar with the same probe for transmitting and receiving. The main frequency of the sonar corresponds to the depth of the water depth and requirements such as accuracy, and the main frequency is in the range corresponding to low frequency and / or medium frequency. Its related parameters can be as follows:

[0055] Low frequency: 10 kHz to dozens of kHz, medium frequency: 200 kHz to 600 kHz, sensitivity: 200 dB re 1V / uPa,

[0056] In one example, the parameters of the sonar in this embodiment are as follows: frequency response: 700 Hz to 10 kHz, fluctuation within this frequency band: + / -2 dB, sensitivity: 200 dB re 1V / uPa, supply current: 2 mA to 10 mA, supply voltage: 24V / 12V, omnidirectional: + / -2 dB@10 kHz, vertical directivity: 60°, maximum tolerable static pressure: 6 MPa, output signal: analog signal, output interface: BNC, etc. performance parameters.

[0057] Specifically, when the sonar 110 operates, it emits sound waves driven by an internal signal source. Here, the signal source can be an electric spark source, a BOOMER source, an air gun source, etc. Among them, the actual parameter performance requirements of the signal source are related to factors such as the required accuracy of the sound wave signal and the target measurement distance.

[0058] The intelligent domain 120 is used to obtain the first moment when the sonar 110 emits a sound wave signal and the second moment when the echo signal of the received sound wave signal is received, and multiply the time interval between the first moment and the second moment by the propagation speed of the sound wave signal in water to determine the wading depth when the vehicle is wading.

[0059] Specifically, after the intelligent domain 120 determines the wading depth, it sends a control signal and / or a display signal to the vehicle intelligent management system 130, which is used to control the display system 131 in the vehicle intelligent management system 130 to display the wading depth information, or request the control system 132 in the vehicle intelligent management system 130 to switch the driving mode of the vehicle to the wading driving mode. Among them, when driving in the wading driving mode, the vehicle can perform operations including automatically delaying the throttle response, adjusting the driving height, switching the air conditioner to the internal circulation mode, locking the power transmission system, etc.

[0060] It can be seen that in the embodiment of the present application, by calculating the time when the sound wave signal is output by the sonar and the time when the echo signal is received, the wading depth when the vehicle is wading is determined, improving the accuracy of measuring the wading depth when the vehicle is wading, enabling the user to execute a coping strategy for wading driving according to the accurate wading depth, such as decelerating, to avoid the vehicle from taking in water during driving, thereby improving the safety of wading driving.

[0061] Based on this, the embodiment of the present application provides a method for detecting vehicle wading. The following will describe the embodiment of the present application in detail with reference to the drawings.

[0062] Please refer to Figure 2 , Figure 2It is a schematic flowchart of a method for detecting a vehicle wading provided by an embodiment of the present application. The method is applied to the intelligent domain 120 in a vehicle depth measurement system 10 as shown in Figure 1 The method includes the following steps:

[0063] Step 210, sending an acoustic wave signal through a sonar sensor.

[0064] Among them, the sonar is arranged on the vehicle. Specifically, the sonar is preferably arranged at any position on the chassis of the vehicle, or at other positions inside or outside the vehicle. At the same time, the installation position of the sonar should be such that the sonar remains in contact with the wading water area during the wading driving of the vehicle.

[0065] In a possible example, the acoustic wave signal is obtained by modulating and amplifying a pulse signal generated by the sonar. Exemplarily, please refer to Figure 3 , Figure 3 It is a structural block diagram of a sonar provided by an embodiment of the present application. As shown in Figure 3 , the sonar 110 internally includes a signal source 31, a transmitting conditioning circuit 32, a transmitting / receiving probe 33, and a receiving conditioning circuit 34; among them, the transmitting / receiving probe 33 is the same probe, and the receiving conditioning circuit 34 is electrically connected to the intelligent domain.

[0066] Among them, after the signal source 31 generates a pulse signal, the transmitting conditioning circuit 32 performs encoding modulation and amplification processing on the pulse signal, transmits the acoustic wave signal and receives the original reflection signal of the acoustic wave signal through the transmitting / receiving probe 33, and then the receiving conditioning circuit 34 performs amplification, filtering, and analog-to-digital conversion processing on the received original reflection signal. It should be understood that the acoustic wave signal here is the pulse signal processed by the transmitting conditioning circuit 32.

[0067] As shown in Figure 3 , the signal source 31 is used to generate a pulse signal. The pulse signal can be generated by a microcontroller unit (MCU) through a built-in digital-to-analog converter (DAC) or an external DAC chip, or can be generated through the pulse width modulation (PWM) interface of the MCU; then, the generated pulse signal is subjected to an encoding modulation process, for example, combined with an FM signal. The encoded pulse can make the acoustic wave signal more stable during transmission, not easily affected by external environmental noise, and thus can be transmitted over a longer distance. After obtaining the modulated pulse signal, it is amplified by the transmitting conditioning circuit 32. The transmitting conditioning circuit 32 may include a power amplifier for increasing the output power of the signal source 31. The acoustic wave signal output by the transmitting conditioning circuit 32 is transmitted to the outside through the transmitting / receiving probe 33.

[0068] In the embodiment of the present application, by modulating and amplifying the pulse signal generated by the sonar to obtain an acoustic wave signal, the acoustic wave signal can be transmitted over a longer distance and is not easily interfered by external noise, improving the transmission stability of the acoustic wave signal.

[0069] Step 220: Determine the wading depth when the vehicle is wading based on the transmission time of the acoustic wave signal and the reception time of the target echo signal of the acoustic wave signal.

[0070] The wading depth is the distance between the ground and the water surface.

[0071] Exemplarily, please refer to Figure 4 , Figure 4 which is a schematic diagram of the principle of measuring the wading depth provided by the embodiment of the present application. As shown in Figure 4 , S1 refers to the process of transmitting an acoustic wave signal through the sonar 110 as shown in Figure 1 . The transmission time here is recorded as the transmission time; S2 refers to the process in which the acoustic wave signal generates an echo signal after being reflected by the medium (ground) and is received by the sonar 110. The reception time here is recorded as the reception time.

[0072] Among them, the propagation speed of the acoustic wave signal varies in different water areas. The influencing factors of the propagation speed of the acoustic wave signal include water temperature, water density, etc. Exemplarily, the intelligent sensor system of the vehicle includes one or more sensors, and the data of the influencing factors of the propagation speed of the acoustic wave signal can be obtained through the intelligent sensor system of the vehicle. For example, the water temperature can be detected by a temperature sensor, and the water density can be detected by a density sensor, etc. The propagation speed of the acoustic wave signal is determined based on the data of the influencing factors of the propagation speed of the acoustic wave signal.

[0073] In a possible example, since some ground has an inclination angle, such as a slope section, the wading depth measured by the above-mentioned depth measurement method is the distance between the sonar and the ground, and the inclination angle of the ground needs to be considered in the scenario of the inclined section. Specifically, obtain the angle between the ground and the water surface; determine the distance between the sonar and the ground based on the difference between the transmission time and the reception time and the propagation speed of the acoustic wave in the water; determine the wading depth based on the distance between the sonar and the ground and the angle.

[0074] The vehicle is provided with an inclination sensor, and the inclination sensor is used to obtain the angle between the ground and the water surface.

[0075] Exemplarily, please refer to Figure 5 , Figure 5 which is a schematic diagram of the scenario of the vehicle wading provided by the embodiment of the present application. As shown in Figure 5As shown, 51 is the vehicle chassis, and a sonar transmitting / receiving probe 52 is provided at the vehicle chassis 51; wherein, the included angle θ formed by the vehicle chassis 51 and the water surface 1 is equal to θ 2 , the sonar emits acoustic wave signals through the transmitting / receiving probe 52, and based on the propagation speed of the acoustic wave signals in the water environment, the time interval between the transmitted acoustic wave signals and the received echo signals, the distance between the sonar and the ground is determined. The propagation speed of the acoustic wave signals in the water environment, the time interval between the transmitted acoustic wave signals and the received echo signals, and the distance between the sonar and the ground satisfy the following formula:

[0076] d2 = 0.5×C water ×t;

[0077] wherein, C water refers to the propagation speed of the acoustic wave signals in the water environment, and t refers to the time interval between the transmitted acoustic wave signals and the received echo signals.

[0078] Then, based on the included angle θ 2 , the depth d1 of the ground and the water surface is calculated, where: d1 = d2×cos(θ 2 ); It should be understood that when the ground is parallel to the water surface, θ 1 is equal to θ 2 is equal to 0, that is, d1 = d2, and at this time, the distance between the sonar and the ground is the distance between the water surface and the ground.

[0079] In the embodiments of the present application, by obtaining the included angle between the ground and the water surface through an inclination sensor and determining the wading depth based on the distance and the included angle between the sonar and the ground, the accuracy of the measured wading depth when the vehicle is driving on various sections can be improved.

[0080] In a possible example, the target echo signal is selected from multiple echo signals based on the effective echo intensity of the multiple echo signals for the acoustic wave signals.

[0081] wherein, the target echo signal is the acoustic wave signal with the maximum effective echo intensity among the multiple echo signals.

[0082] In the embodiments of the present application, by screening out the acoustic wave signal with the maximum effective echo intensity from multiple echo signals as the target echo signal, the reliability of the target echo signal can be improved, and further the accuracy of measuring the wading depth can be improved.

[0083] In a possible example, the effective echo intensity of the multiple echo signals is obtained based on the intensities of the multiple processed echo signals after noise reduction and filtering processing of the multiple echo signals received by the sonar for the acoustic wave signals.

[0084] Among them, when the acoustic wave signal contacts the ground medium, reflection will occur. In a complex underwater environment, there will be various sundries. When the acoustic wave signal contacts the sundries in the water, reflection occurs. At this time, for an acoustic wave signal, there are multiple echo signals returning to the sonar. The intelligent domain performs active noise reduction and filtering on the multiple echo signals to obtain multiple processed echo signals. The echo signal with the maximum intensity among the multiple processed echo signals is used as the effective echo signal corresponding to the acoustic wave signal, excluding the interference of noise signals and invalid echo signals. Furthermore, the wading depth is calculated using the reception time of the effective echo signal, which can improve the accuracy of the wading depth.

[0085] Specifically, the noise reduction and filtering process may include analysis and processing methods such as Fourier transform, wavelet transform, digital filtering, and convolution on the acoustic wave signal after analog-to-digital conversion.

[0086] In a possible example, the method further includes: displaying the wading depth on the display system of the vehicle.

[0087] Optionally, the wading depth can be displayed on the display system in the form of text information, pattern information, etc., or the wading depth can be played in the form of voice.

[0088] In the embodiments of the present application, by displaying the wading depth on the display system of the vehicle, the user can be intuitively prompted of the wading depth when the vehicle is wading, improving the user's control of the underwater environment during current wading driving. The user can execute driving strategies for dealing with wading situations according to the current wading depth, such as decelerating and stopping or accelerating, thereby improving the safety during wading driving.

[0089] In a possible example, the method further includes: when the wading depth is greater than or equal to a preset wading depth, an alarm prompt is issued.

[0090] Among them, the safe wading depth is determined based on parameters such as the vehicle chassis height and the vehicle's waterproof characteristics. For example, 0.5m is set as the vehicle's safe wading depth, and no alarm prompt is issued when the wading depth does not exceed 0.5m.

[0091] Specifically, issuing the alarm prompt may include one or more of the following: displaying information such as text and patterns with alarm meanings on the display system of the vehicle; playing alarm audio information through the built-in speaker of the vehicle, such as "The current wading depth is too deep, and there may be danger in continuing to drive."

[0092] In the embodiments of the present application, by the alarm prompt to prompt the user that the current wading depth exceeds the safe wading depth, the user can be prompted of potential safety hazards, improving the safety of the user's vehicle during wading driving.

[0093] In a possible example, the method further includes: when the sonar receives the echo signal of the acoustic wave signal, determining that the driving state of the vehicle is wading driving.

[0094] Specifically, the method further includes: sending a control signal to the control system of the vehicle, where the control signal is used to request the control system to switch the driving mode of the vehicle from the on-land driving mode to the wading driving mode.

[0095] Wherein, when driving based on the wading driving mode, the vehicle can perform operations including automatically delaying the throttle response, adjusting the driving height, switching to the air-conditioning internal circulation mode, locking the power transmission system, etc., to ensure safe driving of the vehicle in the wading area.

[0096] It should be understood that the working principle of the sonar is: the acoustic wave signal emitted by the sonar can only propagate in a liquid environment, such as in water. Therefore, when the sonar emits an acoustic wave signal and receives the echo signal of the acoustic wave signal, it is confirmed that the vehicle is in wading driving.

[0097] In the embodiment of the present application, through the control system of the vehicle, when the echo signal is acquired, the driving mode of the vehicle is switched from the on-land driving mode to the wading driving mode, which can assist the user in vehicle control based on the judgment of wading driving, improve the safety of the user during the vehicle wading driving process, and optimize the user driving experience.

[0098] In a possible example, after determining the wading depth when the vehicle is wading driving based on the transmission time of the acoustic wave signal and the reception time of the target echo signal of the acoustic wave signal, the method further includes: obtaining the underwater topographic map corresponding to the current driving area of the vehicle through the sonar, and displaying the underwater topographic map on the display system of the vehicle.

[0099] Specifically, the sonar scans the driving area where the vehicle is currently wading every detection period to obtain the underwater topographic map corresponding to the driving area; the interval time of the detection period can be determined according to the current driving speed. If the vehicle speed is faster, the interval time of the detection period is shorter to ensure that the obtained underwater topographic map has low latency and real-time performance.

[0100] Specifically, the sonar scans to obtain the distances between the sonar and multiple positions in the driving area; the underwater topographic map corresponding to the driving area is generated based on the distances between the multiple positions and the sonar. Among them, the pixel points in the underwater topographic map correspond to the multiple positions, and the pixel values of the pixel points are determined based on the distances between the corresponding positions and the sonar.

[0101] Wherein, the transmitting / receiving probe of the sonar can rotate within a certain angle range with the installation position as the center of the circle, and emits acoustic waves while rotating to realize the detection and scanning of the underwater terrain.

[0102] Exemplarily, please refer toFigure 6 , Figure 6 is a schematic diagram of a scenario for sonar to scan the terrain provided by an embodiment of the present application. As shown in Figure 6 , it includes a sonar 61, a water surface 62, the distances 63 between a plurality of pixel points and the sonar, and a ground 64. Figure 6 Only the distances between the sonar and a plurality of positions in the driving area scanned and determined at the current angle of the sonar are shown. Based on the plurality of positions, a plurality of pixel points are determined, such as the position 65 shown in Figure 6 . And the pixel values of the plurality of pixel points are set according to the distances between the plurality of positions and the water surface. As shown by the distances 63 between the plurality of pixel points and the sonar, an underwater topographic map of the driving area is constructed according to the pixel values.

[0103] In the embodiment of the present application, by using sonar to scan to obtain the distances between a plurality of positions in the driving area and the sonar, and generating an underwater topographic map of the driving area based on the distances, the user's control of the underwater environment during current wading driving can be improved. The user can further judge the driving strategy according to the underwater terrain, avoid dangerous terrain in advance, and improve the safety during the wading driving process.

[0104] In a possible example, the method further includes: determining a first signal strength of an effective echo signal, where the first signal strength is used to characterize the performance index of the sonar; when the first signal strength is less than a second signal strength, performing an operation of determining the wading depth when the vehicle is wading based on the transmission time of the acoustic wave signal and the reception time of the target echo signal of the acoustic wave signal, where the second signal strength is the signal strength of the target echo signal received by the sonar.

[0105] Specifically, the first signal strength of the effective echo signal is determined based on the preset transmission intensity of the acoustic wave signal, the propagation loss of the acoustic wave signal, the propagation environmental noise intensity of the acoustic wave signal, the reflection intensity of the acoustic wave signal by the ground, and the directivity index of the sonar.

[0106] Among them, the transmission intensity of the acoustic wave signal, the propagation loss of the acoustic wave signal, the propagation environmental noise intensity of the acoustic wave signal, the reflection intensity of the acoustic wave signal by the ground, the directivity index of the sonar, and the first signal strength of the effective echo signal satisfy the following formula:

[0107] DT = SL - 2 * TL - NL + TS + DI;

[0108] Among them, SL refers to the transmission intensity of the sonar transmitting acoustic wave signals, TL refers to the propagation loss after the acoustic wave signals propagate, NL refers to the noise intensity of the propagation environment, TS refers to the intensity of the echo signal received by the sonar, which is used to characterize the reflection ability of the ground to reflect the acoustic wave signals, DI is used to describe the ability of the sonar to suppress the isotropic background noise. Among them, the higher the DI, the more concentrated the acoustic energy of the acoustic wave signal and the farther the action distance. DT is the first signal intensity of the effective echo signal.

[0109] In the embodiment of the present application, the signal intensity of the effective echo signal obtained by the above method can be used to evaluate the performance index of the measurement system including the sonar and the intelligent domain, and thus can indirectly characterize the accuracy of the above first moment and second moment. And when the signal intensity of the effective echo signal is less than the intensity of the actually received acoustic wave signal, that is, when the accuracy of the above first moment and second moment is relatively high, the operation of measuring the wading depth is executed, thereby improving the accuracy of measuring the wading depth.

[0110] It can be seen that in the embodiment of the present application, the wading depth when the vehicle wades is calculated and determined through the time interval between the moment when the acoustic wave signal is output by the sonar and the moment when the echo signal is received, so as to improve the accuracy of measuring the wading depth when the vehicle wades. The user executes the coping strategy for wading according to the accurate wading depth, such as decelerating, to avoid the vehicle from entering water during driving, thereby improving the safety of wading.

[0111] Consistent with the above-described embodiment, please refer to Figure 7 , Figure 7 which is a functional unit composition block diagram of a vehicle wading detection device provided by an embodiment of the present application. Figure 7 The vehicle wading detection device 70 in Figure 1 can be one of the intelligent domains 120 or functional modules in the intelligent domain 120 in Figure 7 As shown, the vehicle wading detection device 70 includes: a sending unit 701 and a determining unit 702; among them,

[0112] The sending unit 701 is configured to send acoustic wave signals through a sonar sensor; the sonar is arranged on the vehicle;

[0113] The determining unit 702 is configured to determine the wading depth when the vehicle wades based on the sending moment of the acoustic wave signal and the receiving moment of the target echo signal of the acoustic wave signal, and the wading depth is the distance between the ground and the water surface.

[0114] In a feasible embodiment, based on the transmission time of the acoustic wave signal and the reception time of the target echo signal of the acoustic wave signal, the wading depth when the vehicle is wading is determined. The determining unit 702 is specifically configured to: obtain the angle between the ground and the water surface; determine the distance between the sonar and the ground based on the difference between the transmission time and the reception time and the propagation speed of the acoustic wave in water; and determine the wading depth based on the distance between the sonar and the ground and the angle.

[0115] In a feasible embodiment, the vehicle is provided with an inclination sensor, and the inclination sensor is used to obtain the angle between the ground and the water surface.

[0116] In a feasible embodiment, the target echo signal is selected from multiple echo signals based on the effective echo intensity of the multiple echo signals for the acoustic wave signal.

[0117] In a feasible embodiment, the target echo signal is the acoustic wave signal with the maximum effective echo intensity among the multiple echo signals.

[0118] In a feasible embodiment, the effective echo intensity of the multiple echo signals is obtained based on the intensities of the multiple processed echo signals after noise reduction and filtering processing is performed on the multiple echo signals received by the sonar for the acoustic wave signal.

[0119] In a feasible embodiment, the determining unit 702 is further specifically configured to: display the wading depth on the display system of the vehicle.

[0120] In a feasible embodiment, the determining unit 702 is further specifically configured to: issue an alarm prompt when the wading depth is greater than or equal to a preset wading depth.

[0121] In a feasible embodiment, the determining unit 702 is further specifically configured to: determine that the driving state of the vehicle is wading when the sonar receives the echo signal of the acoustic wave signal.

[0122] In a feasible embodiment, the determining unit 702 is further specifically configured to: send a control signal to the control system of the vehicle, and the control signal is used to request the control system to switch the driving mode of the vehicle from the on-land driving mode to the wading driving mode.

[0123] In a feasible embodiment, after determining the wading depth when the vehicle is wading based on the transmission time of the acoustic wave signal and the reception time of the target echo signal of the acoustic wave signal, the determining unit 702 is further specifically configured to: obtain the underwater topographic map corresponding to the current driving area of the vehicle through the sonar, and display the underwater topographic map on the display system of the vehicle.

[0124] In a feasible embodiment, in terms of obtaining the underwater topographic map corresponding to the current driving area of the vehicle through sonar, the determining unit 702 is specifically configured to: obtain the distances between the sonar and multiple positions in the driving area through sonar scanning; generate the underwater topographic map corresponding to the driving area based on the distances between the multiple positions and the sonar, where the pixel points in the underwater topographic map correspond to the multiple positions, and the pixel values of the pixel points are determined based on the distances between the corresponding positions and the sonar.

[0125] In a feasible embodiment, the determining unit 702 is further specifically configured to: determine the first signal intensity of the valid echo signal, where the first signal intensity is used to characterize the performance index of the sonar; when the first signal intensity is less than the second signal intensity, perform the operation of determining the wading depth when the vehicle is wading based on the transmission time of the acoustic wave signal and the reception time of the target echo signal of the acoustic wave signal, where the second signal intensity is the signal intensity of the target echo signal received by the sonar.

[0126] In a feasible embodiment, the first signal intensity of the valid echo signal is determined based on the preset transmission intensity of the acoustic wave signal, the propagation loss of the acoustic wave signal, the propagation ambient noise intensity of the acoustic wave signal, the reflection intensity of the ground on the acoustic wave signal, and the directivity index of the sonar.

[0127] In a feasible embodiment, the acoustic wave signal is obtained by modulating and amplifying the pulse signal generated by the sonar.

[0128] It can be understood that since the method embodiment and the device embodiment are different presentation forms of the same technical concept, the content of the method embodiment part in this application should be synchronously adapted to the device embodiment part, and will not be elaborated here.

[0129] In the case of adopting an integrated unit, as Figure 8 shown, Figure 8 is the functional unit composition block diagram of another vehicle wading detection device provided by the embodiment of the present application. Figure 8 The vehicle wading detection device 80 in Figure 1 can be the intelligent domain 120 or one of the functional modules in the intelligent domain 120 in Figure 8 The vehicle wading detection device 80 includes: a processing module 802 and a communication module 801. The processing module 802 is used to control and manage the actions of the vehicle wading detection device. For example, the steps of the sending unit 701 and the determining unit 702, and / or other processes for executing the technologies described herein. The communication module 801 is used to support the interaction between the vehicle wading detection device and other devices. As

[0130] Among them, the processing module 802 can be a processor or a controller. For example, it can be a Central Processing Unit (CPU), a general-purpose processor, a Digital Signal Processor (DSP), an ASIC, an FPGA, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute various exemplary logical blocks, modules, and circuits described in connection with the disclosure of this application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and so on. The communication module 801 can be a transceiver, an RF circuit, a communication interface, etc. The storage module 803 can be a memory.

[0131] Among them, all relevant contents of each scenario involved in the above method embodiments can be cited in the function descriptions of the corresponding functional modules, and will not be elaborated here. The above vehicle wading detection device 80 can execute the above Figure 2 shown vehicle wading detection method.

[0132] The above embodiments can be implemented in whole or in part by software, hardware, firmware, or any other combination. When implemented using software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the processes or functions according to the embodiments of this application are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center in a wired or wireless manner. The computer-readable storage medium can be any available medium that the computer can access, or a data storage device such as a server or data center that contains one or more collections of available media. The available medium can be a magnetic medium (such as a floppy disk, a hard disk, a magnetic tape), an optical medium (such as a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state drive.

[0133] Figure 9 is a structural block diagram of an electronic device provided by an embodiment of this application. As Figure 9As shown, the electronic device 900 may include one or more of the following components: a processor 901, and a memory 902 coupled to the processor 901. The memory 902 may store one or more computer programs, and the one or more computer programs may be configured to implement the methods described in the above embodiments when executed by the one or more processors 901. The electronic device 900 may be the intelligent domain or one of the functional modules in the intelligent domain in the above embodiments.

[0134] The processor 901 may include one or more processing cores. The processor 901 connects various parts within the entire electronic device 900 using various interfaces and lines. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 902, and by calling data stored in the memory 902, the processor 901 performs various functions of the electronic device 900 and processes data. Optionally, the processor 901 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 901 may integrate one or a combination of several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. It can be understood that the above modem may not be integrated into the processor 901 and may be implemented separately through a communication chip. The memory 902 may include random access memory (RAM) and may also include read-only memory (ROM).

[0135] The memory 902 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 902 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing an operating system, instructions for implementing at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above method embodiments, etc. The data storage area may also store data created during the use of the electronic device 900.

[0136] It can be understood that the electronic device 900 may include more or fewer structural elements than those in the above block diagram. For example, it may include a power module, physical buttons, a wireless fidelity (WiFi) module, a speaker, a Bluetooth module, sensors, etc., which are not limited here.

[0137] An embodiment of the present application provides a vehicle, which includes an electronic device as shown in the above embodiment or a detection device for vehicle wading as shown.

[0138] An embodiment of the present application provides a computer-readable storage medium, in which program data is stored. When the program data is executed by a processor, it is used to execute some or all of the steps of any one of the vehicle wading detection methods described in the above method embodiments.

[0139] An embodiment of the present application further provides a computer program product. The above computer program product includes a non-transitory computer-readable storage medium storing a computer program. The above computer program is operable to cause a computer to execute some or all of the steps of any one of the vehicle wading detection methods described in the above method embodiments. The computer program product can be a software installation package.

[0140] It should be noted that for any of the method embodiments of the vehicle wading detection method described above, for the sake of simple description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described action sequence, because according to the present application, certain steps can be performed in other sequences or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily essential to the present application.

[0141] Although the present application is described in combination with various embodiments herein, however, in the process of implementing the claimed present application, those skilled in the art can understand and implement other variations of the disclosed embodiments by viewing the drawings, the disclosed content, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. Certain measures are recited in mutually different dependent claims, but this does not mean that these measures cannot be combined to produce good results. Those of ordinary skill in the art can understand that all or part of the steps of various methods of any of the method embodiments of the vehicle wading detection method described above can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: a flash drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disc, etc.

[0142] The above has introduced the embodiments of the present application in detail. Specific examples are used herein to elaborate on the principles and implementation manners of a method and device for detecting a vehicle wading in the present application. The description of the above embodiments is only used to help understand the method and its core idea of the present application; at the same time, for those of ordinary skill in the art, according to the idea of a method and device for detecting a vehicle wading in the present application, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to the present application.

[0143] The present application is described with reference to the flowcharts and / or block diagrams of the methods, hardware products, and computer program products of the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram can be implemented by computer program instructions, and the combination of the processes and / or blocks in the flowchart and / or block diagram can also be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing devices generate a device for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks. These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured product including an instruction device, and the instruction device implements the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0144] These computer program instructions can also be loaded onto a computer or other programmable data processing device, so that a series of operation steps are executed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in Figure 1 one process or multiple processes and / or blocks Figure 1 one block or multiple blocks.

[0145] It can be understood that any product that is controlled or configured to execute the processing method of the flowchart described in the method embodiment of a method for detecting a vehicle wading in the present application, such as the terminal and computer program product of the above flowchart, belongs to the category of related products described in the present application.

[0146] Obviously, those skilled in the art can make various modifications and variations to a vehicle wading detection device method and device provided in this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application is also intended to include these modifications and variations.

Claims

1. A method for detecting a vehicle wading through water, characterized in that, it includes: sending a sound wave signal through a sonar sensor; the sonar is arranged on the vehicle; based on the sending moment of the sound wave signal and the receiving moment of the target echo signal of the sound wave signal, determining the wading depth when the vehicle is wading through water, and the wading depth is the distance between the ground and the water surface.

2. The method according to claim 1, characterized in that, the determining the wading depth when the vehicle is wading through water based on the sending moment of the sound wave signal and the receiving moment of the target echo signal of the sound wave signal includes: obtaining the angle between the ground and the water surface; determining the distance between the sonar and the ground based on the difference between the sending moment and the receiving moment and the propagation speed of sound waves in water; determining the wading depth based on the distance between the sonar and the ground and the angle.

3. The method according to claim 2, characterized in that, the vehicle is provided with an inclination sensor, and the inclination sensor is used to obtain the angle between the ground and the water surface.

4. The method according to any one of claims 1-3, characterized in that, the target echo signal is selected from the multiple echo signals based on the effective echo intensity of the multiple echo signals for the sound wave signal.

5. The method according to claim 4, characterized in that, the target echo signal is the sound wave signal with the maximum effective echo intensity among the multiple echo signals.

6. The method according to claim 4 or 5, characterized in that, the effective echo intensity of the multiple echo signals is obtained based on the intensities of multiple processed echo signals after performing noise reduction and filtering processing on the multiple echo signals received by the sonar for the sound wave signal.

7. The method according to any one of claims 1-6, characterized in that, the method further includes: displaying the wading depth on the display system of the vehicle.

8. The method according to any one of claims 1-7, characterized in that, the method further includes: when the wading depth is greater than or equal to a preset wading depth, sending an alarm prompt.

9. The method according to any one of claims 1-8, characterized in that, the method further includes: when the sonar receives the echo signal of the sound wave signal, determining that the driving state of the vehicle is the wading driving state.

10. The method according to claim 9, characterized in that, the method further includes: sending a control signal to the control system of the vehicle, and the control signal is used to request the control system to switch the driving mode of the vehicle from the on-land driving mode to the wading driving mode.

11. The method according to any one of claims 1-10, characterized in that, after determining the wading depth when the vehicle is wading through water based on the sending moment of the sound wave signal and the receiving moment of the target echo signal of the sound wave signal, the method further includes: obtaining the underwater topographic map corresponding to the current driving area of the vehicle through the sonar, and displaying the underwater topographic map on the display system of the vehicle.

12. The method according to claim 11, It is characterized in that the method of obtaining the underwater topographic map corresponding to the current driving area of the vehicle through the sonar includes: scanning through the sonar to obtain the distances between the sonar and multiple positions in the driving area; generating the underwater topographic map corresponding to the driving area based on the distances between the multiple positions and the sonar, wherein the pixel points in the underwater topographic map correspond to the multiple positions, and the pixel values of the pixel points are determined based on the distances between the corresponding positions and the sonar.

13. The method according to any one of claims 1-12, It is characterized in that the method further includes: determining a first signal strength of the valid echo signal, where the first signal strength is used to characterize the performance index of the sonar; when the first signal strength is less than a second signal strength, performing an operation of determining the wading depth when the vehicle is wading based on the transmission time of the acoustic wave signal and the reception time of the target echo signal of the acoustic wave signal, where the second signal strength is the signal strength of the target echo signal received by the sonar.

14. The method according to claim 13, It is characterized in that the first signal strength of the valid echo signal is determined based on the preset transmission intensity of the acoustic wave signal, the propagation loss of the acoustic wave signal, the propagation ambient noise intensity of the acoustic wave signal, the reflection intensity of the ground on the acoustic wave signal, and the directivity index of the sonar.

15. The method according to any one of claims 1-14, It is characterized in that the acoustic wave signal is obtained by modulating and amplifying a pulse signal generated by the sonar.

16. A detection device for vehicle wading, It is characterized in that it includes: a sending unit and a determining unit; wherein, the sending unit is configured to send an acoustic wave signal through a sonar sensor; the sonar is arranged on the vehicle; the determining unit is configured to determine the wading depth when the vehicle is wading based on the transmission time of the acoustic wave signal and the reception time of the target echo signal of the acoustic wave signal, where the wading depth is the distance between the ground and the water surface.

17. An electronic device, It is characterized in that it includes a processor and a memory, the processor is coupled to the memory, and the processor calls the executable program code stored in the memory to execute the method according to any one of claims 1-15.

18. A vehicle, It is characterized in that it includes the detection device according to claim 16 or the electronic device according to claim 17.

19. A computer-readable storage medium, It is characterized in that it stores a computer program for electronic data exchange, wherein the computer program causes a computer to execute the method according to any one of claims 1-15.

Images