Vehicle control method, scanner, device, medium, program product, and vehicle

Abstract

The invention discloses a vehicle control method, a scanner, equipment, a medium, a program product and a vehicle, and the vehicle control method comprises the steps: determining a wading driving path of a vehicle passing through a water area according to three-dimensional scanning data of a scanning area in the water area in front of the vehicle and vehicle pose data; and controlling the vehicle to run according to the wading running path. By means of the method, automatic planning of the wading driving path of the vehicle passing through the water area can be achieved, vehicle damage or driving risks caused by unknown underwater topography or improper water depth are effectively avoided, and therefore the safety and reliability of vehicle wading driving are improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle technology, and in particular to a vehicle control method, a scanner, an electronic device, a computer-readable storage medium, a computer program product, and a vehicle. Background Art

[0002] As vehicles are increasingly used in diverse environments, safety issues in water-wading scenarios are gaining increasing attention. Related technologies rely on water-level monitoring devices installed below the rearview mirror to detect the water depth after the vehicle enters the water and determine whether it exceeds the safe wading depth. Warnings are issued when the water depth exceeds the safe wading depth, i.e., reaches the preset maximum wading line.

[0003] However, this method only provides water depth monitoring and early warning capabilities after entering water, and lacks the ability to generate three-dimensional images of the underwater conditions ahead. Therefore, it cannot detect the water depth and underwater conditions ahead in advance, nor can it intuitively provide the driver with a safe wading path. In other words, it lacks the ability to predict whether the road ahead is safe for wading. This limitation makes it difficult for drivers to effectively avoid wading risks when faced with unknown water depths or complex underwater terrain, potentially posing a safety hazard to vehicles during wading. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a vehicle control method that can automatically plan a wading path for a vehicle through water, effectively avoiding vehicle damage or driving risks caused by unknown underwater terrain or unsuitable water depth, thereby improving the safety and reliability of vehicle wading.

[0005] A second object of the present invention is to provide a scanner.

[0006] A third object of the present invention is to provide an electronic device.

[0007] A fourth object of the present invention is to provide a computer-readable storage medium.

[0008] A fifth object of the present invention is to provide a computer program product.

[0009] A sixth object of the present invention is to provide a vehicle.

[0010] In order to achieve the above-mentioned purpose, the vehicle control method of the first aspect of the embodiment of the present invention includes: determining the wading driving path of the vehicle through the water area based on the three-dimensional scanning data of the scanning area in the water area in front of the vehicle and the vehicle posture data; and controlling the vehicle driving according to the wading driving path.

[0011] According to the vehicle control method of an embodiment of the present invention, the wading path of the vehicle through the water ahead can be determined by comprehensively analyzing the three-dimensional scanning data and vehicle posture data of the scanned area in the water ahead of the vehicle. Specifically, the three-dimensional scanning data reflects the water depth information, underwater topography, and water surface status of the water ahead, providing comprehensive environmental information for the vehicle's wading. At the same time, the vehicle posture data provides real-time status information of the vehicle, such as the vehicle's position, direction, and tilt angle. These data can help the system understand the posture information of the vehicle before entering the water ahead in real time. By combining these data, the system accurately calculates the safe wading path for the vehicle through the water ahead under current conditions, thereby realizing automatic planning of the wading path. This effectively avoids vehicle damage or driving risks that may be caused by unknown underwater topography or inappropriate water depth, and improves the safety and reliability of vehicle wading.

[0012] In some embodiments, the three-dimensional scanning data is obtained by scanning multiple detection positions in the scanning area with one or more scanners at different vertical light emission angles.

[0013] In some embodiments, the wading path of the vehicle through the water area is determined based on the three-dimensional scanning data of the scanning area in the water area in front of the vehicle and the vehicle posture data, including: obtaining a three-dimensional topography reconstruction image of the scanning area based on the three-dimensional scanning data and the vehicle posture data; and determining the wading path of the vehicle through the water area based on the three-dimensional topography reconstruction image.

[0014] In some embodiments, the three-dimensional scanning data includes water surface height data and water depth data at multiple different detection positions in the scanning area; the vehicle posture data includes the angle between the vehicle body and the ground; the three-dimensional morphology reconstructed image is determined based on the water surface height data and water depth data at multiple detection positions in the scanning area and the angle between the vehicle body and the ground.

[0015] In some embodiments, when the angle between the vehicle body and the ground is zero, the water surface height data is obtained based on the first detection signal of the scanner; the water depth data is obtained based on the second detection signal of the scanner and the first detection signal, and the wavelength of the second detection signal is different from the wavelength of the first detection signal.

[0016] In some embodiments, when the angle between the vehicle body and the ground is not zero, the water surface height data is obtained according to a first function, which is a function of the first detection signal of the scanner and the angle between the vehicle body and the ground; the water depth data is obtained according to a second function, which is a function of the second detection signal of the scanner, the first detection signal and the angle between the vehicle body and the ground.

[0017] In some embodiments, the wading path of the vehicle through the water area is determined based on the three-dimensional shape reconstructed image, including: when it is determined based on the three-dimensional shape reconstructed image that the water depths in the scanning area are less than a wading depth threshold, the wading path is a route passing through the scanning area; or, when it is determined based on the three-dimensional shape reconstructed image that there is a position in the scanning area with a water depth exceeding the wading depth threshold, the scanner that collects the three-dimensional scanning data is rotated from the current horizontal light emission angle to a second horizontal light emission angle with a rotation angle step to adjust the scanning area.

[0018] In some embodiments, controlling the vehicle's travel according to the wading travel path includes: the vehicle's wheel rotation angle is the horizontal emission angle of the scanner's light, and controlling the vehicle to move forward along the scanner's horizontal emission direction of the light.

[0019] In some embodiments, the vehicle control method also includes: before determining the wading path of the vehicle through the water area based on the three-dimensional scanning data of the scanned area in the water area in front of the vehicle and the vehicle posture data, the horizontal emission angle of the light of the scanner that collects the three-dimensional scanning data is consistent with the wheel rotation angle of the vehicle.

[0020] In some embodiments, the vehicle control method further includes: displaying the three-dimensional morphology reconstructed image through a vehicle-mounted display device.

[0021] In order to achieve the above-mentioned purpose, the scanner of the second embodiment of the present invention includes: a first detector for detecting the water surface height and generating a first detection signal; at least one second detector for detecting the bottom information and generating a second detection signal; a rotating mechanism, wherein the first detector and the at least one second detector are arranged on the rotating mechanism, and the rotating structure is used to rotate around a rotating axis parallel to the water surface and / or around a rotating axis perpendicular to the water surface to adjust the detection position of the first detector and the at least one second detector.

[0022] According to an embodiment of the present invention, a scanner is provided with a first detector and at least one second detector. The first detector is used to detect the water surface height and generate a corresponding first detection signal, and the at least one second detector is used to detect the underwater information and generate a corresponding second detection signal. These signals together constitute three-dimensional scan data of the scanning area in the water area ahead of the vehicle, reflecting the water depth, underwater topography, and water surface conditions, providing comprehensive environmental information for the vehicle wading. A rotating structure enables the first detector and the at least one second detector to rotate about an axis parallel to the water surface and / or about an axis perpendicular to the water surface to flexibly adjust the detection position of the detectors. This structural design enables real-time, multi-angle acquisition of all-round data on the water surface and bottom, thereby achieving comprehensive monitoring and modeling of the water environment, providing the vehicle with a safe wading path through the water under current conditions, and thus realizing automatic wading path planning. This effectively avoids vehicle damage or driving risks caused by unknown underwater topography or unsuitable water depth, thereby improving the safety and reliability of vehicle wading.

[0023] In some embodiments, the rotation mechanism includes: a first cylinder, which is used to rotate around a rotation axis perpendicular to the water surface; a second cylinder, which is rotatably arranged on the first cylinder, and when the first cylinder rotates, it drives the second cylinder to rotate together, and the second cylinder is used to rotate around a rotation axis parallel to the water surface within a preset angle.

[0024] In some embodiments, the first detector is disposed on the first cylinder so that the detection position of the first detector can be adjusted through the first cylinder.

[0025] In some embodiments, the at least one second detector is disposed on the second cylinder so as to adjust the vertical emission angle and the horizontal emission angle of the light of the second detector through the first cylinder and the second cylinder.

[0026] In some embodiments, the scanner includes a plurality of second detectors, and the plurality of second detectors are arranged at intervals along the axial direction of the second cylinder.

[0027] In some embodiments, the scanner further includes: a light emission angle detector, which is disposed on the first cylinder and is used to detect the horizontal emission angle of the light from the second detector.

[0028] In some embodiments, the scanner further includes: a driving device, wherein the driving device is connected to the rotating mechanism and is used to drive the rotating mechanism to rotate.

[0029] In order to achieve the above-mentioned purpose, the electronic device of the third embodiment of the present invention includes: at least one processor; a memory communicatively connected to the at least one processor; a computer program executable by the at least one processor is stored in the memory, and when the computer program is executed, the vehicle control method described in the above embodiment is implemented.

[0030] According to the electronic device of the embodiment of the present invention, at least one processor can determine the wading path of the vehicle through the water area ahead by executing a computer program that implements the vehicle control method described in the above embodiment. Specifically, the three-dimensional scanning data reflects the water depth information, underwater topography, and water surface status of the water area, providing comprehensive environmental information for the vehicle to wade. At the same time, the vehicle posture data provides real-time status information of the vehicle, such as the vehicle's position, direction, and tilt angle. These data can help the system understand the posture information of the vehicle before entering the water area in real time. By combining these data, the system accurately calculates the safe wading path for the vehicle to pass through the water area under current conditions, thereby realizing automatic planning of the wading path. This effectively avoids vehicle damage or driving risks that may be caused by unknown underwater topography or inappropriate water depth, and improves the safety and reliability of vehicle wading.

[0031] In order to achieve the above-mentioned purpose, a computer-readable storage medium of an embodiment of the fourth aspect of the present invention stores a computer program thereon, and when the computer program is executed, the vehicle control method described in the above embodiment is implemented.

[0032] According to the computer-readable storage medium of the embodiment of the present invention, by adopting the computer-readable storage medium described in the above embodiment, automatic planning of the wading driving path of a vehicle through water areas can be achieved, effectively avoiding vehicle damage or driving risks caused by unknown underwater terrain or inappropriate water depth, thereby improving the safety and reliability of vehicle wading driving.

[0033] In order to achieve the above-mentioned purpose, a computer program product of an embodiment of the fifth aspect of the present invention includes a computer program stored on a computer-readable storage medium, and the computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the vehicle control method described in the above embodiment.

[0034] According to the computer program product of the embodiment of the present invention, by executing the vehicle control method described in the above embodiment, it is possible to realize automatic planning of the vehicle's wading driving path through water areas, effectively avoiding vehicle damage or driving risks caused by unknown underwater terrain or inappropriate water depth, thereby improving the safety and reliability of vehicle wading driving.

[0035] In order to achieve the above-mentioned objectives, the vehicle of the sixth embodiment of the present invention includes: at least one scanner as described in the above embodiments, and / or, the electronic device as described in the above embodiments.

[0036] According to the vehicle of the embodiment of the present invention, by adopting the scanner described in the above embodiment, and / or the electronic device described in the above embodiment, it is possible to realize automatic planning of the vehicle's wading driving path through water areas, effectively avoiding vehicle damage or driving risks caused by unknown underwater terrain or inappropriate water depth, thereby improving the safety and reliability of the vehicle's wading driving.

[0037] In some embodiments, the vehicle includes two scanners, which are respectively arranged on the bottom of the vehicle in front of the left and right front wheels.

[0038] In some embodiments, the vehicle further includes: a posture detection device for collecting posture data of the vehicle.

[0039] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned by practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which: Figure 1 is a schematic diagram of a scanner according to one embodiment of the present invention; Figure 2 is a schematic diagram of the distribution of second detectors according to one embodiment of the present invention; Figure 3 is a flow chart of a vehicle control method according to one embodiment of the present invention; Figure 4 is a schematic diagram of the distribution of incident points of a laser signal on a water surface according to one embodiment of the present invention; Figure 5 is a schematic diagram of a three-dimensional shape reconstruction image according to one embodiment of the present invention; Figure 6 is a schematic diagram of scanner detection when the angle between the vehicle body and the ground is zero according to one embodiment of the present invention; Figure 7 is a schematic diagram of scanner detection when the angle between the vehicle body and the ground is not zero according to one embodiment of the present invention; Figure 8 is a schematic diagram of the working of scanner detection and wading driving path planning according to one embodiment of the present invention; Figure 9 is an overall flow chart of a vehicle control method according to one embodiment of the present invention; Figure 10 is a block diagram of an electronic device according to an embodiment of the present invention; Figure 11 is a schematic diagram of a vehicle control system according to one embodiment of the present invention; Figure 12 is a block diagram of a vehicle according to one embodiment of the present invention; Figure 13 is a block diagram of a vehicle according to one embodiment of the present invention.

[0041] Reference numerals: Vehicle 100; Scanner 1; electronic device 2; posture detection device 3; A first detector 11 ; a second detector 12 ; a first cylinder 13 ; a second cylinder 14 ; a light exit angle detector 15 ; a processor 21 ; and a memory 22 . DETAILED DESCRIPTION

[0042] The embodiments of the present invention will be described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. The embodiments of the present invention will be described in detail below.

[0043] In related technologies, the control method of a vehicle in a wading driving scenario relies on installing a water level monitoring device under the rearview mirror to detect the water depth after the vehicle enters the water area and determine whether it exceeds the safe wading depth. When the water depth exceeds the safe wading depth, that is, reaches the preset maximum wading line, a warning is issued.

[0044] However, this method only provides water depth monitoring and early warning capabilities after entering water, and lacks the ability to generate three-dimensional images of the underwater conditions ahead. Therefore, it cannot detect the water depth and underwater conditions ahead in advance, nor can it intuitively provide the driver with a safe wading path. In other words, it lacks the ability to predict whether the road ahead is safe for wading. This limitation makes it difficult for drivers to effectively avoid wading risks when faced with unknown water depths or complex underwater terrain, potentially posing a safety hazard to vehicles during wading.

[0045] To address the above issues, an embodiment of the present invention proposes a vehicle control method, which can realize automatic planning of the vehicle's wading driving path through water areas, effectively avoiding vehicle damage or driving risks caused by unknown underwater terrain or inappropriate water depth, thereby improving the safety and reliability of vehicle wading driving.

[0046] In order to facilitate the description of the technical solution, the following reference Figure 1 First, the scanner according to the embodiment of the present invention will be described.

[0047] In some embodiments, the scanner can be a device that integrates multiple sensors and measuring equipment. It can use technologies such as laser or ultrasonic reflection principles to obtain real-time three-dimensional scanning data of the scanning area in the water area in front of the vehicle, thereby realizing the identification of water surface height and underwater terrain, and providing data support for the vehicle's wading path planning.

[0048] Figure 1 is a schematic diagram of a scanner according to an embodiment of the present invention, Figure 1 As shown, the scanner 1 includes: a first detector 11, at least one second detector 12 and a rotation mechanism.

[0049] In some embodiments, the first detector 11 may be a water surface height detector configured to detect the water surface height and generate a first detection signal. Specifically, the first detector 11 may emit a laser signal to illuminate the water surface, which may reflect a portion of the signal. The first detector 11 then receives, records, and stores the reflected laser signal and calculates the signal's propagation time, thereby determining the height difference between the water surface and the detector.

[0050] In some embodiments, the first detector 11 can be an infrared laser emitter or an ultrasonic rangefinder. Therefore, the first detection signal can be either an infrared laser signal or an ultrasonic signal, depending on the type of detector used. Infrared laser signals have lower penetration and are easily reflected by the water surface, making them more suitable for measuring water height.

[0051] In some embodiments, the at least one second detector 12 can be one second detector 12, two second detectors 12, three second detectors 12, five second detectors 12, or more. The specific number can be set based on the scanning range and accuracy requirements of the scanner 1. The second detector 12 can be a laser rangefinder, which is used to detect underwater information and generate a second detection signal. The second detection signal can be a laser signal in the blue-green light band. This signal has strong underwater penetration and low propagation loss in water, making it particularly suitable for detecting underwater topography. By receiving the blue-green light band laser signal reflected from the underwater bottom, the system can generate underwater depth and topography data, thereby providing high-quality data for reconstructing a three-dimensional underwater model.

[0052] In some embodiments, the present invention can utilize one or a small number of laser rangefinders, eliminating the need for expensive high-power LiDAR or multi-beam LiDAR to achieve pre-entry water detection and underwater imaging. The use of low-cost laser rangefinders significantly reduces overall costs, and their power consumption is far lower than that of traditional high-power LiDAR.

[0053] In some embodiments, the rotation mechanism may refer to a mechanical structure or device installed in the scanner 1 that drives the detectors to rotate about different axes. The primary function of the rotation mechanism is to expand the detectors' detection range, enabling the first and second detectors 11, 12 to scan the water area from multiple angles and directions, thereby obtaining more complete and accurate three-dimensional data of the water area. This rotation adjustment helps the system more accurately identify water surface height and bottom topography in different water environments, providing important information for vehicle wading planning.

[0054] In some embodiments, the first detector 11 and at least one second detector 12 are arranged on a rotating mechanism, and the rotating mechanism can emit detection signals from near to far toward the front at a certain scanning angle, thereby realizing water depth measurement in the expected direction of travel.

[0055] In some embodiments, the rotating structure is used to rotate around a rotation axis parallel to the water surface and / or around a rotation axis perpendicular to the water surface to adjust the detection positions of the first detector 11 and the at least one second detector 12 .

[0056] Specifically, when the rotating mechanism rotates around an axis parallel to the water surface (such as a horizontal axis), the detection angles of the first detector 11 and the second detector 12 can be adjusted in a direction perpendicular to the water surface. When the rotating mechanism rotates around an axis perpendicular to the water surface (such as a vertical axis), the detection angles of the detectors can change in the horizontal direction, thereby being able to scan water areas at different horizontal positions. This rotation method can help the scanner 1 cover a wider range of water areas. By combining rotations about axes parallel to and perpendicular to the water surface, the rotating mechanism can achieve more flexible three-dimensional scanning. This combined rotation method can ensure that the scanner 1 can flexibly adjust the detection angle in different water environments, meet the detection needs of various complex terrains, and provide accurate wading path planning data for the autonomous driving system.

[0057] According to an embodiment of the present invention, the scanner 1 is provided with a first detector 11 and at least one second detector 12. The first detector 11 is used to detect the water surface height and generate a corresponding first detection signal, and the at least one second detector 12 is used to detect the underwater information and generate a corresponding second detection signal. These signals together constitute three-dimensional scan data of the scanning area in the water ahead of the vehicle, reflecting the water depth, underwater topography, and water surface conditions, providing comprehensive environmental information for the vehicle during wading. A rotating structure enables the first detector 11 and the at least one second detector 12 to rotate about an axis parallel to the water surface and / or about an axis perpendicular to the water surface, allowing for flexible adjustment of the detectors' detection positions. This structural design enables real-time, multi-angle acquisition of all-round data on the water surface and bottom, thereby achieving comprehensive monitoring and modeling of the water environment, providing a safe wading path for the vehicle under current conditions, and enabling automatic wading path planning. This effectively avoids vehicle damage or driving risks that may arise from unknown underwater topography or unsuitable water depth, thereby improving the safety and reliability of vehicle wading.

[0058] like Figure 1 As shown, the rotation mechanism includes a first cylinder 13 and a second cylinder 14. The first cylinder 13 is configured to rotate about an axis perpendicular to the water surface. By controlling the rotation of the first cylinder 13, the scanner 1 can adjust its detection angle in the horizontal direction, enabling horizontal scanning over a wider area of water.

[0059] In some embodiments, the second cylinder 14 is rotatably mounted on the first cylinder 13. Rotation of the first cylinder 13 drives the second cylinder 14 to rotate with it. The second cylinder 14 is configured to rotate within a preset angle around an axis parallel to the water surface. By rotating within the preset angle, the second cylinder 14 can adjust the detector's detection angle in the vertical direction, allowing the detector to observe underwater information at different inclination angles, ensuring that the acquired underwater information is more comprehensive and accurate. This multi-angle data can be used to generate a more detailed three-dimensional model during subsequent processing, reflecting the underwater terrain features, obstacles, and other potential risks, providing comprehensive data support for the autonomous driving system.

[0060] In some embodiments, the preset angle can be set based on factors such as detector performance, detection requirements, water area characteristics, etc., and is not specifically limited here.

[0061] In some embodiments, the first detector 11 is disposed on the first cylinder 13 so that the detection position of the first detector 11 can be adjusted through the first cylinder 13. This arrangement enables the first detector 11 to quickly and effectively adjust the detection angle during the water surface height detection process to adapt to different detection needs. Specifically, when the first cylinder 13 rotates around a rotation axis perpendicular to the water surface, the first detector 11 can change its detection position in the horizontal direction, so that the water surface height can be detected more comprehensively. By taking measurements at different detection positions, the first detector 11 can obtain diverse water surface height data, thereby improving the accuracy of the measurement and the comprehensiveness of the data.

[0062] In some embodiments, at least one second detector 12 is mounted on a second cylindrical body 14. The vertical and horizontal angles of light emitted from the second detector 12 can be adjusted via the first and second cylindrical bodies 13, 14. Specifically, the vertical angle of light emitted from the second detector 12 can be adjusted by rotating the second cylindrical body 14. As the second cylindrical body 14 rotates about an axis parallel to the water surface, the second detector 12 can adjust the vertical angle of light emitted. This allows the detector to optimize detection for different underwater depths, thereby acquiring underwater information at varying depths.

[0063] As the first cylinder 13 rotates around an axis perpendicular to the water surface, the horizontal angle of light emitted by the second detector 12 also adjusts accordingly. In this way, the second detector 12 can effectively detect water areas at different horizontal positions, allowing the scanner 1 to more comprehensively cover the scanning area and improve the measurement accuracy of underwater topography.

[0064] Therefore, through the interaction between the first cylinder 13 and the second cylinder 14, the second detector 12 can flexibly scan within multiple vertical and horizontal angle ranges, greatly enhancing the accuracy, adaptability and flexibility of the scanner 1 in complex water environments, thereby providing comprehensive and rich data support for the subsequent construction of the underwater three-dimensional model.

[0065] In some embodiments, the scanner 1 includes multiple second detectors 12. The primary purpose of providing multiple second detectors 12 is to increase detection coverage and data density. This is because a single rotatable second detector 12 is typically suitable for gradually detecting underwater information in a specific direction. However, when constructing more complex underwater three-dimensional models, a single second detector 12 is susceptible to limitations in viewing angle, detection range, and time. The use of multiple second detectors 12, on the other hand, enables simultaneous acquisition of underwater topography and depth information from different angles and positions at the same time. This design of multiple second detectors 12 not only allows for faster scanning of large areas, but also generates more accurate and complete three-dimensional underwater images through multi-directional data accumulation, significantly improving the integrity and resolution of the imaging.

[0066] Therefore, the multiple second detectors 12 cover a wider range and the data is distributed more densely, so that the underwater topography can be reconstructed more comprehensively and the accuracy of three-dimensional modeling can be improved.

[0067] In some embodiments, multiple second detectors 12 are arranged at intervals along the axial direction of the second cylinder 14. The multiple second detectors 12 arranged at intervals can significantly reduce the detection blind spots caused by the direction and viewing angle limitations of a single detector through their independent detection angles and depth levels. This ensures that all-round underwater data is obtained within a complete scanning cycle, thereby achieving more seamless underwater imaging. When multiple detectors are arranged along the axial direction and obtain underwater information at different positions and angles, a complete three-dimensional underwater image can be reconstructed through data integration. For example, in an uneven underwater environment, detectors at different axial positions can capture local underwater features. After integrating these local information, a holistic and accurate three-dimensional underwater terrain model can be generated to help analyze the underwater structure more finely. In addition, this distribution method can also avoid data interference between detectors, allowing each detector to independently detect in non-overlapping areas, effectively improving detection efficiency and accuracy.

[0068] like Figure 2 As shown, the number of second detectors 12 can be set to three near each of the left and right wheels of the vehicle, and these three second detectors 12 are arranged at intervals along the axial direction of the second cylinder 14. In addition, the number of second detectors 12 can be any number, and their installation positions can be flexibly set at any position on the vehicle, without any specific limitation.

[0069] like Figure 1As shown, the scanner 1 further includes a light exit angle detector 15. This detector is mounted on the first cylindrical body 13 and is used to detect the horizontal exit angle of the light from the second detector 12. After finding a suitable wading path, the detector provides the angle data to the control system. The control system adjusts the vehicle's direction based on this angle data, thereby guiding the vehicle along a safe route.

[0070] In some embodiments, the detection angle of the second detector 12 directly affects its scanning range and data accuracy. Through the feedback of the light emission angle detector 15, the system can monitor and adjust the horizontal emission angle of the second detector 12 in real time to ensure that it always operates within the set angle range, thereby avoiding detection inaccuracy due to angle deviation. This real-time monitoring is particularly suitable for the high-precision detection needs of complex underwater terrain. In addition, for constructing a three-dimensional model of the bottom of the water, the accuracy of the horizontal emission angle of the second detector 12 is particularly important. The light emission angle detector 15 can ensure that the second detector 12 always remains within the predetermined horizontal emission angle range during the scanning process, thereby obtaining accurate underwater data. This not only improves the integrity of the modeling, but also ensures the consistency of the data in multiple scans, making it easier to integrate detection data at different angles.

[0071] In some embodiments, the light exit angle detector 15 also supports an automatic calibration function. After prolonged operation, the second detector 12 may experience slight deviations due to external factors. Through continuous monitoring by the light exit angle detector 15, the system can identify these deviations and automatically adjust to ensure that the detection angle is always at the optimal position, thereby ensuring data accuracy and consistency.

[0072] In some embodiments, the light exit angle detector 15 may be a Hall sensor, or other types of angle sensors, such as a photoelectric angle sensor, a rotary encoder angle sensor, etc.

[0073] In some embodiments, the scanner 1 further includes a drive device. The drive device is connected to the rotation mechanism and is configured to drive the rotation mechanism. Specifically, the drive device provides rotational force to the rotation mechanism, enabling the first cylinder 13 and the second cylinder 14 to accurately rotate about their respective rotation axes, thereby enabling effective adjustment of the first detector 11 and the second detector 12 to meet various detection requirements.

[0074] In some embodiments, the drive device can use a motor as a rotational power source. The motor is connected to the first cylinder 13 or the second cylinder 14 via a gear train. When the motor is started, the rotation angle and speed of the cylinder can be precisely controlled. This structure is simple and has high control accuracy. Common motor types include stepper motors and servo motors. The former is suitable for scenarios with constant rotation speed, while the latter can dynamically adjust the speed over a wide range and is more suitable for detection environments that require frequent angle adjustments.

[0075] Reference below Figure 3 A vehicle control method according to an embodiment of the present invention is described.

[0076] Figure 3 is a flow chart of a vehicle control method according to an embodiment of the present invention. Figure 2 As shown, the vehicle control method includes at least the following steps S1-S2.

[0077] S1, determining a wading path of the vehicle through the water area based on three-dimensional scanning data of a scan area in the water area in front of the vehicle and vehicle posture data.

[0078] In some embodiments, the 3D scanning data can be spatial coordinate point cloud data generated by high-precision acquisition of the water area and its bottom using the scanner described in the previous embodiments. The 3D scanning data can accurately depict the topographic features of the underwater terrain and provide information on water surface height and depth, providing data support for vehicle wading path planning.

[0079] In some embodiments, vehicle posture data may refer to information about the position and orientation of the vehicle in three-dimensional space. By monitoring vehicle posture data in real time, accurate path tracking and control can be achieved to ensure safe driving of the vehicle.

[0080] In some embodiments, vehicle position data can be obtained through GPS (Global Positioning System) and Inertial Measurement Unit (IMU). GPS can provide the latitude, longitude and altitude information of the vehicle on the earth's surface, which is suitable for obtaining position information over a large range. Inertial Measurement Unit (IMU) integrates multiple sensors (such as accelerometers, gyroscopes and magnetometers) to provide real-time information on the vehicle's motion status and attitude. In some embodiments, mathematical analysis can be used to combine 3D scanning data with vehicle posture data to determine a wading path for the vehicle through water. This path can take into account underwater topography, depth variations, possible obstacles, and the vehicle's operating characteristics. As the vehicle travels, the 3D scanning data and posture data are continuously updated. The system can monitor this data in real time to dynamically adjust the determined wading path, ensuring the vehicle can flexibly respond to unexpected situations, such as sudden obstacles or changes in water flow.

[0081] S2, controlling the vehicle to travel according to the water-wading travel path.

[0082] Specifically, once the wading path is determined, the system will control the vehicle's driving parameters based on the path, including acceleration, deceleration, steering, and stability control. For example, to ensure driving safety, the system can automatically adjust the vehicle speed to adapt to the different depths and terrain features of the water. During the vehicle's driving process, the system can continuously monitor environmental changes and vehicle status, and compare them with the original wading path in real time. When the vehicle deviates from the predetermined path, the system can automatically adjust the path. For example, the system can re-identify underwater terrain features based on updated three-dimensional scanning data, and adjust the driving control instructions according to the vehicle's posture, thereby correcting the vehicle's position and posture to return it to a safe path. In addition, if a new obstacle is detected ahead, the system can re-plan a new safe driving path, avoid potential danger areas, and bypass obstacles by adjusting speed and changing course to ensure the vehicle's safe passage.

[0083] According to the vehicle control method of an embodiment of the present invention, the wading path of the vehicle through the water ahead can be determined by comprehensively analyzing the three-dimensional scanning data and vehicle posture data of the scanned area in the water ahead of the vehicle. Specifically, the three-dimensional scanning data reflects the water depth information, underwater topography, and water surface status of the water ahead, providing comprehensive environmental information for the vehicle's wading. At the same time, the vehicle posture data provides real-time status information of the vehicle, such as the vehicle's position, direction, and tilt angle. These data can help the system understand the posture information of the vehicle before entering the water ahead in real time. By combining these data, the system accurately calculates the safe wading path for the vehicle through the water ahead under current conditions, thereby realizing automatic planning of the wading path. This effectively avoids vehicle damage or driving risks that may be caused by unknown underwater topography or inappropriate water depth, and improves the safety and reliability of vehicle wading.

[0084] In some embodiments, 3D scanning data is obtained by scanning multiple detection locations within a scanning area using one or more scanners at different vertical light emission angles. Scanning at different vertical light emission angles is intended to obtain comprehensive terrain data for various driving conditions and water environments. Smaller vertical light emission angles are suitable for scanning close-range detection locations, while larger vertical light emission angles are suitable for scanning long-range detection locations. The combination of scans at multiple vertical light emission angles provides detailed information about the three-dimensional shape of the underwater body, thereby providing comprehensive reference data for planning safe wading paths for vehicles.

[0085] In some embodiments, multiple scanners can be deployed at different locations on the vehicle, collaborating to cover a larger area. Each scanner can independently scan at a different vertical light angle, ensuring full coverage of the scanning area in front of the vehicle. This multi-scanner system reduces blind spots caused by angles or viewing angles, improving data consistency and accuracy.

[0086] In some embodiments, data obtained from multiple vertical angle scans can be optimized using a fusion algorithm to remove noise and fill in blank areas, generating a clear and accurate 3D underwater topography map. For example, fusion of shallow and deep data can provide a more complete representation of underwater features, assisting the path planning system in determining the safety of the driving path.

[0087] In some embodiments, the wading path of the vehicle through the water area is determined based on the three-dimensional scanning data of the scanning area in the water area in front of the vehicle and the vehicle posture data, including: obtaining a three-dimensional topography reconstruction image of the scanning area based on the three-dimensional scanning data and the vehicle posture data, and determining the wading path of the vehicle through the water area based on the three-dimensional topography reconstruction image.

[0088] The 3D topography reconstruction image can be a digital model that fully reflects the topography and obstacle distribution of the water area. The system combines the point cloud data captured by the scanner with the vehicle's current position and posture, using coordinate transformation to ensure that the image data accurately reflects the relative position of the vehicle and the underwater topography. To ensure the continuity of the point cloud, the system uses an interpolation algorithm to address gaps in the data, thereby forming a complete 3D topography reconstruction image. Different areas in the image can be coded with color or grayscale to indicate changes in water depth and slope, providing a visual display of the water depth and slope in different areas.

[0089] In some embodiments, the three-dimensional scanning data includes water surface height data and water depth data for multiple different detection positions in the scanning area. The water surface height can refer to the relative height between the water surface and the position of the first detector, or it can be said to be the distance between the water surface and a horizontal reference plane parallel to the first detector. The water depth can refer to the vertical distance from the water surface to the bottom of the water, which is used to reflect the specific topography of the bottom of the water area. Water depth data is very important for safety analysis of water-related areas because it can identify shallow water areas, deep water areas and other underwater obstacles and underground topography that have a greater impact on vehicle driving, thereby providing accurate data reference for path planning.

[0090] In some embodiments, vehicle posture data includes the angle between the vehicle and the ground. This angle can reflect the vehicle's tilt, which is particularly important on uneven terrain or steep slopes. By monitoring the angle between the vehicle and the ground in real time, the system can more accurately estimate the vehicle's stability and rollover risk after entering water. This data is crucial for maintaining vehicle balance and safety.

[0091] In some embodiments, the three-dimensional topography reconstructed image is determined based on water surface height data and water depth data of multiple detection positions in the scanning area and the angle between the vehicle body and the ground.

[0092] Specifically, the detector in the scanner rotates to adjust its vertical emission angle. As the rotation angle gradually increases, the vertical emission angle of the light gradually increases, that is, the light can gradually be emitted from a closer place to a farther place, expanding the coverage of the laser scanning. During the laser scanning process, each time the laser is emitted and returned, a reflection point is generated. Figure 4 As shown, multiple reflection points form a two-dimensional laser dot pattern in front of the vehicle, which can be viewed as a laser scan of the area in front of the vehicle. When laser light enters water, some of the light is reflected by the water surface or bottom. The scanner records the time of the water surface reflection echo of the infrared laser signal and the bottom reflection echo of the blue-green laser signal. Combining this with the laser propagation speed, the refractive index of water, the vehicle's position and attitude (the angle between the vehicle and the ground), and the laser light pointing information (the angle and direction of the detector), it can calculate the water surface height and depth in the direction of the laser light.

[0093] Furthermore, to improve the measurement accuracy and coverage, the number of second detectors in the scanner can be increased. For example, by placing three second detectors with a spacing of 10 cm in front of each wheel, six second detectors can be set up to obtain the water depth at different horizontal coordinates (x, y). Through six sets of data, the three-dimensional position coordinates and corresponding water depth of the bottom of the area in front of the vehicle can be obtained, thereby generating a three-dimensional reconstruction image of the bottom of the area in front of the vehicle, that is, Figure 5shown.

[0094] Furthermore, by analyzing the three-dimensional reconstructed image, the driver can determine whether the water ahead is suitable for passage. The system can identify the depth of the water, the undulations of the bottom of the water, and the location of potential obstacles, and perform dynamic path planning in combination with the vehicle's posture. Based on this information, the system can plan the most suitable wading route, that is, choose the shallowest, safest route with the least driving resistance, and try to avoid deep water areas and complex terrain areas. In addition, if there are sharp stones or underwater potholes on the bottom of the water, the system can adjust the path accordingly to reduce the risk of accidents and improve the safety of passage. In some embodiments, when the angle between the vehicle and the ground is zero, water surface height data is obtained based on the scanner's first detection signal, and water depth data is obtained based on the scanner's second detection signal and the first detection signal. The first detection signal may be a laser signal in the infrared band, and the second detection signal may be a laser signal in the blue-green band. Therefore, the wavelength of the second detection signal is different from that of the first detection signal.

[0095] Specifically, the first detector and the second detector in the scanner respectively emit an infrared laser signal and a blue-green laser signal at the same time, wherein the infrared laser signal and the blue-green laser signal are both incident on the water area at an oblique angle. It can be obtained based on the echo signal of the laser signal in the infrared light band. It can be obtained based on the echo signal of the laser signal in the infrared light band and the laser signal in the blue-green light band. The specific detection calculation process is: when the angle between the vehicle body and the ground is zero, that is, the vehicle is in a horizontal direction, such as Figure 6 As shown, the water level in the water ahead and water depth The calculation formula is as follows: ; ; ; ; ; in, is the return time of the laser signal in the infrared light band, c is the speed of light, is the return time of the laser signal in the blue-green light band, is the vertical emission angle of the laser signal in the infrared light band, is the vertical emission angle of the laser signal in the blue-green light band, is the incident angle of the laser signal in the blue-green light band, is the refraction angle of the laser signal in the blue-green light band, is the relative refractive index of water and air.

[0096] In some embodiments, when the angle between the vehicle body and the ground is non-zero, this means the vehicle may be traveling uphill, downhill, or at another incline, with the vehicle body forming a certain angle with the ground. This situation can affect the reflection angle and return time of the laser signal, which in turn affects the accuracy of water height and depth measurements, and thus, subsequent path planning. Therefore, relatively complex calculation methods are required to accurately obtain water height and depth.

[0097] In some embodiments, the water surface height data is obtained based on a first function, which is a function of the first detection signal from the scanner and the angle between the vehicle and the ground. The water depth data is obtained based on a second function, which is a function of the second detection signal from the scanner, the first detection signal, and the angle between the vehicle and the ground.

[0098] Specifically, if Figure 7 As shown, when the angle between the vehicle body and the ground is not zero, that is, the vehicle is not in a completely horizontal state, the system can detect that the angle between the vehicle body and the ground is , then the water surface height of the water area ahead is and water depth The calculation formula is as follows: ; ; ; in, is the return time of the laser signal in the infrared light band, c is the speed of light, is the return time of the laser signal in the blue-green light band, is the vertical emission angle of the laser signal in the infrared light band, is the vertical emission angle of the laser signal in the blue-green light band, is the incident angle of the laser signal in the blue-green light band, is the relative refractive index of water and air, The angle between the vehicle body and the ground.

[0099] Furthermore, as the second detector rotates around the rotation axis perpendicular to the water surface, the The difference ( ) is corrected, where It represents the emission angle of the second detector when it rotates n times around the rotation axis perpendicular to the water surface, and n represents the different angles corresponding to the vertical rotation of the laser. It means that the second detector rotates n times around the rotation axis perpendicular to the water surface, and the incident angle of the laser signal in the blue-green light band, that is, the corrected incident angle, can be measured more accurately by correcting the angle.

[0100] Furthermore, according to the different times of laser signal return , the water depth at different positions can be calculated after the second detector rotates .in, It can represent the return time of the laser signal at n emission angles, It can represent the water depth measured at n emission angles.

[0101] Therefore, as the second detector rotates around the rotation axis perpendicular to the water surface, by using the angle between the vehicle body and the ground , the vertical emission angle and incident angle of the laser signal in the blue-green light band are corrected, so that the water depth data at different locations can be calculated.

[0102] In some embodiments, determining a wading path for a vehicle through water based on a three-dimensional topography reconstructed image includes: when the water depth in the scanning area is determined to be less than a wading depth threshold based on the three-dimensional topography reconstructed image, determining the wading path as a route through the scanning area. Alternatively, when the water depth in the scanning area is determined to exceed the wading depth threshold based on the three-dimensional topography reconstructed image, the scanner collecting the three-dimensional scan data rotates from a current horizontal light emission angle to a second horizontal light emission angle by a rotation angle step to adjust the scanning area.

[0103] Among them, the wading depth threshold can be a safe water depth limit preset by the system (such as the vehicle chassis height). Exceeding this value may cause the vehicle to lose control or cause a safety accident.

[0104] Specifically, if the three-dimensional morphology reconstruction image determines that the water depth in the scanning area is less than the wading depth threshold, the wading driving path of the vehicle can be directly set as the route through the scanning area. At this time, the driver can choose to drive automatically or manually through the scanning area. If it is determined based on the three-dimensional morphology reconstruction image that there is a location in the scanning area with a water depth exceeding the wading depth threshold, it can be determined that the vehicle cannot pass through the route of the current scanning area. At this time, the scanner can be controlled to rotate from the current horizontal light emission angle to the second horizontal emission angle in a rotation angle step to adjust the scanning area in an attempt to find a passable route. At this time, the horizontal coordinates x, y in the three-dimensional scanning data collected by the scanner and the corresponding water depth The relationship between them is: ; ; ; ; ; in, is the rotation angle of the scanner's horizontal light output angle, It means that the second detector rotates n times around the rotation axis perpendicular to the water surface, and the incident angle of the laser signal in the blue-green light band is is the refraction angle of the laser signal in the blue-green light band when the second detector rotates n times around the rotation axis perpendicular to the water surface, represents the emission angle of the second detector when it rotates n times around the rotation axis perpendicular to the water surface, is the angle between the vehicle body and the ground, is the relative refractive index of water and air, Indicates the measured water depth at n emission angles, is the water surface height of the water area ahead.

[0105] Furthermore, after the scanner rotates from the current horizontal light emission angle to a second horizontal emission angle in a rotation angle step to adjust the scanning area, if it is found that the water depth in the adjusted scanning area is less than the wading depth threshold, the route of the adjusted scanning area can be used as the new wading driving path. At this time, the system can automatically control the vehicle to turn to the corresponding route angle and remind the driver to choose automatic or manual driving. If it is found that the water depth in the adjusted scanning area exceeds the wading depth threshold, the driver will be warned of the danger. During this process, if the scanner does not receive a signal reflected from the bottom of the water, it is considered that the water depth exceeds the instrument range, indicating that the water depth is significantly higher than the wading depth of the vehicle and is judged to be unsuitable for vehicle wading.

[0106] In some embodiments, controlling vehicle travel according to a wading path includes: the vehicle's wheel rotation angle is the horizontal light emission angle of the scanner, and controlling the vehicle to move forward along the horizontal light emission direction of the scanner. The wheel rotation angle is the angle adjusted by the vehicle's steering system so that the vehicle travels in the direction set by the scanner. Specifically, the scanner determines the optimal driving path by adjusting the horizontal light emission angle, and the direction of this path is the vehicle's driving direction. The vehicle control system converts the scanner's emission direction into a wheel rotation angle, so that the vehicle moves forward along the safe area detected by the scanner. In this way, the vehicle's driving path will match the scanner's detection results in real time, allowing the vehicle to travel along a safe area and avoid entering deep water or dangerous areas.

[0107] In some embodiments, the vehicle control method also includes: before determining the wading path of the vehicle through the water area based on the three-dimensional scanning data of the scanning area in the water area in front of the vehicle and the vehicle posture data, the horizontal emission angle of the light of the scanner that collects the three-dimensional scanning data is consistent with the wheel rotation angle of the vehicle.

[0108] In some embodiments, the vehicle's built-in rotation angle indicator can be used to align the scanner's horizontal light output angle with the vehicle's wheel rotation angle. This design goal is to adjust the scanner's horizontal light output angle before planning a fording path, ensuring that the acquired water terrain information more accurately corresponds to the vehicle's current direction. This ensures that the collected 3D scan data directly corresponds to the area the vehicle will travel, thereby obtaining the most relevant environmental information.

[0109] In some embodiments, as Figure 8 As shown, the vehicle control method further includes: displaying a 3D topography reconstructed image on an on-board display device. Specifically, a scanner acquires data such as water depth and water surface height at different detection locations in the water area and forms a 3D point cloud. An algorithm is used to perform 3D reconstruction of the point cloud data to generate a 3D topography reconstructed image that displays the topographic features of the water area. The processed 3D image is transmitted to the on-board display device. The driver can view the topography of the water area ahead in real time on the on-board display device to facilitate decision-making. While the vehicle is in motion, the scanner continuously collects data and updates the image, ensuring that the driver always sees the most up-to-date environment.

[0110] In some embodiments, displaying a three-dimensional reconstructed image on a vehicle-mounted display device can provide the driver with effective water driving assistance, allowing him to avoid underwater dangers in a timely manner, prevent the driver from making operational errors due to loss of vision, lack of experience, etc., and ensure the safety of people and property.

[0111] In some embodiments, the vehicle-mounted display device may be a central control screen, a HUD head-up display, an instrument panel screen, or a co-pilot screen, etc. These display devices can display three-dimensional morphological reconstruction images in the form of images, text, and graphics, allowing the driver or passenger to more intuitively understand the terrain features and driving path of the water ahead, thereby improving driving safety.

[0112] Figure 9 FIG. 1 is an overall flow chart of a vehicle control method according to an embodiment of the present invention. Figure 9 As shown, the overall process of the vehicle control method includes at least the following steps S10-S21.

[0113] S10, start.

[0114] S11 , according to the wheel rotation angle indicator, rotating the horizontal emission angle of the light of the scanner for collecting three-dimensional scanning data to be consistent with the wheel rotation angle of the vehicle.

[0115] S12, scanning multiple detection positions in the scanning area in the forward direction of the wheel with one or more scanners at different vertical light emission angles to obtain three-dimensional scanning data.

[0116] S13, obtaining a three-dimensional topography reconstructed image of the scanned area based on the three-dimensional scanning data and the vehicle posture data, and transmitting it to the vehicle-mounted display device for display.

[0117] S14, based on the 3D topography reconstructed image, determine whether the water depth in the scan area is less than the wading depth threshold. If so, proceed to step S15; if not, proceed to step S16.

[0118] S15 , controlling the scanner for collecting three-dimensional scanning data to rotate from the current horizontal light emission angle to a second horizontal light emission angle in a rotation angle step to adjust the scanning area.

[0119] S16 reminds the driver that he can choose to drive automatically or manually.

[0120] S17, determining whether the adjusted water depth of the scanning area is less than the wading depth threshold, if so, proceeding to step S18, if not, proceeding to step S19.

[0121] S18, controlling the vehicle to move forward along the horizontal emission direction of the light from the scanner according to the horizontal emission angle of the light from the scanner.

[0122] S19, warns the driver of danger.

[0123] S20 reminds the driver that he can choose to drive automatically or manually.

[0124] S21: When the scanner does not receive the signal reflected from the bottom of the water, it is considered that the water depth exceeds the instrument range, indicating that the water depth is significantly higher than the wading depth of the vehicle and is not suitable for wading.

[0125] To sum up, through the above steps, the vehicle control method of the embodiment of the present invention can realize the automatic planning of the vehicle's wading driving path through water areas, effectively avoiding vehicle damage or driving risks caused by unknown underwater terrain or inappropriate water depth, thereby improving the safety and reliability of vehicle wading driving.

[0126] Reference below Figure 10 An electronic device according to an embodiment of the present invention is described.

[0127] Figure 10 is a block diagram of an electronic device according to an embodiment of the present invention, such as Figure 10 As shown, the electronic device 2 includes a memory 22 and at least one processor 21 .

[0128] In some embodiments, at least one processor 21 is responsible for processing and computing input sensor data (such as 3D scan data from scanner 1 and vehicle posture data). It receives water surface height, water depth, and vehicle posture data, and uses a computer program to perform data processing, image reconstruction, and path planning. It then generates control instructions based on the path planning results. For example, processor 21 can reconstruct the water area from the 3D scan data, determine potential wading depths and underwater terrain obstacles, and ensure that the selected path avoids dangerous areas.

[0129] In some embodiments, the at least one processor 21 may be one processor 21, or may be two processors 21, three processors 21, five processors 21, or other multiple processors 21. The processor 21 may be a single-core or multi-core processor 21, and may be based on the ARM architecture, the x86 architecture, or other processors suitable for embedded systems. The computing power and power consumption of the processor 21 may vary depending on specific application requirements.

[0130] In some embodiments, memory 22 is used to store computer programs, various vehicle parameters (e.g., chassis height, water depth threshold), and scan data. When the computer program runs on processor 21, it can access data from memory 22 for operations and store the resulting path planning data, image data, or control instructions for subsequent use or modification. This storage capability ensures that required data can be quickly accessed or updated while the vehicle is in motion, allowing path planning to respond in real time to changes in the external environment.

[0131] In some embodiments, the memory 22 may include RAM (Random Access Memory), ROM (Read-Only Memory), flash memory, or SSD (Solid State Drives), etc., for fast reading and writing of data.

[0132] In some embodiments, the memory 22 is communicatively connected to at least one processor 21 , and the memory 22 stores a computer program that can be executed by at least one processor 21 . When at least one processor 21 executes the computer program, the vehicle control method described in the above embodiment is implemented.

[0133] According to the electronic device 2 of the embodiment of the present invention, at least one processor 21 can determine the wading path of the vehicle through the water area ahead by executing a computer program that implements the vehicle control method described in the above embodiment. Specifically, the three-dimensional scanning data reflects the water depth information, underwater topography, and water surface status of the water area, providing comprehensive environmental information for the vehicle to wade. At the same time, the vehicle posture data provides real-time status information of the vehicle, such as the vehicle's position, direction, and tilt angle. These data can help the system understand the posture information of the vehicle before entering the water area in real time. By combining these data, the system accurately calculates the safe wading path for the vehicle to pass through the water area under current conditions, thereby realizing automatic planning of the wading path. This effectively avoids vehicle damage or driving risks that may be caused by unknown underwater topography or inappropriate water depth, and improves the safety and reliability of vehicle wading.

[0134] The present invention also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed, the vehicle control method described in the above embodiment is implemented. The specific implementation process of the vehicle control method can refer to the description of the above embodiment.

[0135] According to the computer-readable storage medium of the embodiment of the present invention, by adopting the computer-readable storage medium described in the above embodiment, automatic planning of the wading driving path of a vehicle through water areas can be achieved, effectively avoiding vehicle damage or driving risks caused by unknown underwater terrain or inappropriate water depth, thereby improving the safety and reliability of vehicle wading driving.

[0136] An embodiment of the present invention further provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the vehicle control method described in the above embodiment.

[0137] In some embodiments, program instructions are the basic components of a computer program and are used to perform specific operations. These instructions can be written in a high-level programming language (such as C, C++, Java, Python, etc.) and compiled or interpreted into machine code for computer processing.

[0138] In some embodiments, by designing the computer program product as a modular structure of the vehicle control system, each module can correspond to the specific functions described in the above embodiments. Figure 11 As shown, the vehicle control system may include an input module, a scanning module, a control unit, a display module, an image acquisition module, a posture detection module, a rotation module and a path planning module.

[0139] In some embodiments, the input module is used to receive user input instructions, such as acceleration, deceleration, steering, etc., to help the control unit adjust the vehicle driving according to user needs. The scanning module is used to obtain three-dimensional scanning data of the water area and provide it to the control unit. The data is used to determine information such as water depth, terrain and obstacles. The control unit is the core part of the entire system, responsible for coordinating the work of each module, receiving data from different modules, and processing it. The display module is used to display the three-dimensional morphology reconstructed image generated by the scanning module. The image acquisition module is used to capture the environmental image around the vehicle and provide visual information. The posture detection module is used to detect the posture and motion state of the vehicle and provide data such as the angle between the vehicle and the ground. The rotation module is used to control the rotation of the detector in the scanner 1 so as to scan multiple detection positions in the water area at different vertical light emission angles to obtain more comprehensive water area information.

[0140] In some embodiments, the path planning module may include a wheel rotation indication module. This module is used to align the horizontal emission angle of the scanning module's light with the vehicle's wheel rotation angle, allowing the vehicle to proceed along the safe area detected by the scanning module. In this way, the vehicle's driving path is aligned with the scanning module's detection results in real time, allowing the vehicle to follow a safe wading path and avoid entering deep water or dangerous areas.

[0141] According to the computer program product of the embodiment of the present invention, by executing the vehicle control method described in the above embodiment, it is possible to realize automatic planning of the vehicle's wading driving path through water areas, effectively avoiding vehicle damage or driving risks caused by unknown underwater terrain or inappropriate water depth, thereby improving the safety and reliability of vehicle wading driving.

[0142] Reference below Figure 12-13 A vehicle according to an embodiment of the present invention is described.

[0143] Figure 12 is a block diagram of a vehicle according to one embodiment of the present invention, as shown Figure 12 As shown, the vehicle 100 includes: at least one scanner 1 as described in the above embodiment, which can monitor the water area in front of the vehicle 100 in real time and generate three-dimensional scanning data to determine a safe driving path.

[0144] Figure 13 is a block diagram of a vehicle according to one embodiment of the present invention, as shown Figure 13As shown, vehicle 100 includes the electronic device 2 described in the above embodiment. Electronic device 2 includes a processor 21 and a memory 22, which can execute the computer program of the vehicle control method described in the above embodiment. This can automatically plan a wading path for vehicle 100 through water, effectively avoiding vehicle damage or driving risks caused by unknown underwater terrain or unsuitable water depth, thereby improving the safety and reliability of vehicle 100 when wading.

[0145] In some embodiments, the vehicle 100 may be a variety of types of vehicles, including but not limited to sedans, SUVs, trucks, driverless vehicles, and other vehicles with autonomous driving capabilities.

[0146] According to the vehicle 100 of the embodiment of the present invention, by adopting the scanner 1 described in the above embodiment, and / or the electronic device 2 described in the above embodiment, it is possible to realize automatic planning of the wading driving path of the vehicle 100 through water areas, effectively avoiding vehicle damage or driving risks caused by unknown underwater terrain or inappropriate water depth, thereby improving the safety and reliability of the vehicle 100 in wading driving.

[0147] In some embodiments, as Figure 2 As shown, vehicle 100 includes two scanners 1, one mounted on the underbody in front of the left and right front wheels. These two scanners 1 can monitor the water and terrain changes to the left and right sides of vehicle 100, capturing important data such as water depth and water level in real time. By operating in parallel, these two scanners 1 can significantly reduce blind spots during forward driving and provide more accurate safety information. Furthermore, the data collected by these two scanners 1 can be integrated in electronic device 2 to form a comprehensive three-dimensional environmental model, enabling vehicle 100 to perform more complex path planning.

[0148] In some embodiments, the vehicle 100 further includes a posture detection device 3 for collecting posture data of the vehicle 100. The posture detection device 3 can be a sensor such as a GPS, a gyroscope, an accelerometer, etc., to provide accurate data on the direction, tilt angle, and position of the vehicle 100.

[0149] Throughout this specification, reference to terms such as "one embodiment," "some embodiments," "illustrative embodiments," "example," "specific example," or "some examples" means that a specific feature, structure, material, or characteristic described in conjunction with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example.

[0150] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the claims and their equivalents.

Claims

1. A vehicle control method, characterized in that: include: Determining a wading path for the vehicle through the water area based on three-dimensional scanning data of a scanned area in the water area ahead of the vehicle and vehicle posture data; The vehicle is controlled to travel according to the water-wading travel path.

2. The vehicle control method according to claim 1, characterized in that: The three-dimensional scanning data is obtained by scanning a plurality of detection positions in the scanning area with one or more scanners at different vertical light emission angles.

3. The vehicle control method according to claim 1 or 2, characterized in that: Determining a wading path of the vehicle through the water area based on three-dimensional scanning data of a scanned area in the water area ahead of the vehicle and vehicle posture data includes: Obtaining a three-dimensional topography reconstructed image of the scanned area according to the three-dimensional scanning data and the vehicle posture data; The wading path of the vehicle through the water area is determined based on the three-dimensional topography reconstructed image.

4. The vehicle control method according to claim 3, characterized in that: The three-dimensional scanning data includes water surface height data and water depth data at a plurality of different detection positions in the scanning area; The vehicle posture data includes the angle between the vehicle body and the ground; The three-dimensional shape reconstruction image is determined based on water surface height data and water depth data of a plurality of detection positions in the scanning area and the angle between the vehicle body and the ground.

5. The vehicle control method according to claim 4, characterized in that: When the angle between the vehicle body and the ground is zero, The water surface height data is obtained based on the first detection signal of the scanner; The water depth data is obtained based on a second detection signal of the scanner and the first detection signal, and a wavelength of the second detection signal is different from a wavelength of the first detection signal.

6. The vehicle control method according to claim 4, characterized in that: When the angle between the vehicle body and the ground is not zero, The water surface height data is obtained according to a first function, wherein the first function is a function of a first detection signal of a scanner and an angle between the vehicle body and the ground; The water depth data is obtained according to a second function, which is a function of the second detection signal of the scanner, the first detection signal, and the angle between the vehicle body and the ground.

7. The vehicle control method according to claim 4, characterized in that: Determining the wading path of the vehicle through the water area according to the three-dimensional topography reconstructed image includes: When it is determined based on the three-dimensional topography reconstructed image that the water depths in the scanning area are all less than a wading depth threshold, the wading driving path is a route passing through the scanning area; Alternatively, when it is determined based on the three-dimensional topography reconstructed image that there is a location in the scanning area where the water depth exceeds the wading depth threshold, the scanner that collects the three-dimensional scanning data rotates from the current horizontal light emission angle to a second horizontal light emission angle in a rotation angle step to adjust the scanning area.

8. The vehicle control method according to claim 7, characterized in that: Controlling the vehicle to travel according to the water-wading travel path includes: The wheel rotation angle of the vehicle is the horizontal emission angle of the light from the scanner, and the vehicle is controlled to move forward along the horizontal emission direction of the light from the scanner.

9. The vehicle control method according to claim 1, characterized in that: The vehicle control method further includes: Before determining the wading path of the vehicle through the water area based on the three-dimensional scanning data of the scanned area in the water area in front of the vehicle and the vehicle posture data, the horizontal emission angle of the light of the scanner that collects the three-dimensional scanning data is consistent with the wheel rotation angle of the vehicle.

10. The vehicle control method according to claim 3, characterized in that: The vehicle control method further includes: displaying the three-dimensional shape reconstructed image through a vehicle-mounted display device.

11. A scanner, characterized in that: include: a first detector, configured to detect a water surface height and generate a first detection signal; at least one second detector, configured to detect underwater information and generate a second detection signal; A rotating mechanism, wherein the first detector and the at least one second detector are arranged on the rotating mechanism, and the rotating structure is used to rotate around a rotating axis parallel to the water surface and / or around a rotating axis perpendicular to the water surface to adjust the detection position of the first detector and the at least one second detector.

12. The scanner according to claim 11, wherein The rotating mechanism comprises: a first cylinder, wherein the first cylinder is configured to rotate about a rotation axis perpendicular to a water surface; The second cylinder is rotatably arranged on the first cylinder. When the first cylinder rotates, the second cylinder is driven to rotate together. The second cylinder is used to rotate within a preset angle around a rotation axis parallel to the water surface.

13. The scanner according to claim 12, wherein: The first detector is arranged on the first cylinder so that the detection position of the first detector can be adjusted through the first cylinder.

14. The scanner according to claim 12, wherein: The at least one second detector is arranged on the second cylinder so as to adjust the vertical emission angle and the horizontal emission angle of the light of the second detector through the first cylinder and the second cylinder.

15. The scanner according to claim 14, wherein: The scanner includes a plurality of second detectors, which are arranged at intervals along the axial direction of the second cylinder.

16. The scanner according to claim 12, wherein: The scanner also includes: A light exit angle detector is provided on the first cylinder and is used to detect the horizontal exit angle of the light from the second detector.

17. The scanner according to claim 11, wherein The scanner also includes: A driving device is connected to the rotating mechanism and is used to drive the rotating mechanism to rotate.

18. An electronic device, characterized in that: include: at least one processor; a memory communicatively coupled to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, and when the computer program is executed, the vehicle control method according to any one of claims 1 to 10 is implemented.

19. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed, the vehicle control method according to any one of claims 1 to 10 is implemented.

20. A computer program product, characterized in that The computer program product includes a computer program stored on a computer-readable storage medium, wherein the computer program includes program instructions. When the program instructions are executed by a computer, the computer is caused to execute the vehicle control method according to any one of claims 1 to 10.

21. A vehicle, characterized in that: include: At least one scanner according to any one of claims 11 to 15, and / or, the electronic device according to claim 18.

22. The vehicle according to claim 21, characterized in that The vehicle comprises two scanners, which are respectively arranged on the vehicle bottom in front of the left and right front wheels.

23. The vehicle according to claim 21, characterized in that The vehicle further comprises: A posture detection device is used to collect posture data of the vehicle.

Images