Vehicle wading passing method and device, electronic equipment and storage medium

Abstract

The invention relates to a vehicle wading passing method and device, electronic equipment and a storage medium, and is applied to the technical field of vehicles. The method comprises the steps that wading road condition information of a water accumulation area on a vehicle driving road is acquired; determining an initial passable area and wading evaluation information based on the wading road condition information; under the condition that the wading evaluation information indicates that the vehicle has the wading risk, obtaining wading capability information of the vehicle; planning the initial passable area based on the wading road condition information, the wading evaluation information and the wading capability information to obtain target path planning information; and indicating the vehicle to drive according to the target path planning information.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, electronic device and storage medium for vehicle wading. Background Art

[0002] With the popularization of vehicles, outdoor travel and self-driving adventures are becoming increasingly popular. Vehicles often encounter complex road conditions, and driving through water is extremely challenging and dangerous.

[0003] In related technologies, when a vehicle drives onto a flooded road, it is impossible to predict the underwater conditions in the flooded area. Blindly moving forward may cause damage to the vehicle and endanger the safety of both the driver and the vehicle. Summary of the Invention

[0004] The present application provides a method, device, electronic device and storage medium for vehicle wading, which are used to solve the problem in the prior art that the underwater conditions in the wading area cannot be predicted and blind advancement may cause damage to the vehicle and endanger the safety of people and vehicles.

[0005] According to a first aspect of an embodiment of the present application, a method for a vehicle to wade through water is provided, comprising:

[0006] Obtaining water-related road condition information for flooded areas on the road where the vehicle is traveling;

[0007] Determining an initial traversable area and water wading assessment information based on the water wading road condition information;

[0008] When the water wading assessment information indicates that the vehicle has a water wading risk, obtaining water wading capability information of the vehicle;

[0009] Planning the initial traversable area based on the water-wading road condition information, the water-wading assessment information, and the water-wading capability information to obtain target path planning information;

[0010] Instruct the vehicle to travel according to the target path planning information.

[0011] Optionally, the planning of the initial traversable area based on the water-wading road condition information, the water-wading assessment information, and the water-wading capability information to obtain target path planning information includes:

[0012] determining path impact information of the vehicle based on the water-wading road condition information, the water-wading assessment information, and the water-wading capability information;

[0013] determining a target passable area in the flooded area when the path impact information indicates that the vehicle cannot pass through the initial passable area;

[0014] The target path planning information is determined based on the target traversable area.

[0015] Optionally, the water-wading road condition information includes the area of ​​the road on which the vehicle is traveling, the area of ​​the waterlogged area, and the degree of mud at the location of the vehicle; the water-wading assessment information includes the depth of puddles and the density of underwater obstacles in the waterlogged area; and the water-wading capability information includes the safe wading depth of the vehicle and the vehicle's ability to navigate muddy roads;

[0016] The determining of the vehicle's path impact information based on the water-wading road condition information, the water-wading assessment information, and the water-wading capability information includes:

[0017] Determining puddle impact information based on the road area, the area of ​​the flooded area, the puddle depth, and the safe wading depth of the vehicle;

[0018] Determining road traffic impact information based on the road area, the initial traversable area, the puddle depth, and the vehicle safe wading depth;

[0019] Determine underwater traffic impact information based on underwater obstacle density, puddle depth, and vehicle safe wading depth;

[0020] Determining the passage impact information of the vehicle on the muddy road based on the passage capacity of the muddy road and the muddy degree;

[0021] At least one of the puddle impact information, the road traffic impact information, the underwater traffic impact information, and the muddy road traffic impact information is determined as the path impact information.

[0022] Optionally, the path impact information indicating that the vehicle cannot pass through the initial passable area includes:

[0023] Determining whether the path impact information satisfies a preset impassable condition;

[0024] If the conditions are met, it is determined that the vehicle cannot pass through the initial passable area.

[0025] Optionally, the determining of the initial traversable area and water wading assessment information based on the water wading road condition information includes:

[0026] The water-crossing road condition information is input into a pre-trained environment perception model, and the water-crossing road condition information is evaluated and analyzed by the environment perception model to determine the water-crossing evaluation information and the initial passable area of ​​the flooded area.

[0027] Optionally, obtain water-related road condition information for a flooded area on the road where the vehicle is traveling, including:

[0028] Obtain image information of the road ahead collected by the vehicle camera;

[0029] Obtain the current wading depth of the vehicle collected by the vehicle radar;

[0030] Acquiring underwater environmental information of the waterlogged area;

[0031] The image information, current wading depth, and underwater environment information are determined to be the wading road condition information.

[0032] Optionally, instructing the vehicle to travel according to the target path planning information includes:

[0033] generating a vehicle control instruction based on the target path planning information, wherein the vehicle control instruction carries a control parameter of the vehicle;

[0034] Respond to the vehicle control command and drive according to the control parameters.

[0035] According to a second aspect of an embodiment of the present application, a vehicle wading device is provided, comprising:

[0036] The first acquisition unit is used to acquire water-related road condition information of a flooded area on a road where the vehicle is traveling;

[0037] a determining unit, configured to determine an initial traversable area and water wading assessment information based on the water wading road condition information;

[0038] a second acquiring unit, configured to acquire water wading capability information of the vehicle when the water wading assessment information indicates that the vehicle has a water wading risk;

[0039] a planning unit, configured to plan the initial traversable area based on the water-wading road condition information, the water-wading assessment information, and the water-wading capability information to obtain target path planning information;

[0040] The passing unit is used to instruct the vehicle to travel according to the target path planning information.

[0041] According to a third aspect of an embodiment of the present application, there is provided an electronic device, including a memory and a processor;

[0042] The memory is connected to the processor and is used to store programs;

[0043] The processor is used to implement the vehicle wading method as described in the first aspect by running the program in the memory.

[0044] According to a fourth aspect of an embodiment of the present application, a storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the vehicle wading method as described in the first aspect is implemented.

[0045] According to a fifth aspect of an embodiment of the present application, a computer program product is provided, comprising computer program instructions, which, when executed by a processor, enable the processor to execute the vehicle wading method as described in the first aspect.

[0046] The technical solution provided by the embodiments of the present application has the following advantages over the prior art: The method provided by the embodiments of the present application obtains water-related road condition information for flooded areas on the vehicle's travel path; determines an initial traversable area and water-related assessment information based on the water-related road condition information; obtains the vehicle's water-related capability information when the water-related assessment information indicates a water-related risk for the vehicle; plans the initial traversable area based on the water-related road condition information, water-related assessment information, and water-related capability information to obtain target path planning information; and instructs the vehicle to travel according to the target path planning information. In this way, by analyzing the water-related road condition information, it is possible to plan a path for flooded areas, allowing the vehicle to travel within traversable areas and improving the safety of both drivers and vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0048] Figure 1 A flowchart of a method for wading a vehicle is provided for one embodiment of the present application;

[0049] Figure 2 A structural diagram of a vehicle wading system is provided for one embodiment of the present application;

[0050] Figure 3 A flowchart of a method for wading a vehicle is provided for another embodiment of the present application;

[0051] Figure 4 A structural diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0053] Exemplary Implementation Environment

[0054] According to the vehicle wading through method of the embodiment of the present application, it can be executed by an electronic device such as a terminal device or a server. The terminal device can be a user equipment (UE), a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The server can be an independent physical server, a server cluster composed of multiple physical servers, or a cloud server capable of cloud computing. The method can be implemented by a processor calling a computer-readable program instruction stored in a memory. The present application explains the vehicle wading through method by being executed by a server as an example, but does not limit it.

[0055] Exemplary Methods

[0056] See also Figure 1 In an exemplary embodiment, a method for wading a vehicle is provided, comprising:

[0057] Step 101: Obtain water-related road condition information of a flooded area on a road where a vehicle is traveling.

[0058] In some embodiments, while driving, the vehicle collects various road condition information, including image information from the front, rear, left, and right sides of the road, through various sensors installed on the vehicle. If a water area appears in front of the vehicle, the refractive index of the water area differs from that of non-water areas, and water areas typically have reflections. Therefore, the refractive index of the road surface ahead can be determined using optical devices installed on the vehicle to determine the presence of water ahead. Alternatively, the presence of water ahead can be determined by determining whether there are reflections in images captured by the vehicle's front camera.

[0059] In an optional embodiment, obtaining water-related road condition information of a flooded area on a road on which a vehicle is traveling includes:

[0060] Obtain image information of the road ahead collected by the vehicle camera;

[0061] Obtain the current wading depth of the vehicle collected by the vehicle radar;

[0062] Acquiring underwater environmental information of the waterlogged area;

[0063] The image information, current wading depth, and underwater environment information are determined to be the wading road condition information.

[0064] In some embodiments, the vehicle camera includes a high-resolution forward-looking camera installed in front of the vehicle for capturing real-time visual images of the road ahead. It can identify the boundaries of flooded areas, water depth estimates, road signs, and other information through refractive index and reflections.

[0065] The vehicle's radar system includes ultrasonic radars mounted on the left and right exterior mirrors. These radars measure water depth on both sides of the vehicle, providing real-time water depth data when the vehicle approaches a flooded area. When the vehicle is traveling in a non-flooded area, the ultrasonic radar measures a first distance from the vehicle's exterior mirror to the road surface. Upon entering a flooded area, the ultrasonic radar measures a second distance from the exterior mirror to the water surface. Because a portion of the vehicle's bottom is submerged in the water, the second distance is smaller than the first. The difference between the two distances represents the depth of the water at the vehicle's location, or the wading depth.

[0066] When a vehicle detects a flooded area ahead of it, it can instruct its onboard underwater environment collection equipment to reach the flooded area ahead of the vehicle and use the relevant collection devices on the underwater environment collection equipment to collect underwater environmental information of the flooded area. The underwater environment collection equipment can be a drone equipped with sonar. By first flying the drone to the flooded area ahead of the vehicle and lowering the sonar, the sonar collects information about the flooded area and obtains underwater environmental information. Alternatively, it can be an underwater robot (ROV) equipped with a sonar system and camera, capable of performing functions such as water depth detection, image acquisition, and positioning.

[0067] For example, a drone equipped with a sonar acquisition module can fly low in front of a vehicle, accurately detecting the underwater environment before and after wading. Once the drone reaches a predetermined altitude above the flooded area, its underwater 3D imaging sonar activates, transmitting and receiving sound waves according to a pre-set pattern. After internal processing, a 3D image is generated based on the sound wave characteristics. The drone then transmits this data back to the vehicle's computer in real time, allowing the user to view the real-time situation.

[0068] Step 102: Determine an initial traversable area and water wading assessment information based on the water wading road condition information.

[0069] In some embodiments, the initial passable area of ​​the flooded area is determined by conducting a preliminary analysis of the water-related road condition information. For example, by using professional geographic information system (GIS) technology and algorithms, by setting a water depth threshold, areas with water depths below a certain standard (such as the safe wading depth of an ordinary car is usually around 30-40 cm) are preliminarily delineated as passable areas. At the same time, combined with water flow velocity data, areas with too fast water flow that may cause impacts on vehicles or pedestrians are excluded. In the process of determining the initial passable area, it is also necessary to consider the road structure and surrounding environment, such as the traffic capacity of special sections such as bridges and culverts, and whether there are potential risk areas in the surrounding area that are prone to geological disasters such as collapse and landslides.

[0070] Water-related assessment information can provide a comprehensive evaluation of water-related road conditions. Based on factors such as water depth, water flow speed, and road structure stability, it can determine the degree of danger for vehicles or pedestrians passing through water-related areas and give corresponding safety level classifications (such as low risk, medium risk, and high risk).

[0071] In an optional embodiment, determining the initial traversable area and the water wading assessment information based on the water wading road condition information includes:

[0072] The water-crossing road condition information is input into a pre-trained environment perception model, and the water-crossing road condition information is evaluated and analyzed by the environment perception model to determine the water-crossing evaluation information and the initial passable area of ​​the flooded area.

[0073] In some embodiments, after the vehicle collects water-crossing road condition information, feature extraction is performed on the image information, current water depth, and underwater environment information in the water-crossing road condition information, and the extracted features are weighted fused. The fused features are input into a pre-trained environmental perception model. The environmental perception model evaluates and analyzes the fused features to determine the initial passable area where the flooded area can be safely passed, as well as the water-crossing evaluation information.

[0074] The water-related assessment information may include, but is not limited to, the depth of puddles in the waterlogged area and underwater obstacle information, such as the density of underwater obstacles.

[0075] Among them, the density of underwater obstacles can be calculated in the following way. For example, there are 5 small stones per square meter in the water accumulation area in front of a car (O_obstacle = 5), while the maximum allowable obstacle density of this car is 3 per square meter (O_max = 3). At this time, O_obstacle > O_max, and there is a risk for the car to pass through, and it is easy to scratch the chassis, so it should be avoided. There are many stones and branches in the mountain stream. An off-road vehicle is driving in the stream and detects that there are 8 obstacles per square meter in the front water area (O_obstacle = 8), while the maximum allowable obstacle density of this off-road vehicle is 10 per square meter (O_max = 10). At this time, O_obstacle < O_max, and the off-road vehicle can pass through, and its high chassis and strong suspension system can handle these obstacles.

[0076] Step 103, when the water-crossing assessment information indicates that the vehicle has a water-crossing risk, obtain the water-crossing ability information of the vehicle.

[0077] In some embodiments, the determined water-crossing assessment information can assist the user in initially judging whether there is a water-crossing risk for the vehicle to continue moving forward. If there is no risk, a passing instruction can be directly issued so that the user knows that it can pass through the water accumulation area safely. In the case of risk, further analysis is required.

[0078] Among them, the water-crossing ability information can be configured when the vehicle leaves the factory. The water-crossing ability information includes the safe water-crossing depth of the vehicle, the passing ability of the vehicle on muddy roads, and can also include the maximum allowable obstacle density of the vehicle and the maximum passing ability of the vehicle.

[0079] Among them, the maximum passing ability of the vehicle can be the maximum water depth that can pass through the vehicle, which is usually given in the vehicle specification parameter table. For example, the maximum water-crossing depth of a car is 300 millimeters.

[0080] Step 104, based on the water-crossing road condition information, water-crossing assessment information and the water-crossing ability information, plan the initial passable area to obtain the target path planning information.

[0081] In some embodiments, if the water accumulation area has been accumulated for a long time, the accumulated water ground may become soft or slippery due to long water plants. Therefore, after the vehicle enters the water accumulation area, it can also further plan the initially determined initial passable area based on the obtained water-crossing ability information to ensure safe passage.

[0082] In an optional embodiment, the planning of the initial passable area based on the water-crossing road condition information, water-crossing assessment information and the water-crossing ability information to obtain the target path planning information includes:

[0083] Determine the path influence information of the vehicle based on the water-crossing road condition information, water-crossing assessment information and the water-crossing ability information;

[0084] determining a target passable area in the flooded area when the path impact information indicates that the vehicle cannot pass through the initial passable area;

[0085] The target path planning information is determined based on the target traversable area.

[0086] In some embodiments, path impact information is used to determine whether the vehicle's current location is safe to pass. If not, a detour is planned to avoid the area. The target traversable area can be a pre-determined traversable area within the vehicle's current location, which is re-determined by re-obtaining water-crossing road condition information, determining water-crossing capability information, and water-crossing assessment information.

[0087] In an optional embodiment, the water-wading road condition information includes the area of ​​the road traveled by the vehicle, the area of ​​the waterlogged area, and the muddyness of the vehicle's location; the water-wading assessment information includes the depth of puddles and the density of underwater obstacles in the waterlogged area; and the water-wading capability information includes the safe wading depth of the vehicle and the vehicle's ability to navigate muddy roads.

[0088] The determining of the vehicle's path impact information based on the water-wading road condition information, the water-wading assessment information, and the water-wading capability information includes:

[0089] Determining puddle impact information based on the road area, the area of ​​the flooded area, the puddle depth, and the safe wading depth of the vehicle;

[0090] Determining road traffic impact information based on the road area, the initial traversable area, the puddle depth, and the vehicle safe wading depth;

[0091] Determine underwater traffic impact information based on underwater obstacle density, puddle depth, and vehicle safe wading depth;

[0092] Determining the passage impact information of the vehicle on the muddy road based on the passage capacity of the muddy road and the muddy degree;

[0093] At least one of the puddle impact information, the road traffic impact information, the underwater traffic impact information, and the muddy road traffic impact information is determined as the path impact information.

[0094] In some embodiments, the puddle impact information may be calculated as follows:

[0095]

[0096] Among them, Simpact represents the impact information of puddles, indicating the degree of impact of puddles on vehicle traffic; Apuddle represents the area of ​​the flooded area; ARoad represents the road area; dWaterDepth represents the depth of the puddle; and dSafety represents the safe wading depth of the vehicle.

[0097] Road traffic impact information can be calculated as follows:

[0098]

[0099] Where: Pfeasible represents the road traffic impact information, which is used to indicate the feasibility score of the path; w1 and w2 represent weight coefficients (usually w1+w2=1); Apassable represents the area of ​​the initial passable area.

[0100] The underwater traffic impact information can be calculated as follows:

[0101]

[0102] Among them: C underwater represents the underwater traffic impact information, which is the underwater trafficability score; O obstacle represents the density of underwater obstacles; d underwater deepest represents the deepest underwater distance; O maximum represents the maximum allowable obstacle density; w3 and w4 represent weight coefficients (usually w3 + w4 = 1).

[0103] dThe maximum underwater depth is obtained by comparing the depths of puddles at different locations, and OMax can be the configuration of the vehicle when it leaves the factory.

[0104] The traffic impact information of muddy roads can be calculated as follows:

[0105]

[0106] Among them: Cmud represents the traffic impact information of muddy roads, which is the muddy road passability score; Mmud represents the degree of mud; Mmax represents the maximum allowable mud degree; Vvehicle represents the vehicle's passability on muddy roads; Vmax represents the vehicle's maximum passability; w5 and w6 represent weight coefficients (usually w5+w6=1).

[0107] Among them, Mmud can be determined by calculating the vehicle's slip force and determining the mud degree corresponding to the slip force from a pre-established correspondence between the slip force and the mud degree. Mmax and Vmax can be configured when the vehicle leaves the factory.

[0108] The passing ability of the vehicle (V_vehicle) represents the maximum water depth that the vehicle can pass through in the current state, which is affected by factors such as load and tire condition. For example, when a sedan is carrying passengers and luggage, the chassis is lowered, and it may only be able to pass through water that is 200 millimeters deep. The maximum passing ability of the vehicle (V_max): The maximum water depth that the vehicle can pass through in design, which is usually given in the vehicle specification parameter table. For example, the maximum water crossing depth of a certain sedan is 300 millimeters.

[0109] In an optional embodiment, the path influence information indicates that the vehicle cannot pass through in the initial passable area, including:

[0110] Determine whether the path influence information meets a preset impassable condition;

[0111] If it is satisfied, determine that the vehicle cannot pass through in the initial passable area.

[0112] In some embodiments, the path influence information includes: puddle influence information S_influence, road passing influence information P_feasible, underwater passing influence information C_underwater, and muddy road passing influence information C_muddy. Correspondingly, the preset impassable conditions can include but are not limited to at least one of the following: S_influence > S_threshold, P_feasible < P_threshold, C_underwater > C_threshold1, C_muddy > C_threshold2. In the case of meeting any of the above impassable conditions, a detour path can be dynamically planned, and a safer passing method can be selected (such as passing along the side of the water surface or the road edge), otherwise continue the current path to ensure the safe passage of the vehicle.

[0113] Among them, S_threshold, P_threshold, C_threshold1, and C_threshold2 can all be set based on the actual situation of the vehicle, or obtain the above thresholds set at the factory.

[0114] Step 105, instruct the vehicle to drive according to the target path planning information.

[0115] In some embodiments, after determining the target path planning information, a corresponding control instruction can be generated, or it can be displayed on the in-vehicle display screen.

[0116] In an optional embodiment, instructing the vehicle to drive according to the target path planning information includes:

[0117] Generate a vehicle control instruction based on the target path planning information, and the vehicle control instruction carries the vehicle's control parameters;

[0118] Respond to the vehicle control instruction and drive according to the control parameters.

[0119] In some embodiments, vehicle control instructions are generated based on the planned target path information. These instructions carry control parameters such as speed, throttle, and steering. This allows the autonomous vehicle to automatically control its speed, throttle, and steering according to the control instructions, ensuring a smooth passage through the flooded area.

[0120] Furthermore, the system can monitor the vehicle's status and surrounding environment in real time, taking immediate emergency measures if an abnormality is detected (such as water depth exceeding a safety threshold or the presence of an obstacle). It can also determine whether the vehicle has passed through the flooded area. If so, normal driving is resumed; if not, path planning and vehicle control are continued.

[0121] In a specific embodiment, a vehicle wading passage system can be configured on the vehicle. The system is a vehicle wading intelligent perception and passage system based on multi-sensor fusion. By combining a forward-looking camera, a wading ultrasonic radar, and a sonar carried by a drone, it can achieve comprehensive perception of the vehicle's front and underwater environment, predict the wading situation in advance, plan a safe path, and automatically control the vehicle to pass smoothly after wading.

[0122] Among them, see Figure 2 The system includes a visual acquisition module 201, an ultrasonic perception module 202, a drone-carried sonar acquisition module 203, a vehicle-side processing module 204, a path planning module 205 and an automatic driving module 206.

[0123] The Vision Acquisition Module, primarily composed of a high-resolution forward-looking camera, is installed at the front of the vehicle and captures real-time visual images of the road ahead. This module can identify the boundaries of flooded areas, estimate water depth, and identify road signs.

[0124] Ultrasonic sensing module: This module consists of ultrasonic radars installed on the left and right exterior mirrors of the vehicle. It measures water depth information on both sides of the vehicle. This module provides real-time water depth data when the vehicle approaches flooded areas.

[0125] A drone equipped with a sonar acquisition module flies low in front of the vehicle, enabling precise underwater detection both before and after wading. Upon reaching a predetermined altitude above the target water area, the drone activates its underwater 3D imaging sonar, transmitting and receiving sound waves according to a pre-set pattern. After internal processing, the sonar characteristics are used to generate a 3D image, which is then transmitted back to the vehicle's computer in real time, allowing the user to view the real-time situation.

[0126] Vehicle-side processing module: The vehicle-side processing module is the core of the entire intelligent perception and passage system, responsible for pre-processing, fusing and generating environmental perception models for multi-source sensor data. This module uses deep learning algorithms to efficiently fuse camera images, ultrasonic radar data and sonar images to generate an environmental perception model that includes water depth, underwater obstacles and drivable areas. At the same time, the module has powerful edge computing capabilities and can complete data processing and model generation within milliseconds, providing real-time decision support for path planning and autonomous driving modules. In addition, the vehicle-side processing module can operate stably in low light, bad weather and complex road conditions, and has strong robustness and environmental adaptability, ensuring the safety and passability of the vehicle in water-crossing scenarios.

[0127] Path Planning Module: Based on the environmental perception model, the vehicle's driving status, and safety requirements, it dynamically plans the optimal driving path. This module can plan a path to avoid flooded areas before wading, and adjust the path in real time during wading to adapt to changes in the underwater environment.

[0128] The autonomous driving module automatically controls the vehicle's speed, throttle, and steering during wading, ensuring a smooth passage through the flooded area. The module also features real-time monitoring, enabling immediate emergency action upon detecting anomalies.

[0129] The vehicle wading system in this application boasts the advantages of multi-sensor fusion, integrating multiple sensors for comprehensive and precise perception, far exceeding the capabilities of traditional single sensors. It also offers advantages in early warning and planning, enabling long-range detection and rapid planning of water-avoidance routes when water accumulation exceeds standards, ensuring driving safety. It also offers advantages in real-time environmental response, utilizing drones for real-time monitoring. The system automatically adjusts parameters based on sonar information to address complex situations. It also offers advantages in safety, with the autonomous driving system automatically controlling parameters and providing prompts to reduce the driver's burden and ensure safety.

[0130] For further information, see Figure 3 , the processing process of the above system includes:

[0131] First, system initialization.

[0132] Sensor self-test: The vehicle checks the working status of sensors such as the front-view camera, left and right wading ultrasonic radars, and drone sonar to ensure the accuracy of data collection.

[0133] Parameter setting: Set the safe wading depth according to the vehicle type (usually 20-30 cm for sedans, 30-60 cm for SUVs, and 70-100 cm for hard-core off-road vehicles).

[0134] Second, sensor data collection.

[0135] Visual acquisition module: The forward-looking camera captures visual images of the road ahead in real time, identifies waterlogged areas and their boundaries, and sends a command to start the drone when waterlogging is detected.

[0136] Ultrasonic sensing module: Left and right ultrasonic radars measure water depth information on both sides of the vehicle, increasing the redundancy of drone-detected water depth data and improving the robustness of the system.

[0137] The drone carries a sonar acquisition module: upon receiving the launch command, it quickly and accurately flies to the flooded area. Leveraging powerful image recognition technology, it instantly determines whether a puddle is present. If it can be avoided or circumvented, it immediately relays critical information to the vehicle, enabling it to plan its route ahead and prevent potential hazards. If it detects water ahead, the drone will fly steadily at a low altitude ahead of the vehicle as it approaches. Its sonar system, acting like an underwater X-ray machine, provides high-resolution imaging of the underwater environment, quickly and accurately capturing detailed information on the underwater terrain and obstacles, providing a solid foundation for safe water navigation.

[0138] Third, data preprocessing.

[0139] Denoising: Denoising is performed on the collected camera images, ultrasonic radar data, and sonar images to remove noise interference.

[0140] Data enhancement: Enhance image contrast and radar signal strength to improve data quality.

[0141] Fourth, feature extraction.

[0142] Waterlogged area identification: Identify waterlogged areas and their boundaries in camera images through image processing algorithms.

[0143] Water depth measurement: Use left and right ultrasonic radars to measure water depth, and combine sonar images to obtain underwater terrain and obstacle information.

[0144] Fifth, multi-sensor data fusion.

[0145] Data fusion algorithm: Using deep learning algorithms, data from different sensors are integrated to generate an environmental perception model that includes water depth, underwater obstacles, and drivable areas.

[0146] Weighted feature fusion: weighted fusion of features from different sensors.

[0147] Sixth, determine whether there is a water risk.

[0148] The fused data is used to determine whether there is a risk of flooding. If the water depth exceeds the threshold, the vehicle is considered to have a risk of flooding and proceeds to the next step. Otherwise, the vehicle continues to operate normally and returns to the second step for continuous monitoring.

[0149] Seventh, path planning.

[0150] Puddle influence judgment: The camera and the drone comprehensively judge the size and depth of the puddle ahead to determine whether it will affect the vehicle's passage. If the water depth exceeds the vehicle's safe water-crossing depth, a detour path will be planned in advance.

[0151]

[0152] If Influence of S > S threshold, then plan a detour path; otherwise, continue with the current path.

[0153] Road passage judgment: The camera and the drone analyze whether the vehicle needs to pass through a water surface area or whether it can pass by pressing on one side of the water surface or the road edge. Combining the water depth and the vehicle's water-crossing ability, the path is dynamically adjusted.

[0154]

[0155] If Feasibility of P < P threshold, then dynamically adjust the path and select a safer way to pass (such as passing by pressing on one side of the water surface or the road edge).

[0156] Underwater condition judgment: Obtain underwater terrain and obstacle information through the drone sonar, judge whether the deepest underwater distance is passable, and identify whether the muddy road surface is passable.

[0157]

[0158]

[0159] If Underwater C > C threshold 1 or Muddy C > C threshold 2, then re-plan the path to ensure the vehicle passes safely.

[0160] Vehicle water-crossing depth setting: Set the safe water-crossing depth according to the vehicle type. For sedans, it is usually 20 - 30 cm; for SUVs, it is 30 - 60 cm; for hardcore off-road vehicles, it can reach 70 - 100 cm. Multiple sensors are fused to judge whether the vehicle can meet the set parameter requirements to determine whether it can cross the water.

[0161] Eighth, generate control instructions.

[0162] Generate the vehicle's control instructions according to the planned path, including speed, throttle, and steering instructions.

[0163] Ninth, vehicle control execution.

[0164] Autopilot control: Automatically control the vehicle's speed, throttle, and steering according to the control instructions to ensure the vehicle passes through the water accumulation area smoothly.

[0165] Safety monitoring: Real-time monitoring of the vehicle status and surrounding environment. If any abnormal situation is detected (such as water depth exceeding the safety threshold or the appearance of obstacles), emergency measures will be taken immediately.

[0166] 10. Determine whether it is a water-related area.

[0167] Determine whether the vehicle has passed the flooded area. If so, resume normal driving. If not, execute the second step to continue path planning and vehicle control.

[0168] 11. Resume normal driving

[0169] After passing the flooded area, the vehicle resumed normal driving.

[0170] The vehicle wading method of the present application collects data through multiple sensors, ensuring data accuracy. In addition, even under complex road conditions, it can accurately sense the depth of accumulated water or identify underwater obstacles, preventing the vehicle from accidentally entering deep water areas and ensuring safe passage. Before wading, the optimal path to avoid the accumulated water area is dynamically planned, and after wading, the path is adjusted in real time to cope with changes in the underwater environment. During the wading process, the vehicle speed, throttle, and steering can be automatically controlled to ensure that the vehicle passes smoothly through the accumulated water area, reducing driving risks.

[0171] Exemplary devices

[0172] Accordingly, an embodiment of the present application further provides a vehicle wading device, comprising:

[0173] The first acquisition unit is used to acquire water-related road condition information of a flooded area on a road where the vehicle is traveling;

[0174] a determining unit, configured to determine an initial traversable area and water wading assessment information based on the water wading road condition information;

[0175] a second acquiring unit, configured to acquire water wading capability information of the vehicle when the water wading assessment information indicates that the vehicle has a water wading risk;

[0176] a planning unit, configured to plan the initial traversable area based on the water-wading road condition information, the water-wading assessment information, and the water-wading capability information to obtain target path planning information;

[0177] The passing unit is used to instruct the vehicle to travel according to the target path planning information.

[0178] The vehicle wading device provided in this embodiment is based on the same concept as the vehicle wading method provided in the above-mentioned embodiments of this application. It can execute the method provided in any of the above-mentioned embodiments of this application and has the corresponding functional modules and beneficial effects. For technical details not fully described in this embodiment, please refer to the specific processing content of the vehicle wading method provided in the above-mentioned embodiments of this application, and will not be repeated here.

[0179] The functions implemented by each unit in the above vehicle wading device can be implemented by the same or different processors respectively, and the embodiments of the present application are not limited thereto.

[0180] It should be understood that each unit in the above device can be implemented in the form of a processor calling software. For example, the device includes a processor, the processor is connected to a memory, and the memory stores instructions. The processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of each unit of the device. The processor can be a general-purpose processor, such as a CPU or a microprocessor, and the memory can be a memory within the device or a memory outside the device. Alternatively, the units in the device can be implemented in the form of hardware circuits. The functions of some or all units can be realized by designing the hardware circuits. The hardware circuit can be understood as one or more processors. For example, in one implementation, the hardware circuit is an ASIC, and the functions of some or all of the above units can be realized by designing the logical relationships between the components within the circuit. For another example, the hardware circuit can be implemented by a PLD. For example, an FPGA can include a large number of logic gate circuits. The connection relationships between the logic gate circuits are configured through a configuration file to realize the functions of some or all of the above units. All units of the above device can be implemented entirely in the form of a processor calling software, or entirely in the form of hardware circuits, or partially in the form of a processor calling software, with the remaining parts implemented in the form of hardware circuits.

[0181] In an embodiment of the present application, a processor is a circuit with the ability to process signals. In one implementation, the processor may be a circuit with the ability to read and execute instructions, such as a CPU, a microprocessor, a GPU, or a DSP. In another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit may be fixed or reconfigurable, such as a hardware circuit implemented by an ASIC or PLD, such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document to implement the configuration of the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as an NPU, TPU, DPU, etc.

[0182] It can be seen that each unit in the above device can be one or more processors (or processing circuits) configured to implement the above method, such as: CPU, GPU, NPU, TPU, DPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.

[0183] In addition, the various units in the above apparatus may be fully or partially integrated together, or may be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-chip (SOC). The SOC may include at least one processor for implementing any of the above methods or implementing the functions of the various units of the apparatus. The at least one processor may be of different types, such as a CPU and an FPGA, a CPU and an artificial intelligence processor, a CPU and a GPU, etc.

[0184] Exemplary electronic devices

[0185] Another embodiment of the present application further provides an electronic device, see Figure 4 As shown, the device includes:

[0186] Memory 400 and processor 410;

[0187] The memory 400 is connected to the processor 410 and is used to store programs;

[0188] The processor 410 is configured to implement the vehicle wading method disclosed in any of the above embodiments by running the program stored in the memory 400 .

[0189] Specifically, the above-mentioned vehicle wading device may further include: a bus, a communication interface 420 , an input device 430 and an output device 440 .

[0190] The processor 410, the memory 400, the communication interface 420, the input device 430 and the output device 440 are interconnected via a bus.

[0191] A bus may include a pathway that transfers information between components of a computer system.

[0192] Processor 410 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, or the like, or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present invention. Alternatively, it can be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components.

[0193] The processor 410 may include a main processor, and may also include a baseband chip, a modem, and the like.

[0194] The memory 400 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include program code, which includes computer operating instructions. More specifically, the memory 400 may include read-only memory (ROM), other types of static storage devices that can store static information and instructions, random access memory (RAM), other types of dynamic storage devices that can store information and instructions, disk storage, flash, etc.

[0195] The input device 430 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0196] Output device 440 may include devices that allow information to be output to a user, such as a display screen, printer, speakers, etc.

[0197] The communication interface 420 may include any device such as a transceiver to communicate with other devices or communication networks, such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.

[0198] The processor 410 executes the program stored in the memory 400 and calls other devices, which can be used to implement the various steps of any vehicle wading method provided in the above embodiments of the present application.

[0199] Exemplary computer program products and storage media

[0200] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the vehicle wading method according to various embodiments of the present application described in any of the above-mentioned embodiments of this specification.

[0201] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0202] In addition, an embodiment of the present application may also be a storage medium having a computer program stored thereon. The computer program is used by a processor to execute the steps of the vehicle wading method according to various embodiments of the present application described in any of the above embodiments of this specification. Specifically, the following steps may be implemented:

[0203] Obtaining water-related road condition information for flooded areas on the road where the vehicle is traveling;

[0204] Determining an initial traversable area and water wading assessment information based on the water wading road condition information;

[0205] When the water wading assessment information indicates that the vehicle has a water wading risk, obtaining water wading capability information of the vehicle;

[0206] Planning the initial traversable area based on the water-wading road condition information, the water-wading assessment information, and the water-wading capability information to obtain target path planning information;

[0207] Instruct the vehicle to travel according to the target path planning information.

[0208] For the sake of simplicity, the aforementioned method embodiments are described as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0209] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similarities between the various embodiments can be referred to in conjunction with each other. For device embodiments, since they are generally similar to method embodiments, their description is relatively simple, and for relevant details, reference can be made to the description of the method embodiments.

[0210] The steps in the methods of each embodiment of the present application can be adjusted in sequence, merged, and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0211] The modules and sub-modules in the devices and terminals in the various embodiments of the present application can be merged, divided, and deleted according to actual needs.

[0212] In the several embodiments provided in this application, it should be understood that the disclosed terminals, devices, and methods can be implemented in other ways. For example, the terminal embodiments described above are merely illustrative. For example, the division of modules or submodules is merely a logical function division. In actual implementation, there may be other division methods, such as multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or module, which can be electrical, mechanical or other forms.

[0213] The modules or submodules described as separate components may or may not be physically separate, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place or distributed across multiple network modules or submodules. Some or all of the modules or submodules may be selected to achieve the purpose of this embodiment according to actual needs.

[0214] In addition, each functional module or submodule in each embodiment of the present application may be integrated into a processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into a single module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or software functional modules or submodules.

[0215] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0216] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, software units executed by a processor, or a combination of the two. The software units may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0217] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0218] The above description of the disclosed embodiments will enable those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is to be construed in the widest manner consistent with the principles and novel features disclosed herein.

Claims

1. A method for a vehicle to wade through water, characterized in that: include: Obtaining water-related road condition information for flooded areas on the road where the vehicle is traveling; Determining an initial traversable area and water wading assessment information based on the water wading road condition information; When the water wading assessment information indicates that the vehicle has a water wading risk, obtaining water wading capability information of the vehicle; Planning the initial traversable area based on the water-wading road condition information, the water-wading assessment information, and the water-wading capability information to obtain target path planning information; Instruct the vehicle to travel according to the target path planning information.

2. The method according to claim 1, characterized in that The planning of the initial traversable area based on the water-wading road condition information, the water-wading assessment information, and the water-wading capability information to obtain target path planning information includes: determining path impact information of the vehicle based on the water-wading road condition information, the water-wading assessment information, and the water-wading capability information; determining a target passable area in the flooded area when the path impact information indicates that the vehicle cannot pass through the initial passable area; The target path planning information is determined based on the target traversable area.

3. The method according to claim 2, characterized in that The water-wading road condition information includes the area of ​​the road traveled by the vehicle, the area of ​​the waterlogged area, and the muddyness of the vehicle's location; the water-wading assessment information includes the depth of puddles and the density of underwater obstacles in the waterlogged area; and the water-wading capability information includes the safe wading depth of the vehicle and the vehicle's ability to navigate muddy roads. The determining of the vehicle's path impact information based on the water-wading road condition information, the water-wading assessment information, and the water-wading capability information includes: Determining puddle impact information based on the road area, the area of ​​the flooded area, the puddle depth, and the safe wading depth of the vehicle; Determining road traffic impact information based on the road area, the initial traversable area, the puddle depth, and the vehicle safe wading depth; Determine underwater traffic impact information based on underwater obstacle density, puddle depth, and vehicle safe wading depth; Determining the passage impact information of the vehicle on the muddy road based on the passage capacity of the muddy road and the muddy degree; At least one of the puddle impact information, the road traffic impact information, the underwater traffic impact information, and the muddy road traffic impact information is determined as the path impact information.

4. The method according to claim 3, characterized in that The path impact information indicating that the vehicle cannot pass through the initial passable area includes: Determining whether the path impact information satisfies a preset impassable condition; If the conditions are met, it is determined that the vehicle cannot pass through the initial passable area.

5. The method according to claim 1, characterized in that The determining of the initial traversable area and the water wading assessment information based on the water wading road condition information includes: The water-crossing road condition information is input into a pre-trained environment perception model, and the water-crossing road condition information is evaluated and analyzed by the environment perception model to determine the water-crossing evaluation information and the initial passable area of ​​the flooded area.

6. The method according to claim 1, characterized in that Obtain water-related road condition information for flooded areas on the road where the vehicle is traveling, including: Obtain image information of the road ahead collected by the vehicle camera; Obtain the current wading depth of the vehicle collected by the vehicle radar; Acquiring underwater environmental information of the waterlogged area; The image information, current wading depth, and underwater environment information are determined to be the wading road condition information.

7. The method according to claim 1, characterized in that Instructing the vehicle to travel according to the target path planning information, including: generating a vehicle control instruction based on the target path planning information, wherein the vehicle control instruction carries a control parameter of the vehicle; Respond to the vehicle control command and drive according to the control parameters.

8. A vehicle wading device, characterized in that: include: The first acquisition unit is used to acquire water-related road condition information of a flooded area on a road where the vehicle is traveling; a determining unit, configured to determine an initial traversable area and water wading assessment information based on the water wading road condition information; a second acquiring unit, configured to acquire water wading capability information of the vehicle when the water wading assessment information indicates that the vehicle has a water wading risk; a planning unit, configured to plan the initial traversable area based on the water-wading road condition information, the water-wading assessment information, and the water-wading capability information to obtain target path planning information; The passing unit is used to instruct the vehicle to travel according to the target path planning information.

9. An electronic device, characterized in that: including memory and processor; The memory is connected to the processor and is used to store programs; The processor is configured to implement the vehicle wading method according to any one of claims 1 to 7 by running the program in the memory.

10. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by the processor, the vehicle wading method according to any one of claims 1 to 7 is implemented.

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