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

Abstract

The application discloses a vehicle wading early warning method and device, equipment and a storage medium, and relates to the technical field of vehicle detection. The method comprises the following steps: when it is detected that a vehicle is in an unstarted state and is parked in a preset area, the weather state of the preset area is acquired; the ground echo energy data is determined according to the weather state; the current wading depth value is determined according to the ground echo energy data; and wading early warning is performed according to the current wading depth value. The 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 is improved, the possibility of vehicle wading risk is prompted to the driver, the damage of electrical components or the water entering the cabin is avoided, and the driving safety of the vehicle is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicle detection, in particular to a vehicle water immersion early warning method, device, equipment and storage medium. BACKGROUND

[0002] When a vehicle is parked on a low-lying road or garage, water may accumulate after heavy rain, and if the driver is not aware of the change in water accumulation, the vehicle may be at risk of water ingress.

[0003] The current vehicle water immersion detection method mainly measures the water surface height directly through the millimeter wave radar arranged on the vehicle, but due to the characteristics of water surface change, the height information of the water surface cannot be accurately obtained according to the change of the water surface. SUMMARY

[0004] The main purpose of the present application is to provide a vehicle water immersion early warning method, device, equipment and storage medium, which aims to solve the technical problem of low accuracy of current vehicle water immersion depth detection.

[0005] To achieve the above purpose, the present application provides a vehicle water immersion early warning method, which comprises:

[0006] In the case of detecting that the vehicle is in an unstarted state and parked in a preset area, the weather state of the preset area is obtained;

[0007] The ground echo energy data is determined according to the weather state;

[0008] The current water immersion depth value is determined according to the ground echo energy data;

[0009] The water immersion early warning is performed according to the current water immersion depth value.

[0010] In an embodiment, the step of determining the current water immersion depth value according to the ground echo energy data comprises:

[0011] The initial ground echo energy and the current ground echo energy are obtained according to the ground echo energy data;

[0012] The current water immersion depth value is determined according to the initial ground echo energy and the current ground echo energy.

[0013] In an embodiment, the step of determining the current water immersion depth value according to the initial ground echo energy and the current ground echo energy comprises:

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

[0015] The corresponding relationship between the ground material, the ground echo energy and the water immersion depth value is obtained;

[0016] determining a current wading depth value according to the current ground material, the current ground echo energy and the correspondence.

[0017] In an embodiment, the step of determining ground echo energy data according to the weather state comprises:

[0018] when the weather state is no rain, obtaining initial ground echo energy of the preset area by radar;

[0019] when the weather state is rain and the water surface is calm water surface, detecting current ground echo energy of the preset area by the radar in a preset period;

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

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

[0022] obtaining a plurality of current wading depth values corresponding to a plurality of radars according to the current wading depth value;

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

[0024] generating alarm information to perform wading warning.

[0025] In an embodiment, the method further comprises:

[0026] when only one of the plurality of current wading depth values is greater than a preset wading depth threshold, determining that there is a radar false detection;

[0027] generating false detection information and returning to the step of obtaining a plurality of current wading depth values corresponding to a plurality of radars according to the current wading depth value.

[0028] In an embodiment, the method further comprises:

[0029] obtaining radar height and radar detection angle;

[0030] obtaining a measure value of the vehicle from the preset position at the radar detection angle;

[0031] when the weather state is rain and the water surface is fluctuating water surface, calculating a current wading depth value according to the radar height, the radar detection angle and the measure value;

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

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

[0034] The acquisition module is configured to acquire a weather state of the preset area when it is detected that the vehicle is in an unstarted state and is parked in the preset area.

[0035] The determination module is configured to determine ground echo energy data according to the weather state.

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

[0037] The early warning module is configured to perform water wading early warning according to the current water wading depth value.

[0038] In addition, to achieve the above object, the application further provides a vehicle water wading early warning device, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the vehicle water wading early warning method.

[0039] In addition, to achieve the above object, the application further provides a storage medium, which is a computer readable storage medium, and the storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the vehicle water wading early warning method.

[0040] In addition, to achieve the above object, the application further provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the steps of the vehicle water wading early warning method.

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

[0042] The accompanying drawings, which are incorporated into and form part of the specification, illustrate embodiments consistent with the application and, together with the specification, serve to explain the principles of the application.

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, those drawings can also help the ordinary skilled in the art to obtain other drawings without any creative effort.

[0044] Figure 1 A flowchart provided by the vehicle wading early warning method embodiment one of the present application;

[0045] Figure 2 A hardware arrangement architecture diagram of the vehicle wading early warning method of the present application;

[0046] Figure 3 A flowchart provided by the vehicle wading early warning method embodiment two of the present application;

[0047] Figure 4 A whole flowchart of the wading depth early warning when the preset area is a calm water surface in the vehicle wading early warning method embodiment one of the present application;

[0048] Figure 5 A flowchart provided by the vehicle wading early warning method embodiment three of the present application;

[0049] Figure 6 A radar information diagram obtained when the vehicle wading early warning method embodiment one of the present application detects the fluctuating water;

[0050] Figure 7 A whole flowchart of the wading depth early warning when the water surface is a fluctuating water surface in the vehicle wading early warning method embodiment one of the present application;

[0051] Figure 8 A module structure diagram of the vehicle wading early warning device embodiment of the present application;

[0052] Figure 9 A device structure diagram of the hardware running environment related by the vehicle wading early warning method embodiment of the present application.

[0053] The purpose realization, functional features and advantages of the present application will be further explained by combining with the embodiments and referring to the drawings. DETAILED DESCRIPTION

[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] In order to better understand the technical solutions of the present application, the drawings in the specification and the specific embodiments will be described in detail.

[0056] The main solution of this application embodiment is: when a vehicle is detected to be in a non-started state and parked in a preset area, the weather conditions of the preset area are obtained; ground echo energy data is determined based on the weather conditions; and the current wading depth value is determined based on the ground echo energy data.

[0057] A flood warning will be issued based on the current wading depth value.

[0058] Current technology uses millimeter-wave radar on car doors to directly measure water level and calculate water depth. However, when the water surface is as calm as a mirror, most of the millimeter-wave energy cannot return to the radar due to reflection, making it impossible to obtain water level information.

[0059] This application provides a solution that utilizes other characteristics of millimeter-wave radar to indirectly identify calm, mirror-like water surfaces, calculate the depth of accumulated water, and then alert the driver to the potential risk of wading through water, thus preventing damage to electrical components or water ingress into the cabin.

[0060] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device capable of performing the above functions, such as a vehicle wading warning device. The following description uses a vehicle wading warning device as an example to illustrate this embodiment and the subsequent embodiments.

[0061] Based on this, this application provides a vehicle wading warning method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating 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: If the vehicle is detected to be in a non-started state and parked in a preset area, obtain the weather status of the preset area.

[0064] It should be noted that the "not started" state is the "stopped" state. This can be determined by detecting the status of the vehicle's engine or generator and the status of the vehicle's doors. When the vehicle's engine or generator is stopped and the vehicle's doors are locked, it can be determined that the vehicle is in the "not started" state.

[0065] Preset areas are designated parking areas, such as underground parking lots and above-ground parking lots, which are areas used for parking vehicles.

[0066] like Figure 2 As shown, Figure 2This is a schematic 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 receives weather forecast information to determine the weather conditions and sends a notification to the IVI when the weather is rainy. The IVI sends detection commands to the radar (RADAR) and receives water accumulation warning signals from the RADAR. The front and rear door radars can receive signals sent by the IVI, identify water accumulation based on echo energy, calculate water height, and send water depth information to the IVI and TCU.

[0067] In practice, the weather conditions of the preset area can be obtained from the weather forecast information of the vehicle parking area through the TCU, and the weather forecast information is sent to the IVI. The weather condition information includes whether it is raining or not.

[0068] Step S20: Determine the ground echo energy data based on the weather conditions.

[0069] In practice, the corresponding ground echo energy can be determined according to different weather conditions to obtain ground echo energy data. Ground echo energy includes echo energy when there is no rain and echo energy when there is rain.

[0070] It should be noted that when radar emits millimeter waves that reach a calm water surface, most of the energy is reflected by the water, and only a small portion of the energy reaches rough ground before returning to the radar. The echo energy varies depending on the surface material; the echo energy also differs between surfaces with and without water. These differences in echo energy can be used to distinguish between surfaces of different materials and conditions.

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

[0072] Step A11: When the weather condition is that there is no rain, the initial ground echo energy of the preset area is obtained by radar.

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

[0074] Step A12: When the weather conditions are rainy and the water surface is calm, the radar detects the current ground echo energy of the preset area within a preset period.

[0075] In practice, a calm water surface is defined as a pre-defined area with water accumulation, where the water surface remains undisturbed. When the weather is rainy and the water surface is calm, due to the reflective effect of the mirror, not all the energy emitted by the radar returns, resulting in a change in the ground echo energy, which can then be directly obtained.

[0076] The preset period can be set to 15 minutes, 20 minutes, etc., and can be set according to needs; this embodiment does not impose any restrictions on this. When the ground material corresponding to the preset area is different, the initial ground echo energy and the current ground echo energy will also be different.

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

[0078] Understandably, the initial ground echo energy and the current ground echo energy can be used as ground echo energy data.

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

[0080] It should be understood that the ground echo energy under different conditions can be obtained from 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 of the vehicle's radar mounting position above the ground when the vehicle is in the preset area. There can be multiple current wading depth values.

[0082] Step S40: Issue a wading warning based on the current wading depth value.

[0083] It should be noted that the current wading depth value can be used to determine whether a vehicle is at risk of wading. Specifically, a wading depth threshold can be set in advance, and the current wading depth value can be compared with the wading depth threshold to determine whether the vehicle is at risk of wading. If the vehicle is at risk of wading, a wading warning will be issued.

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

[0085] Step B11: Obtain multiple current wading depth values ​​corresponding to multiple radars based on the current wading depth values.

[0086] It should be noted that the current wading depth value H can be detected by alternating between the vehicle's front and rear radars, thereby obtaining the current wading depth value corresponding to each radar and thus obtaining 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: If at least two of the multiple current wading depth values ​​are greater than a preset wading depth threshold, it is determined that the vehicle is at risk of wading.

[0089] Understandably, when at least two radars detect that the current wading depth value H exceeds the preset wading depth threshold Hmax, it is determined that the vehicle is at risk of wading. That is, if at least two of the multiple wading depth values ​​are greater than the preset wading depth threshold Hmax, the system will notify the user to take action.

[0090] In specific implementation, if some current wading depth values ​​are less than or equal to a preset wading depth threshold, and some current wading depth values ​​are greater than the preset wading depth threshold, indicating that there is a radar false detection, then after step B12, the method 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 false detection; generating false detection information, and returning the step of obtaining multiple current wading depth values ​​corresponding to multiple radars based on the current wading depth values.

[0091] It should be noted that, for example, if there are four radars, and three radars detect a current wading depth value that is less than or equal to the preset wading depth threshold, while one radar detects a current wading depth value that is greater than the preset wading depth threshold, then it is determined that there is a radar false detection. In this case, false detection information is generated, and the user can be notified to handle the situation based on the false detection information. The process of obtaining multiple current wading depth values ​​corresponding to multiple radars based on the current wading depth value is then returned, and the wading risk detection process is repeated.

[0092] Step B13: Generate alarm information to provide flood warning.

[0093] In practice, when a vehicle is at risk of getting wet, an alarm message can be generated and sent to the vehicle's backend and mobile terminal, so that the backend can notify the user to take action and avoid damage to electrical components or water entering the cabin.

[0094] This embodiment provides a vehicle wading warning method. When a vehicle is detected to be in a non-started state and parked in a preset area, the method acquires the weather conditions of the preset area; determines ground echo energy data based on the weather conditions; determines the current wading depth based on the ground echo energy data; and issues a wading warning based on the current wading depth. This method can quickly and accurately detect or predict the water depth corresponding to the water surface using the acquired ground echo energy data, improving the accuracy of wading depth detection and alerting the driver to the potential risk of vehicle wading, thus preventing damage to electrical components or water ingress into the cabin and improving vehicle driving safety.

[0095] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, 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 based on 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 from the ground echo energy data.

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

[0099] In practice, the current wading depth of a preset area can be calculated based on the initial and current ground echo energy. For example, there is a correlation between different ground materials, their corresponding echo energies, and wading depths, which can be used to determine the current wading depth.

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

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

[0102] It should be noted that when there is no water accumulation on the ground in the preset area, the radar emits millimeter waves for detection. Different ground materials reflect different amounts of energy. Therefore, the current ground material of the preset area can be determined based on the initial ground echo energy, which makes it easier to determine the ground echo energy when there is water accumulation based on the current ground material.

[0103] The current ground material may include ceramic tile, cement, asphalt, or other types of ground, and this embodiment does not limit this.

[0104] Different ground materials have different initial ground echo energy. For example, the initial ground echo energy of a ceramic 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 between ground material, ground echo energy and wading depth.

[0106] It should be noted that there is a correspondence between ground material, ground echo energy, and wading depth. This correspondence 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.

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

[0108] Table 1

[0109]

[0110] As shown in Table 1, the ground echo energy and water depth vary depending on the ground material.

[0111] Step C13: Determine the current wading depth value based on the current ground material, the current ground echo energy, and the corresponding relationship.

[0112] In practice, the current wading depth can be determined based on the current ground material, the current ground echo energy, and the corresponding 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 is 200mm. Alternatively, if the current ground material is asphalt and the current ground echo energy is 45, then the current wading depth is 100mm.

[0113] like Figure 4 As shown, Figure 4 This is a schematic diagram of the overall process for wading depth warning in a preset area of ​​calm water. When the vehicle is detected to be in an inactive and locked state, the radar detects the current ground echo energy and records it as G1 to determine the ground material. If it is raining in the parking area, the TCU / IVI wakes up the door radar every 15 minutes to detect the ground echo energy and records it as G2. The water depth H is obtained by looking up the table. Is the water depth detected by at least two radars greater than the threshold Hmax? If yes, an alarm message is generated and the background system prompts the user of the risk of wading. If not, the process returns to the step of detecting the ground echo energy and looking up the table.

[0114] This embodiment obtains the initial ground echo energy and the current ground echo energy based on the ground echo energy data; determines the current wading depth value based on the initial ground echo energy and the current ground echo energy; and quickly determines the specific water depth by utilizing the magnitude of ground echo energy measured by radar on water surfaces of different materials, thereby improving the accuracy of calculating the water depth.

[0115] Based on the first embodiment of this application, in the third embodiment of this application, the content that is the same as or similar to that in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 5 Following step S20, the vehicle wading warning method further includes steps S21 to S24:

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

[0117] It should be noted that if the water surface in the preset area where the vehicle is parked is undulating, the current wading depth can be determined based on relevant radar information. Therefore, the radar height and radar detection angle can be obtained. The radar height, Z, can be obtained by measuring the radar's height above the ground when there is no standing water. The radar detection angle is the radar's specific detection direction.

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

[0119] In practical implementation, the metric value k is the measured distance of the radar at the radar detection angle, such as... Figure 6 As shown, Figure 6 This is a schematic diagram of radar information obtained during vehicle wave and water accumulation detection. The preset position is point A, the radar height is Z, the radar detection angle θ can be measured based on the preset position, the ground, and the radar placement position, the water position measurement k can be measured based on the distance between point A and the radar, and the water depth is H.

[0120] Step S23: When the weather condition is raining and the water surface is undulating, calculate the current wading depth value based on the radar altitude, the radar detection angle, and the measurement value.

[0121] It should be noted that when the weather conditions are raining and the water surface is undulating, the current wading depth can be calculated based on radar altitude, radar detection angle, and measurement values, as shown in the following formula:

[0122] H = Zk * cosθ

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

[0124] Step S24: Issue a wading warning based on the current wading depth value.

[0125] In practice, the calculated current wading depth H can be compared with the preset wading depth threshold Hmax to determine whether the preset value has been reached. If so, the system will alert the user to the risk of wading.

[0126] like Figure 7 As shown, Figure 7 This is a schematic diagram of the overall process for wading depth early warning when the water surface is undulating. The radar detects the water position measurement k, and calculates the wading depth value H based on the radar height and radar detection angle. It then determines whether H reaches the threshold Hmax. If so, the system alerts the user to the risk of wading.

[0127] This embodiment acquires radar altitude and radar detection angle; obtains a metric value of the vehicle's distance from a preset position at the radar detection angle; when the weather condition is raining and the water surface is undulating, it calculates the current wading depth value based on the radar altitude, radar detection angle, and the metric value; and issues a wading warning based on the current wading depth value. Through accurate calculation and real-time monitoring, the safety and reliability of vehicles in wading environments are significantly improved.

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

[0129] This application also provides a vehicle wading warning device; please refer to... Figure 8 The vehicle wading warning device includes:

[0130] The acquisition module 10 is used to acquire the weather conditions of the preset area when the vehicle is detected to be in an inactive state and parked in a preset area.

[0131] The determination module 20 is used to determine the ground echo energy data based on the weather conditions.

[0132] The determining module 20 is also used to determine the current wading depth value based on the ground echo energy data.

[0133] The early warning module 30 is used to issue a water wading warning based on the current wading depth value.

[0134] The vehicle wading warning device provided in this application, employing the vehicle wading warning method in the above embodiments, can solve the technical problem of low accuracy in detecting vehicle wading depth. Compared with the prior art, the beneficial effects of the vehicle wading warning device provided in this application are the same as those of the vehicle wading warning method provided in the above embodiments, and other technical features in the vehicle wading warning device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

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

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

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

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

[0140] In one embodiment, the warning module 30 is further configured to acquire radar altitude and radar detection angle; acquire a measurement value of the distance between the vehicle and a preset position at the radar detection angle; when the weather condition is rain and the water surface is undulating, calculate the current wading depth value based on the radar altitude, the radar detection angle, and the measurement value; and issue a wading warning based on the current wading depth value.

[0141] This 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 to enable the at least one processor to perform the vehicle wading warning method in the above embodiment 1.

[0142] The following is for reference. Figure 9 The diagram illustrates a structural schematic suitable for implementing a vehicle wading warning device according to embodiments of this application. The vehicle wading warning device in these embodiments may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), and in-vehicle terminals (e.g., in-vehicle navigation terminals), as well as fixed terminals such as digital TVs and desktop computers. Figure 9 The vehicle wading warning device shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of this application.

[0143] like Figure 9 As shown, the vehicle wading warning device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in ROM (Read Only Memory) 1002 or a program loaded from storage device 1003 into RAM (Random Access Memory) 1004. RAM 1004 also stores various programs and data required for the operation of the vehicle wading warning device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via bus 1005. Input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, LCDs (Liquid Crystal Displays), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows the vehicle wading warning device to communicate wirelessly or wiredly with other devices to exchange data. Although vehicle wading warning devices with various systems are shown in the figures, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented alternatively.

[0144] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0145] The vehicle wading warning device provided in this application, employing the vehicle wading warning method described in the above embodiments, can solve the technical problem of low accuracy in detecting vehicle wading depth. Compared with the prior art, the beneficial effects of the vehicle wading warning device provided in this application are the same as those of the vehicle wading warning method provided in the above embodiments, and other technical features of this vehicle wading warning device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

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

[0147] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

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

[0149] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having 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), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0150] The aforementioned computer-readable storage medium may be included in the vehicle wading warning device; or it may exist independently and not be installed in the vehicle wading warning device.

[0151] The aforementioned computer-readable storage medium carries one or more programs that, when executed by the vehicle wading warning device, cause the vehicle wading warning device to: acquire the weather conditions of the preset area when it detects that the vehicle is in a non-started state and parked in a preset area; determine ground echo energy data based on the weather conditions; determine the current wading depth value based on the ground echo energy data; and issue a wading warning based on 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 a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, as well as conventional procedural programming languages ​​such as "C" or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including LAN (Local Area Network) or WAN (Wide Area Network)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

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

[0154] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0155] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described vehicle wading depth warning method, which can solve the technical problem of low accuracy in 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 depth warning method provided in the above embodiments, and will not be repeated here.

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

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

[0158] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for early warning of vehicle wading, characterized in that, The vehicle wading warning method includes: If the vehicle is detected to be in a non-started state and parked in a preset area, the weather conditions of the preset area are obtained; Determining ground echo energy data based on the weather conditions includes: acquiring the initial ground echo energy of the preset area via radar when the weather conditions are no rain; detecting the current ground echo energy of the preset area via radar within a preset period when the weather conditions are rain and the water surface is calm; and obtaining ground echo energy data based on the initial ground echo energy and the current ground echo energy. Determining the current wading depth based on the ground echo energy data includes: obtaining the initial ground echo energy and the current ground echo energy based on the ground echo energy data; and determining the current wading depth based on the initial ground echo energy and the current ground echo energy. A flood warning will be issued based on the current wading depth value. The step of determining the current wading depth value based on the initial ground echo energy and the current ground echo energy includes: The current ground material of the preset area is determined based on the initial ground echo energy. Obtain the correspondence between ground material, ground echo energy, and wading depth; The current wading depth is determined based on the current ground material, the current ground echo energy, and the corresponding relationship.

2. The method as described in claim 1, characterized in that, The step of issuing a wading warning based on the current wading depth value includes: Based on the current wading depth value, multiple current wading depth values ​​corresponding to multiple radars can be obtained; 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 is at risk of wading. Generate alarm information to provide flood warnings.

3. The method as described in claim 2, characterized in that, The method further includes: If only one of the multiple current wading depth values ​​is greater than a preset wading depth threshold, a radar false detection is determined. Generate false detection information and return the steps of obtaining multiple current wading depth values ​​corresponding to multiple radars based on the current wading depth value.

4. The method according to any one of claims 1 to 3, characterized in that, The method further includes: Obtain radar altitude and radar detection angle; Obtain a measurement value of the vehicle's distance from the preset position at the radar detection angle; When the weather condition is raining and the water surface is undulating, the current wading depth is calculated based on the radar altitude, the radar detection angle, and the measurement value. A flood warning will be issued based on the current wading depth value.

5. A vehicle wading warning device, characterized in that, The device includes: The acquisition module is used to acquire the weather conditions of the preset area when the vehicle is detected to be in a non-started state and parked in a preset area; The determination module is used to determine ground echo energy data based on the weather conditions, including: when the weather conditions are that there is no rain, acquiring the initial ground echo energy of the preset area through radar; when the weather conditions are that there is rain and the water surface is calm, detecting the current ground echo energy of the preset area through radar within a preset period; and obtaining ground echo energy data based on the initial ground echo energy and the current ground echo energy. The determining module is further configured to determine the current wading depth value based on the ground echo energy data, including: obtaining the initial ground echo energy and the current ground echo energy based on the ground echo energy data; and determining the current wading depth value based on the initial ground echo energy and the current ground echo energy. The early warning module is used to issue a wading warning based on the current wading depth value; The determining module is further configured to determine the current ground material of the preset area based on the initial ground echo energy; obtain the correspondence between the ground material, the ground echo energy and the wading depth value; and determine the current wading depth value based on the current ground material, the current ground echo energy and the correspondence.

6. A vehicle wading warning device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the vehicle wading warning method as described in any one of claims 1 to 4.

7. 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, it implements the steps of the vehicle wading warning method as described in any one of claims 1 to 4.

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