Vehicle wading early warning method, device and equipment and storage medium

Abstract

The invention discloses a vehicle wading early warning method, device and equipment and a storage medium, and relates to the technical field of vehicle detection, and the method comprises the steps: obtaining the weather state of a preset region under the condition that a vehicle is detected to be in a non-starting state and parked in the preset region; determining ground echo energy data according to the weather state; determining a current wading depth value according to the ground echo energy data; and performing wading early warning according to the current wading depth value. The water depth corresponding to the water surface can be rapidly and accurately detected or predicted through the obtained ground echo energy data, the accuracy of fording depth detection is improved, a driver is reminded of the possibility of the vehicle fording risk, damage of electric components or water entering a cabin is avoided, and the vehicle driving safety is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicle detection, and particularly to a vehicle wading warning method, device, equipment and storage medium. Background Art

[0002] When a vehicle is parked on a low-lying road surface or in a garage, it is easy to accumulate water after a heavy rain. If the driver is not aware of the change in the water accumulation, there may be a risk of water ingress into the vehicle.

[0003] Currently, the main method for vehicle wading detection is to directly measure the water surface height through a millimeter-wave radar installed on the vehicle. However, due to the characteristics of the water surface change, the water surface height information cannot be accurately obtained according to the change of the water surface. Summary of the Invention

[0004] The main purpose of the present application is to provide a vehicle wading warning method, device, equipment and storage medium, aiming to solve the technical problem of low accuracy in detecting the wading depth of current vehicles.

[0005] To achieve the above object, the present application proposes a vehicle wading warning method, and the vehicle wading warning method includes:

[0006] When it is detected that the vehicle is in an unstarted state and parked in a preset area, obtain the weather condition of the preset area;

[0007] Determine the ground echo energy data according to the weather condition;

[0008] Determine the current wading depth value according to the ground echo energy data;

[0009] Conduct a wading warning according to the current wading depth value.

[0010] In one embodiment, the step of determining the current wading depth value according to the ground echo energy data includes:

[0011] Obtain the initial ground echo energy and the current ground echo energy according to the ground echo energy data;

[0012] Determine the current wading depth value according to the initial ground echo energy and the current ground echo energy.

[0013] In one embodiment, the step of determining the current wading depth value according to the initial ground echo energy and the current ground echo energy includes:

[0014] Determine the current ground material of the preset area according to the initial ground echo energy;

[0015] Obtain the corresponding relationship between the ground material, the ground echo energy and the wading depth value;

[0016] Determine the current wading depth value according to the current ground material, the current ground echo energy, and the corresponding relationship.

[0017] In one embodiment, the step of determining the ground echo energy data according to the weather condition includes:

[0018] When there is no rain in the weather condition, obtain the initial ground echo energy of the preset area through radar;

[0019] When there is rain in the weather condition and the water surface is a calm water surface, detect the current ground echo energy of the preset area through the radar within a preset period;

[0020] Obtain the ground echo energy data according to the initial ground echo energy and the current ground echo energy.

[0021] In one embodiment, the step of performing wading warning according to the current wading depth value includes:

[0022] Obtain multiple current wading depth values corresponding to multiple radars according to the current wading depth value;

[0023] When at least two of the multiple current wading depth values are greater than the preset wading depth threshold, determine that the vehicle has a wading risk;

[0024] Generate an alarm message to perform wading warning.

[0025] In one embodiment, the method further includes:

[0026] When only one of the multiple current wading depth values is greater than the preset wading depth threshold, determine that there is a radar misdetection;

[0027] Generate a misdetection message, and return to the step of obtaining multiple current wading depth values corresponding to multiple radars according to the current wading depth value.

[0028] In one embodiment, the method further includes:

[0029] Obtain the radar height and the radar detection angle;

[0030] Obtain the measurement value of the vehicle's distance from the preset position at the radar detection angle;

[0031] When there is rain in the weather condition and the water surface is a fluctuating water surface, calculate the current wading depth value according to the radar height, the radar detection angle, and the measurement value;

[0032] Perform wading warning according to the current wading depth value.

[0033] In addition, to achieve the above object, the present application further provides a vehicle wading warning device, which includes:

[0034] An acquisition module, configured to acquire the weather condition of the preset area when it is detected that the vehicle is in an unstarted state and parked in the preset area;

[0035] A determination module, configured to determine the ground echo energy data according to the weather condition;

[0036] The determination module is further configured to determine the current wading depth value according to the ground echo energy data;

[0037] A warning module, configured to perform wading warning according to the current wading depth value.

[0038] In addition, to achieve the above object, the present application further provides a vehicle wading warning device, which includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the vehicle wading warning method as described above.

[0039] In addition, to achieve the above object, the present application further provides a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium, and when the computer program is executed by a processor, it implements the steps of the vehicle wading warning method as described above.

[0040] In addition, to achieve the above object, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the vehicle wading warning method as described above.

[0041] One or more technical solutions provided by the present application, the method includes: when it is detected that the vehicle is in an unstarted state and parked in a preset area, acquiring the weather condition of the preset area; determining the ground echo energy data according to the weather condition; determining the current wading depth value according to the ground echo energy data; and performing wading warning according to the current wading depth value. The accumulated water depth corresponding to the water surface can be quickly and accurately detected or predicted through the acquired ground echo energy data, the accuracy of wading depth detection can be improved, and the driver can be prompted of the possibility of vehicle wading risk, avoiding damage to electrical components or water ingress into the cockpit, and improving the driving safety of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0043] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0044] Figure 1 It is a schematic flowchart provided for the first embodiment of the vehicle wading warning method of the present application;

[0045] Figure 2 It is a schematic diagram of the hardware layout architecture of the vehicle wading warning method of the present application;

[0046] Figure 3 It is a schematic flowchart provided for the second embodiment of the vehicle wading warning method of the present application;

[0047] Figure 4 It is a schematic overall flowchart of the wading depth warning when the preset area is calm water in an embodiment of the vehicle wading warning method of the present application;

[0048] Figure 5 It is a schematic flowchart provided for the third embodiment of the vehicle wading warning method of the present application;

[0049] Figure 6 It is a schematic diagram of the radar information obtained during the vehicle fluctuation water accumulation detection in an embodiment of the vehicle wading warning method of the present application;

[0050] Figure 7 It is a schematic overall flowchart of the wading depth warning when the water surface is a fluctuating water surface in an embodiment of the vehicle wading warning method of the present application;

[0051] Figure 8 It is a schematic diagram of the module structure of the vehicle wading warning device in the embodiment of the present application;

[0052] Figure 9 It is a schematic diagram of the device structure of the hardware operating environment involved in the vehicle wading warning method in the embodiment of the present application.

[0053] The implementation, functional features, and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0054] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0055] To better understand the technical solutions of the present application, the following will be described in detail in combination with the accompanying drawings of the specification and the specific implementation manners.

[0056] The main solution of the embodiment of this application is: when it is detected that the vehicle is in an unstarted state and parked in a preset area, obtain the weather condition of the preset area; determine the ground echo energy data according to the weather condition; determine the current wading depth value according to the ground echo energy data;

[0057] Perform wading warning according to the current wading depth value.

[0058] Since the prior art directly measures the water surface height through the millimeter-wave radar on the vehicle door and calculates the water accumulation depth. However, when the water surface is as calm as a mirror, due to the specular reflection effect, most of the energy of the millimeter wave cannot return to the radar, and the height information of the water surface cannot be obtained.

[0059] This application provides a solution. By using other characteristics of the millimeter-wave radar, it can indirectly identify the water surface as calm as a mirror, calculate the water accumulation depth, and then prompt the driver of the possibility of wading risk to avoid damage to electrical components or water ingress into the cockpit.

[0060] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication, and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device, a vehicle wading warning device, etc. that can implement the above functions. Hereinafter, taking the vehicle wading warning device as an example, this embodiment and the following embodiments will be described.

[0061] Based on this, the embodiment of this application provides a vehicle wading warning method, referring to Figure 1 , Figure 1 is the flowchart of the first embodiment of the vehicle wading warning method of this application.

[0062] In this embodiment, the vehicle wading warning method includes steps S10 to S40:

[0063] Step S10: When it is detected that the vehicle is in an unstarted state and parked in a preset area, obtain the weather condition of the preset area.

[0064] It should be noted that the unstarted state is a stopped state. The state of the vehicle engine or generator and the state of the vehicle door can be detected. When the vehicle engine or generator is in a stopped working state and the vehicle door is in a locked state, it is determined that the vehicle is in an unstarted state.

[0065] The preset area is the vehicle parking area, such as an underground parking lot, an above-ground parking lot, etc., which are areas for parking vehicles.

[0066] As Figure 2 shown, Figure 2Schematic diagram of the hardware layout architecture of this embodiment, including front door radars (left front door radar and right front door radar), rear door radars (left rear door radar and right rear door radar), IVI (In-Vehicle Infotainment System), and TCU (Telematics Control Unit). The TCU is used to receive weather forecast information, thereby determining the weather condition, and when the weather condition is rainy, send a notification to the IVI. The IVI is used to send a detection instruction to the RADAR, receive the water accumulation warning signal from the RADAR. The front door radars and rear door radars can receive the signal sent by the IVI, and can also identify water accumulation according to the echo energy, and calculate the water accumulation height; send the water depth to the IVI and the TCU.

[0067] In a specific implementation, the weather condition of the preset area can be based on the TCU obtaining the weather forecast information of the vehicle parking area and sending the weather forecast information to the IVI. The weather condition information includes whether it is raining or not.

[0068] Step S20: Determine the ground echo energy data according to the weather condition.

[0069] In a specific implementation, the corresponding ground echo energy can be determined according to different weather conditions, so as to obtain the ground echo energy data. The ground echo energy includes the echo energy when there is no rain and the echo energy when there is rain.

[0070] It should be noted that when the radar emits millimeter waves and reaches a calm water surface, most of the energy will be reflected on the water surface, and only a small part of the energy can reach the rough ground and then return to the radar. The echo energy of different ground materials is different; the echo energy of the ground with water and without water is also different. Through the difference in echo energy, it can be used to distinguish different materials and states of the ground.

[0071] In a feasible implementation manner, step S20 may include steps A11 to A13:

[0072] Step A11: When the weather condition is no rain, obtain the initial ground echo energy of the preset area through the radar.

[0073] It should be noted that the initial ground echo energy is the ground echo energy corresponding to the ground where the preset area is located obtained through the radar when there is no rain. For example, when there is no rain, the initial ground echo energy detected by the radar in the preset area is G1, and the value of G1 can be 40.

[0074] Step A12: When the weather condition is rain and the water surface is a calm water surface, detect the current ground echo energy of the preset area through the radar within a preset period.

[0075] In a specific implementation, the calm water surface means that there is accumulated water in the preset area, and at this time, the water surface of the accumulated water has no fluctuation. When it is raining and the water surface is calm, due to the reflection of the mirror surface, the energy emitted by the radar cannot all return, and at this time, the ground echo energy will change, and the current ground echo energy can be directly obtained.

[0076] The preset period can be set to 15 min, 20 min, etc., and can be set according to requirements. This embodiment does not limit this. When the ground materials corresponding to the preset areas are different, the initial ground echo energy and the current ground echo energy obtained are also different.

[0077] Step A13: Obtain ground echo energy data according to the initial ground echo energy and the current ground echo energy.

[0078] It can be understood that the initial ground echo energy and the current ground echo energy can be used as the ground echo energy data.

[0079] Step S30: Determine the current wading depth value according to the ground echo energy data.

[0080] It should be understood that the ground echo energy in different situations can be obtained according to the ground echo energy data, and then calculated together to obtain the current wading depth value.

[0081] The current wading depth value is the height value of the vehicle radar installation position from the ground when the vehicle is in the preset area. The number of current wading depth values can be multiple.

[0082] Step S40: Perform wading warning according to the current wading depth value.

[0083] It should be noted that it is possible to determine whether there is a wading risk for the vehicle according to the current wading depth value. Specifically, a wading depth threshold can be set in advance, and then the current wading depth value is compared with the wading depth threshold to determine whether there is a wading risk for the vehicle. If there is a wading risk for the vehicle, a wading warning is performed.

[0084] In a feasible implementation manner, step S40 may include steps B11 to B13:

[0085] Step B11: Obtain the current wading depth values corresponding to multiple radars according to the current wading depth value.

[0086] It should be noted that the current wading depth value H can be detected alternately by the front radar and the rear radar of the vehicle, so as to obtain the current wading depth values corresponding to each radar and obtain multiple current wading depth values.

[0087] For example, if the radar includes a left radar and a right radar, then the current wading depth value includes the wading depth values corresponding to the four radars, that is, the current wading depth value H includes H1, H2, H3, and H4.

[0088] Step B12: When at least two of the multiple current wading depth values are greater than a preset wading depth threshold, it is determined that the vehicle has a wading risk.

[0089] It can be understood that when at least two of the radars detect that the current wading depth value H exceeds the preset wading depth threshold Hmax, it is determined that the vehicle has a wading risk, that is, at least two of the multiple wading depth values are greater than the preset wading depth threshold Hmax, and it is determined that the vehicle has a wading risk, and the background notifies the user to handle it.

[0090] In a specific implementation, if some of the current wading depth values are less than or equal to the preset wading depth threshold and some of the current wading depth values are greater than the preset wading depth threshold, it indicates that there is a radar misdetection. After step B12, it further includes: when only one of the multiple current wading depth values is greater than the preset wading depth threshold, it is determined that there is a radar misdetection; generating misdetection information, and returning to the step of obtaining the multiple current wading depth values corresponding to the multiple radars according to the current wading depth value.

[0091] It should be noted that, for example, if the number of radars is four, if the current wading depth values detected by 3 radars are less than or equal to the preset wading depth threshold and the current wading depth value detected by 1 radar is greater than the preset wading depth threshold, it is determined that there is a radar misdetection. At this time, misdetection information is generated, and the user can also be notified to handle it according to the misdetection information, and the step of obtaining the multiple current wading depth values corresponding to the multiple radars according to the current wading depth value is returned to re-detect the wading risk process.

[0092] Step B13: Generate an alarm message for wading warning.

[0093] In a specific implementation, when the vehicle has a wading risk, an alarm message can be generated to the vehicle background and the mobile terminal, so that the background notifies the user to handle it to avoid damage to electrical components or water ingress into the cockpit.

[0094] This embodiment provides a method for warning of a vehicle wading through water. When it is detected that the vehicle is in an unstarted state and parked in a preset area, the weather condition of the preset area is obtained; the ground echo energy data is determined according to the weather condition; the current wading depth value is determined according to the ground echo energy data; and a wading warning is given according to the current wading depth value. The accumulated water depth corresponding to the water surface can be quickly and accurately detected or predicted through the obtained ground echo energy data, the accuracy of wading depth detection is improved, and the driver is prompted of the possibility of vehicle wading risk, avoiding damage to electrical components or water ingress into the cockpit, and improving the driving safety of the vehicle.

[0095] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar content as that in the above-mentioned first embodiment can be referred to the above introduction and will not be repeated hereinafter. On this basis, please refer to Figure 3 , step S30 includes steps S301 to S302:

[0096] Step S301: Obtain the initial ground echo energy and the current ground echo energy according to the ground echo energy data.

[0097] It should be noted that the ground echo energy data includes the initial ground echo energy and the current ground echo energy. Therefore, the initial ground echo energy and the current ground echo energy can be obtained according to the ground echo energy data.

[0098] Step S302: Determine the current wading depth value according to the initial ground echo energy and the current ground echo energy.

[0099] In a specific implementation, calculations can be performed according to the initial ground echo energy and the current ground echo energy to obtain the current wading depth value of the preset area. For example, there is a corresponding relationship between the ground of different materials and the corresponding echo energy and wading depth value, so the current wading depth value can be determined according to the corresponding relationship.

[0100] In a feasible implementation manner, step S302 may include steps C11 to C13:

[0101] Step C11: Determine the current ground material of the preset area according to the initial ground echo energy.

[0102] It should be noted that when there is no accumulated water on the ground of the preset area, the radar emits millimeter waves for detection. The energy reflected by the ground of different materials is different. Therefore, the current ground material of the preset area can be determined according to the initial ground echo energy, so as to facilitate determining the ground echo energy when there is accumulated water according to the current ground material.

[0103] The current ground material may include a ceramic tile floor, a cement floor, an asphalt floor, and may also include other floors. This embodiment does not limit this.

[0104] The initial ground echo energies of different ground materials are different. For example, the initial ground echo energy of a tile floor is 30, that of a cement floor is 40, and that of an asphalt floor is 50.

[0105] Step C12: Obtain the correspondence relationship among the ground material, the ground echo energy, and the wading depth value.

[0106] It should be noted that there is a correspondence relationship among the ground material, the ground echo energy, and the wading depth value. This correspondence relationship can be established and stored in advance. Specifically, different ground echo energies at different water depths under different ground materials can be collected to establish the correspondence relationship.

[0107] As shown in Table 1 below, Table 1 shows the correspondence relationship among the ground material, the ground echo energy, and the water depth H.

[0108] Table 1

[0109]

[0110] As shown in Table 1, for different ground materials, the corresponding ground echo energies are different, and the corresponding water depths are also different.

[0111] Step C13: Determine the current wading depth value according to the current ground material, the current ground echo energy, and the correspondence relationship.

[0112] In specific implementation, the current wading depth value can be determined according to the current ground material, the current ground echo energy, and the correspondence relationship. For example, if the current ground material is cement and the current ground echo energy is 30, according to Table 1 above, the current wading depth value can be obtained as 200 mm. Or if the current ground material is asphalt and the current ground echo energy is 45, then the current wading depth value is 100 mm.

[0113] As Figure 4 shown, Figure 4 is a schematic diagram of the overall process of wading depth warning for a preset area with calm water surface. When it is detected that the vehicle is in an unstarted state and the vehicle is locked, the radar detects the current ground echo energy and records it as G1, and judges the ground material; it is raining in the parking area, and the TCU / IVI wakes up the door radar every 15 minutes to detect the ground echo energy and records it as G2, looks up the table to get the water depth H. Are the water depths detected by at least two radars > the threshold Hmax? If so, an alarm message is generated and the background prompts the user of the wading risk. If not, return to the step of detecting the ground echo energy and looking up the table.

[0114] In this embodiment, the initial ground echo energy and the current ground echo energy are obtained based on the ground echo energy data; the current wading depth value is determined according to the initial ground echo energy and the current ground echo energy, and the magnitude of the ground echo energy measured by the radar on the water surfaces of different materials is used to quickly determine the specific water accumulation depth, improving the accuracy of calculating the water accumulation depth.

[0115] Based on the first embodiment of the present application, in the third embodiment of the present application, the same or similar content as in the above-mentioned Embodiment 1 can be referred to the above introduction and will not be elaborated hereinafter. On this basis, please refer to Figure 5 , after step S20, the vehicle wading warning method further includes steps S21 to S24:

[0116] Step S21: Obtain the radar height and the radar detection angle.

[0117] It should be noted that when the water accumulation surface in the preset area where the vehicle is parked is a fluctuating water surface, the current wading depth value can be specifically determined according to the relevant information of the radar. Therefore, the radar height and the radar detection angle can be obtained. The radar height is Z, which can be obtained by actually measuring the height of the radar from the ground when there is no water accumulation on the ground. The radar detection angle is the specific detection direction of the radar.

[0118] Step S22: Obtain the measurement value of the vehicle's distance from the preset position under the radar detection angle.

[0119] In a specific implementation, the measurement value k is the actually measured distance of the radar under the radar detection angle. As Figure 6 shown, Figure 6 is a schematic diagram of the radar information obtained during the vehicle's fluctuating water accumulation detection. The preset position is point A, the radar height is Z, the radar detection angle θ can be measured according to the preset position, the ground, and the radar layout position, the water position measurement k can be measured according to the distance between point A and the radar, and the water depth is H.

[0120] Step S23: When the weather state is raining and the water surface is a fluctuating water surface, calculate the current wading depth value according to the radar height, the radar detection angle, and the measurement value.

[0121] It should be noted that when the weather state is raining and the water surface is a fluctuating water surface, the current wading depth value can be jointly calculated according to the radar height, the radar detection angle, and the measurement value. The calculation is as follows:

[0122] H = Z - k * cosθ

[0123] The current wading depth value H can be calculated through the above formula.

[0124] Step S24: Perform a wading warning according to the current wading depth value.

[0125] In a specific implementation, the currently calculated wading depth value H can be compared with a preset wading depth threshold value Hmax to determine whether the preset value is reached. If so, the background will prompt the user of the wading risk.

[0126] As Figure 7 shown, Figure 7 FIG. is a schematic diagram of the overall process of wading depth warning for a fluctuating water surface. The radar detects the water position metric k, calculates the wading depth value H based on the radar height and the radar detection angle, and determines whether H reaches the threshold value Hmax. If so, the background will prompt the user of the wading risk.

[0127] In this embodiment, the radar height and the radar detection angle are obtained; the metric value of the vehicle's distance from the preset position at the radar detection angle is obtained; when the weather condition is rainy and the water surface is a fluctuating water surface, the current wading depth value is calculated according to the radar height, the radar detection angle, and the metric value; and wading warning is performed according to the current wading depth value. Through precise calculation and real-time monitoring, the safety and reliability of the vehicle in a wading environment are significantly improved.

[0128] It should be noted that the above examples are only for understanding the present application and do not constitute a limitation on the vehicle wading warning method of the present application. Based on this technical concept, more forms of simple transformations are within the protection scope of the present application.

[0129] The present application also provides a vehicle wading warning device. Please refer to Figure 8 , the vehicle wading warning device includes:

[0130] An acquisition module 10, configured to acquire the weather condition of the preset area when it is detected that the vehicle is in an unstarted state and parked in the preset area.

[0131] A determination module 20, configured to determine the ground echo energy data according to the weather condition.

[0132] The determination module 20 is further configured to determine the current wading depth value according to the ground echo energy data.

[0133] A warning module 30, configured to perform wading warning according to the current wading depth value.

[0134] The vehicle wading warning device provided by the present application adopts the vehicle wading warning method in the above embodiment, and can solve the technical problem of low accuracy of current vehicle wading depth detection. Compared with the prior art, the beneficial effects of the vehicle wading warning device provided by the present application are the same as those of the vehicle wading warning method provided by the above embodiment, and the other technical features in the vehicle wading warning device are the same as the features disclosed in the above embodiment method, and will not be elaborated here.

[0135] In one embodiment, the determining module 20 is further configured to obtain the initial ground echo energy and the current ground echo energy based on the ground echo energy data; and determine the current wading depth value according to the initial ground echo energy and the current ground echo energy.

[0136] In one embodiment, the determining module 20 is further configured to determine the current ground material of the preset area according to the initial ground echo energy; obtain the corresponding relationship between the ground material, the ground echo energy, and the wading depth value; and determine the current wading depth value according to the current ground material, the current ground echo energy, and the corresponding relationship.

[0137] In one embodiment, the determining module 20 is further configured to obtain the initial ground echo energy of the preset area through the radar when the weather condition is no rain; detect the current ground echo energy of the preset area through the radar within a preset period when the weather condition is rain and the water surface is a calm water surface; and obtain the ground echo energy data according to the initial ground echo energy and the current ground echo energy.

[0138] In one embodiment, the warning module 30 is further configured to obtain the current wading depth values corresponding to multiple radars according to the current wading depth value; determine that the vehicle has a wading risk when at least two of the multiple current wading depth values are greater than a preset wading depth threshold; and generate an alarm message for wading warning.

[0139] In one embodiment, the warning module 30 is further configured to determine that there is a radar misdetection when only one of the multiple current wading depth values is greater than a preset wading depth threshold; generate a misdetection message, and return to the step of obtaining the current wading depth values corresponding to multiple radars according to the current wading depth value.

[0140] In one embodiment, the warning module 30 is further configured to obtain the radar height and the radar detection angle; obtain the measurement value of the vehicle's distance from a preset position under the radar detection angle; calculate the current wading depth value according to the radar height, the radar detection angle, and the measurement value when the weather condition is rain and the water surface is a fluctuating water surface; and perform wading warning according to the current wading depth value.

[0141] The present application provides a vehicle wading warning device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle wading warning method in the first embodiment above.

[0142] Refer to the following Figure 9 , which shows a schematic structural diagram of a vehicle wading warning device suitable for implementing the embodiments of the present application. The vehicle wading warning device in the embodiments of the present application may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), in-vehicle terminals (such as in-vehicle navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 9 The shown vehicle wading warning device is merely an example and should not impose any limitations on the functions and usage scope of the embodiments of the present application.

[0143] As Figure 9 shown, the vehicle wading warning device may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to the program stored in the ROM (Read Only Memory) 1002 or the program loaded from the storage device 1003 into the RAM (Random Access Memory) 1004. In the RAM 1004, various programs and data required for the operation of the vehicle wading warning device are also stored. The processing device 1001, the ROM 1002, and the RAM 1004 are connected to each other through a bus 1005. The input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems may be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, an LCD (Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the vehicle wading warning device to communicate with other devices wirelessly or wiredly to exchange data. Although the figure shows a vehicle wading warning device with various systems, it should be understood that it is not required to implement or have all the shown systems. More or fewer systems may be implemented or had alternatively.

[0144] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product that includes a computer program carried on a computer-readable medium, and the computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by a processing device 1001, the above-mentioned functions defined in the methods of the embodiments disclosed in the present application are executed.

[0145] The vehicle wading warning device provided by the present application adopts the vehicle wading warning method in the above-mentioned embodiments, and can solve the technical problem of low accuracy of current vehicle wading depth detection. Compared with the prior art, the beneficial effects of the vehicle wading warning device provided by the present application are the same as those of the vehicle wading warning method provided by the above-mentioned embodiments, and other technical features in the vehicle wading warning device are the same as the features disclosed in the method of the previous embodiment, and will not be elaborated here.

[0146] It should be understood that each part disclosed in the present application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0147] As described above, only the specific embodiments of the present application are provided, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed in the present application, and all should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0148] The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the vehicle wading warning method in the above-mentioned embodiments.

[0149] The computer-readable storage medium provided by the present application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or components, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, RAM (Random Access Memory), ROM (Read Only Memory), EPROM (Erasable Programmable Read Only Memory or flash memory), optical fibers, CD-ROM (CD-Read Only Memory, portable compact disk read-only memory), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or component. The program code contained on the computer-readable storage medium can be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0150] The above computer-readable storage medium can be included in the vehicle wading warning device; it can also exist independently without being assembled into the vehicle wading warning device.

[0151] The above computer-readable storage medium carries one or more programs. When the one or more programs are executed by the vehicle wading warning device, the vehicle wading warning device is caused to: when it is detected that the vehicle is in an unstarted state and parked in a preset area, obtain the weather condition of the preset area; determine the ground echo energy data according to the weather condition; determine the current wading depth value according to the ground echo energy data; and perform a wading warning according to the current wading depth value.

[0152] Computer program code for performing the operations of this application can be written in one or more programming languages or combinations thereof. The above-mentioned programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any kind of network, including a LAN (Local Area Network) or a WAN (Wide Area Network), or it can be connected to an external computer (for example, by connecting through the Internet service provider via the Internet).

[0153] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in the flowchart or block diagram can represent a module, a program segment, or a part of the code, and this module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order from that marked in the accompanying drawings. For example, two consecutively represented blocks can actually be executed substantially in parallel, and they can sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system for performing the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0154] The modules involved in the embodiments described in this application can be implemented in software or in hardware. Among them, the name of the module does not constitute a limitation to the unit itself in some cases.

[0155] The readable storage medium provided in this application is a computer-readable storage medium. The computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for performing the above-mentioned vehicle wading warning method, and can solve the technical problem of relatively low accuracy of current vehicle wading depth detection. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the vehicle wading warning method provided in the above embodiments, and will not be elaborated here.

[0156] The present application also provides a computer program product, including a computer program which, when executed by a processor, implements the steps of the vehicle wading warning method as described above.

[0157] The computer program product provided by the present application can solve the technical problem of low accuracy in detecting the wading depth of current vehicles. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the vehicle wading warning method provided by the above embodiments, and will not be elaborated here.

[0158] The above are only partial embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structural transformation made by using the content of the specification and drawings of the present application under the technical concept of the present application, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present application.

Claims

1. A vehicle wading warning method, characterized in that: The vehicle wading warning method comprises: When it is detected that the vehicle is in an unstarted state and parked in a preset area, obtaining the weather conditions of the preset area; determining ground echo energy data according to the weather conditions; Determine the current wading depth value according to the ground echo energy data; A wading warning is issued according to the current wading depth value.

2. The method according to claim 1, characterized in that The step of determining the current wading depth value according to the ground echo energy data comprises: Obtaining initial ground echo energy and current ground echo energy according to the ground echo energy data; A current wading depth value is determined according to the initial ground echo energy and the current ground echo energy.

3. The method according to claim 2, characterized in that The step of determining the current wading depth value according to the initial ground echo energy and the current ground echo energy comprises: Determine the current ground material of the preset area according to the initial ground echo energy; Obtain the corresponding relationship between ground material, ground echo energy and wading depth value; The current wading depth value is determined according to the current ground material, the current ground echo energy and the corresponding relationship.

4. The method according to claim 1, characterized in that The step of determining ground echo energy data according to the weather conditions comprises: When the weather condition is that there is no rain, obtaining initial ground echo energy of the preset area through radar; When the weather condition is that it is raining and the water surface is calm, detecting the current ground echo energy of the preset area by the radar within a preset period; Ground echo energy data is obtained according to the initial ground echo energy and the current ground echo energy.

5. The method according to claim 1, characterized in that The step of performing a wading warning according to the current wading depth value comprises: Obtaining multiple current wading depth values ​​corresponding to multiple radars according to the current wading depth value; When at least two current wading depth values ​​among the multiple current wading depth values ​​are greater than a preset wading depth threshold, determining that the vehicle has a wading risk; Generate alarm information for water-related early warning.

6. The method according to claim 5, characterized in that The method further comprises: When only one current wading depth value among the multiple current wading depth values ​​is greater than a preset wading depth threshold, determining that there is a radar false detection; Generate false detection information, and return to the step of obtaining multiple current wading depth values ​​corresponding to multiple radars according to the current wading depth value.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: Get radar altitude and radar detection angle; Obtaining a measurement value of the vehicle distance from a preset position at the radar detection angle; When the weather condition is that it is raining and the water surface is a fluctuating water surface, calculating a current wading depth value according to the radar height, the radar detection angle, and the measurement value; A wading warning is issued according to the current wading depth value.

8. A vehicle wading warning device, characterized in that: The device comprises: An acquisition module, configured to acquire weather conditions in a preset area when detecting that the vehicle is not started and parked in the preset area; A determination module, used to determine ground echo energy data according to the weather conditions; The determination module is further used to determine the current wading depth value according to the ground echo energy data; The warning module is used to issue a wading warning according to the current wading depth value.

9. A vehicle wading warning device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle wading warning method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle wading warning method as described in any one of claims 1 to 7 are implemented.

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