CN106800003B - Road water detection method and system, vehicle - Google Patents

Road water detection method and system, vehicle Download PDF

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Publication number
CN106800003B
CN106800003B CN201611230196.9A CN201611230196A CN106800003B CN 106800003 B CN106800003 B CN 106800003B CN 201611230196 A CN201611230196 A CN 201611230196A CN 106800003 B CN106800003 B CN 106800003B
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vehicle
point
location point
distance
water depth
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CN106800003A (en
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李健东
秦国梁
沈海寅
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Leauto Intelligent Technology Beijing Co Ltd
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Leauto Intelligent Technology Beijing Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q9/00—Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00, e.g. haptic signalling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention discloses a kind of road water detection method and systems, vehicle, wherein method includes: the water depth for measuring vehicle front N number of location point within the scope of M meters of vehicle of pre-determined distance respectively by the radar on vehicle；Judge in N number of location point, if there are the danger position points that water depth is greater than the flame-out depth of water of preset vehicle；Water depth is greater than the danger position point of the flame-out depth of water of preset vehicle if it exists, calculates in danger position point, and the smallest danger position point of the distance between vehicle is as warning point；Warning point and the distance between warning point and vehicle are alerted, and/or, control vehicle carries out corresponding braking maneuver.The present invention can be automatically performed the detection of vehicle front a distance range inner product water depth during normal vehicle operation, without artificially judge road surface whether ponding, start detect the depth of water, property loss caused by vehicle is paddled or occupant's security risk are effectively prevented, hedge effectiveness is realized.

Description

Road water detection method and system, vehicle
Technical field
The present invention relates to vehicle technology, especially a kind of road water detection method and system, vehicle.
Background technique
Progress for intelligent vehicle at this stage and unmanned technology, internet make vehicle and emerge one after another, and have greatly overnight Overturn the trend of traditional manufacture.Tradition makes vehicle and focuses on function, and internet makes vehicle and focuses on experience；Tradition makes vehicle and focuses on manufacture, mutually Networking makes vehicle and focuses on science and technology；Tradition makes vehicle quality awareness, and internet, which makes vehicle and turns to quality, can perceive emotion；Tradition makes vehicle emphasis Instantly vehicle leading future is made in market, internet.Therefore, control screen and car networking component are not true in being added simply on vehicle Vehicle is made in positive internet, and the characteristics of vehicle has itself is made in internet.
User experience is the most important thing that vehicle is made in internet, and safety and intelligence have been melted into next generation internet and have made the important of vehicle Problem.Serious based on urban road accumulated water caused by heavy rain, driver can not judge that can depth of accumulated water pass through with vehicle is driven, Even more serious in night such case, vehicle is paddled in some drivers venture to be driven into, and then easily leads to traveling on road Vehicle stall casts anchor, and causes masses' property loss, or even threaten life security.In order to avoid above situation occurs, in city Easy ponding section, by installing water level sensor, the means such as liquidometer or nearby installation radar electric eye measurement water in water It is deep, then by large-size screen monitors display reminding driver, or the means such as roadblock are artificially set in torrential rain, or pass through one by driver A little easy ponding sections of digital map navigation software lookup, selection are detoured.But above scheme is only applicable to unified progress water level monitoring For not carrying out the unified city road for carrying out water level monitoring above situation still may occur for city road.
It proposes in the prior art a kind of based on phase-sensitive detection device (Phase-Sensitive Detector, PSD) Vehicle-mounted depth of accumulated water detection method, can by driver by carry out depth of accumulated water detection.It is examined based on the vehicle-mounted depth of accumulated water In survey method, when driver is driven to ponding section, manually opened PSD measures depth of accumulated water, if measuring depth of accumulated water can cause It when making vehicle stall, alarms or is wirelessly transmitted to and prompt driver on vehicle interior handheld display screen, before which is mounted on vehicle Before bumper, measurement range is the depth of water immediately below the PSD.
In the implementation of the present invention, inventors discovered through research that, the above-mentioned vehicle-mounted depth of accumulated water based on PSD detects Method, the prior art has at least the following problems:
Driver needs to first determine whether out possible ponding here, is then turned on PSD and goes to take sounding.In this case, exist Under driving at night light-illuminating, the road surface reflected can not artificially differentiate substantially whether ponding, so in the feelings for not opening PSD Under condition, vehicle has driven into pools zone, causes PSD that can not play a role；
The range of PSD detection is the underface of the PSD in vehicle front bumper, after opening the PSD, vehicle driving speed Degree need it is fairly slow, otherwise, if car speed is very fast or in high speed, even if PSD detects depth of accumulated water and prompts to drive Member, but it is late, and vehicle probably enters risk area already, not can be carried out hedge effectiveness.
Summary of the invention
One technical problem to be solved by the embodiment of the invention is that: provide a kind of road water detection method and system, Vehicle effectively to carry out road water detection, and avoids existing for the above-mentioned vehicle-mounted depth of accumulated water detection method based on PSD at least One problem.
According to an aspect of an embodiment of the present invention, a kind of road water detection method provided, comprising:
Vehicle front N number of position within the scope of vehicle M meters of the pre-determined distance is measured respectively by the radar on vehicle Set water depth a little, wherein the value of M and N is greater than 1, and N number of location point is different from the distance between the vehicle；
Judge in N number of location point, if there are the danger position points that water depth is greater than the flame-out depth of water of preset vehicle；
Water depth is greater than preset vehicle and stops working the danger position point of the depth of water if it exists, calculates in danger position point, and described The smallest danger position point of the distance between vehicle is as warning point；
The warning point and the distance between the warning point and the vehicle are alerted, and/or, control institute It states vehicle and carries out corresponding braking maneuver.
Optionally, in above-mentioned road water detection method, the value of the M is not less than 20 and is not more than 300, N number of position The distance between each adjacent two location point not less than 0.5 meter and is not more than 2 meters in point.
Optionally, in above-mentioned road water detection method, the radar by vehicle measure respectively vehicle front away from Water depth from N number of location point within the scope of vehicle M meters of the pre-determined distance, comprising:
Successively using each position point in N number of location point as current location point, by the radar on vehicle to described Location point electromagnetic signals, and the first reflection electromagnetic wave returned by the corresponding ground return of current location point is received respectively The second reflection electromagnetic wave signal that signal and the corresponding water-reflected of current location point are returned；
According between the time of reception of the first reflection electromagnetic wave signal and the time of reception of the second reflection electromagnetic wave signal Spread speed, the launch angle of the radar of difference, the electromagnetic wave signal in water calculate the depth of water of current location point Degree.
Optionally, in above-mentioned road water detection method, to the warning point and the warning point and the vehicle it Between distance alerted, comprising:
According to the travel speed of the distance between the warning point and the vehicle and the vehicle, the vehicle is calculated Reach it is described warning point needed for time as critical time；
The distance between the warning point, the warning point and the vehicle and the critical time are alerted.
Optionally, it in above-mentioned road water detection method, controls the vehicle and carries out corresponding braking maneuver, comprising:
It is stopped according to the distance between the warning point and the vehicle, the travel speed of the vehicle and the vehicle Safe distance when vehicle calculates the vehicle minimum braking deceleration needed for parking before reaching the warning point；
It controls the vehicle to slow down with the minimum braking deceleration, alternatively, prompt user is with the minimum braking Deceleration is slowed down.
Optionally, above-mentioned road water detection method, further includes:
It obtains in the danger position point, the maximum location point of water depth is as maximum water depth location point；
The maximum water depth location point and the distance between the maximum water depth location point and the vehicle are accused It is alert；
Or
Water depth is greater than the danger position point of the flame-out depth of water of preset vehicle if it does not exist, obtains in N number of location point, water The maximum location point of depth is as maximum water depth location point；
The maximum water depth location point and the distance between the maximum water depth location point and the vehicle are mentioned Show.
Optionally, in above-mentioned road water detection method, vehicle front is measured apart from institute by the radar on vehicle respectively It states within the scope of M meters of vehicle of pre-determined distance before the water depth of N number of location point, further includes:
Using prefixed time interval as the period, it is pre- apart from described vehicle M meters that vehicle front is strafed by the radar on vehicle If whether there is other vehicles in distance range；
Other vehicles if it does not exist, according to the big of the distance between the size of pre-set M and two neighboring location point d It is small, determine the size of N；Then vehicle front is measured apart from described vehicle M meters by the radar on vehicle respectively described in executing The operation of the water depth of N number of location point within the scope of pre-determined distance；
Other vehicles if it exists, using size the taking as the M of the distance between other described vehicles and the vehicle L Value, according to the size of the distance between the size of L and two neighboring location point d, determines the size of N；Then pass through described in executing Radar on vehicle measures the water depth of vehicle front N number of location point within the scope of vehicle M meters of the pre-determined distance respectively Operation.
Optionally, in above-mentioned road water detection method, the radar by vehicle measure respectively vehicle front away from After water depth from N number of location point within the scope of vehicle M meters of the pre-determined distance, further includes:
The vehicle obtains ponding relevant information and reports server, the ponding phase reported so as to server according to each vehicle Close information formed ponding cartographic information or further according to recently received ponding relevant information to the ponding map into Row updates；Wherein, the ponding relevant information includes following any one or more:
The water depth and geographical location information of current location point, the lane information where the point of current location, current location point Ponding image.
Other side according to an embodiment of the present invention, a kind of road water detection system provided, comprising: radar, place Manage device, control unit, Alarm Unit；Wherein:
The radar is arranged on vehicle, for respectively to vehicle front apart from described vehicle M meters of pre-determined distance range Interior N number of location point electromagnetic signals simultaneously receive reflection electromagnetic wave signal；Wherein, the value of M and N is greater than 1, N number of location point The distance between the vehicle is different；
The processor, based on the electromagnetic wave signal by the radar emission and the reflection electromagnetic wave signal received Calculate the water depth of vehicle front N number of location point within the scope of vehicle M meters of the pre-determined distance；Judge N number of location point In, if there are the danger position points that water depth is greater than the flame-out depth of water of preset vehicle；Water depth is put out greater than preset vehicle if it exists The danger position point of the fiery depth of water calculates in danger position point, the smallest danger position point conduct of the distance between described vehicle Warning point；And instruction described control unit controls the vehicle and carries out corresponding braking maneuver；And/or control the alarm Unit alerts the warning point and the distance between the warning point and the vehicle；
Described control unit carries out corresponding braking maneuver for controlling the vehicle；
The Alarm Unit, for being carried out to the warning point and the distance between the warning point and the vehicle Alarm.
Optionally, in above-mentioned road water detection system, between the radar and the processor, the processor and institute It states between control unit, the Alarm Unit, is had using controller local area network-brake assist system CAN-BAS network Line connection.
Optionally, in above-mentioned road water detection system, the radar is set to vehicle roof, is specifically used for:
Successively using each position point in N number of location point as current location point, by the radar on vehicle to described Location point electromagnetic signals, and the first reflection electromagnetic wave returned by the corresponding ground return of current location point is received respectively The second reflection electromagnetic wave signal that signal and the corresponding water-reflected of current location point are returned；And
According between the time of reception of the first reflection electromagnetic wave signal and the time of reception of the second reflection electromagnetic wave signal Spread speed, the launch angle of the radar of difference, the electromagnetic wave signal in water calculate the depth of water of current location point Degree.
Optionally, in above-mentioned road water detection system, the processor is also used to according to the warning point and the vehicle The distance between and the vehicle travel speed, calculate the vehicle reach it is described warning point needed for time make For critical time；
The Alarm Unit, be specifically used for the distance between the warning point, the warning point and described vehicle and The critical time is alerted.
Optionally, in above-mentioned road water detection system, the processor is also used to according to the warning point and the vehicle The distance between, the travel speed of the vehicle and the safe distance when vehicle brake, calculate the vehicle and arrive Minimum braking deceleration needed for parking before up to the warning point；
When described control unit controls the vehicle progress corresponding braking maneuver, it is specifically used for controlling the vehicle with institute It states minimum braking deceleration to slow down, alternatively, prompt user is slowed down with the minimum braking deceleration.
Optionally, in above-mentioned road water detection system, the processor is also used to obtain in the danger position point, The maximum location point of water depth is as maximum water depth location point；
The Alarm Unit, be also used to the maximum water depth location point and the maximum water depth location point with it is described The distance between vehicle is alerted；
Or
The processor is also used to the danger position point that water depth if it does not exist is greater than the flame-out depth of water of preset vehicle, obtains In N number of location point, the maximum location point of water depth is as maximum water depth location point；
The Alarm Unit, be also used to the maximum water depth location point and the maximum water depth location point with it is described The distance between vehicle is prompted.
Optionally, in above-mentioned road water detection system, the radar is also used to lead to using prefixed time interval as the period It crosses the radar on vehicle and strafes vehicle front within the scope of vehicle M meters of the pre-determined distance with the presence or absence of other vehicles；
The processor is also used to that other are not present within the scope of vehicle M meters of the pre-determined distance in vehicle front When vehicle, according to the size of the distance between the size of pre-set M and two neighboring location point d, the size of N is determined；With And to vehicle front, N number of location point emits electromagnetism to the instruction radar within the scope of vehicle M meters of the pre-determined distance respectively Wave signal simultaneously receives reflection electromagnetic wave signal；And exist within the scope of vehicle M meters of the pre-determined distance in vehicle front When other vehicles, using the size of the distance between other described vehicles and the vehicle L as the value of the M, according to the big of L The size of the distance between small and two neighboring location point d, determines the size of N；And the instruction radar is respectively to before vehicle Side's location point electromagnetic signals N number of within the scope of vehicle M meters of the pre-determined distance simultaneously receive reflection electromagnetic wave signal.
Optionally, in above-mentioned road water detection system, further includes:
Global position system GPS, water depth and geographical location information for current location point where obtaining the vehicle And/or lane information；
Image acquisition units, the ponding image for current location point where obtaining the vehicle；
Communication unit, for reporting the ponding relevant information of the vehicle to server, so that server is according to each vehicle The ponding relevant information reported forms ponding cartographic information or further according to recently received ponding relevant information to institute Ponding map is stated to be updated；Wherein, the ponding relevant information includes following any one or more:
The water depth and geographical location information of current location point, the lane information where the point of current location, current location point Ponding image.
Another aspect according to an embodiment of the present invention, a kind of vehicle provided, including any of the above-described embodiment of the present invention The road water detection system of offer.
Road water detection method and system, the vehicle provided based on the above embodiment of the present invention, passes through the thunder on vehicle Up to the water depth for measuring vehicle front N number of location point within the scope of M meters of the vehicle of pre-determined distance respectively, N number of position is judged It sets in a little, if there are the danger position points that water depth is greater than the flame-out depth of water of preset vehicle；Water depth is greater than default vehicle if it exists The danger position point of the flame-out depth of water calculates in danger position point, and the smallest danger position point of the distance between the vehicle is made For warning point, the warning point and the distance between the warning point and vehicle are alerted, and/or, control vehicle carries out phase The braking maneuver answered.It, can be by the water of each position point in radar automatic measurement vehicle front a distance in the embodiment of the present invention Depth is not necessarily to artificially judge whether ponding is effectively prevented without the detection depth of water is manually gone on road surface compared with prior art Vehicle caused by artificial error in judgement, which is paddled, to be damaged；In addition, the embodiment of the present invention passes through radar surveying vehicle front a distance The water depth of interior each position point can complete water depth detection in vehicle travel process, compared with prior art, without limitation Speed is slower, can satisfy the normally travel demand of vehicle；It, can be to warning point and the warning point in the embodiment of the present invention The distance between vehicle is alerted, and/or control vehicle carries out corresponding braking maneuver, relates to effectively prevent vehicle Property loss caused by water or occupant's security risk.The embodiment of the present invention can be during normal vehicle operation as a result, It is automatically performed the detection of vehicle front a distance range inner product water depth, realizes hedge effectiveness.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
The attached drawing for constituting part of specification describes the embodiment of the present invention, and together with description for explaining The principle of the present invention.
The present invention can be more clearly understood according to following detailed description referring to attached drawing, in which:
Fig. 1 is the flow chart of road water detection method one embodiment of the present invention.
Fig. 2 is the flow chart of another embodiment of road water detection method of the present invention.
Fig. 3 is the structural schematic diagram of road water detection system one embodiment of the present invention.
Fig. 4 is a schematic diagram of road water detection in the embodiment of the present invention.
Fig. 5 is the structural block diagram of the vehicle in a concrete application embodiment of the invention.
Fig. 6 is that one of vehicle and server in a concrete application embodiment of the invention interacts schematic diagram.
Specific embodiment
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should also be noted that unless in addition having Body explanation, the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally The range of invention.
Simultaneously, it should be appreciated that for ease of description, the size of various pieces shown in attached drawing is not according to reality Proportionate relationship draw.
Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to the present invention And its application or any restrictions used.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable In the case of, the technology, method and apparatus should be considered as part of specification.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
The embodiment of the present invention can be applied to computer system/server, can be with numerous other general or specialized calculating System environments or configuration operate together.Suitable for be used together with computer system/server well-known computing system, ring The example of border and/or configuration includes but is not limited to: personal computer system, server computer system, thin client, thick client Machine, hand-held or laptop devices, microprocessor-based system, set-top box, programmable consumer electronics, NetPC Network PC, Little type Ji calculates machine Xi Tong ﹑ large computer system and the distributed cloud computing technology environment including above-mentioned any system, etc..
Computer system/server can be in computer system executable instruction (such as journey executed by computer system Sequence module) general context under describe.In general, program module may include routine, program, target program, component, logic, number According to structure etc., they execute specific task or realize specific abstract data type.Computer system/server can be with Implement in distributed cloud computing environment, in distributed cloud computing environment, task is long-range by what is be linked through a communication network Manage what equipment executed.In distributed cloud computing environment, it includes the Local or Remote meter for storing equipment that program module, which can be located at, It calculates in system storage medium.
Fig. 1 is the flow chart of road water detection method one embodiment of the present invention.As shown in Figure 1, the road of the embodiment Road water detection method includes:
102, vehicle front N number of position within the scope of M meters of vehicle of pre-determined distance is measured by the radar on vehicle respectively Set water depth a little.
Wherein, the value of M and N is greater than 1, and N number of location point is different from the distance between vehicle.
As one of example, the value of M is not less than 20 and is not more than 300, each adjacent two position in N number of location point It sets the distance between a little not less than 0.5 meter and no more than 2 meters.For example, in a particular application, can according to road conditions and speed, if The value that the value for determining M is 100, N is 100, and the distance between each adjacent two location point is 1 meter.
104, judge in N number of location point, if there are the danger position points that water depth is greater than the flame-out depth of water of preset vehicle.
Water depth is greater than the danger position point of the flame-out depth of water of preset vehicle if it exists, executes operation 106；Otherwise, if not depositing It is greater than the danger position point of the flame-out depth of water of preset vehicle in water depth, does not execute the follow-up process of the present embodiment.
106, it calculates in danger position point, the smallest danger position point of the distance between vehicle is as warning point.
108, above-mentioned warning point and warning point are alerted with the distance between vehicle, and/or, control vehicle into The corresponding braking maneuver of row.
Based on the road water detection method that the above embodiment of the present invention provides, vehicle is measured by the radar on vehicle respectively The water depth of N number of location point, judges in N number of location point, if deposit within the scope of M meters of the vehicle of distance of the pre-determined distance in front It is greater than the danger position point of the flame-out depth of water of preset vehicle in water depth；Water depth is greater than the danger of the flame-out depth of water of preset vehicle if it exists Dangerous location point calculates in danger position point, and the smallest danger position point of the distance between the vehicle is as warning point, to the police It guards against point and the distance between the warning point and vehicle is alerted, and/or, control vehicle carries out corresponding braking maneuver.This It, can be by the water depth of each position point in radar automatic measurement vehicle front a distance, with the prior art in inventive embodiments Compare, without artificially judge road surface whether ponding, without manually go detect the depth of water, effectively preventing artificial error in judgement causes Vehicle paddle and damaged；In addition, the depth of water of the embodiment of the present invention by each position point in radar surveying vehicle front a distance Degree can complete water depth detection in vehicle travel process, compared with prior art, slower without restricted speed, Ke Yiman The normally travel demand of sufficient vehicle；It, can be to warning point and the distance between the warning point and vehicle in the embodiment of the present invention It is alerted, and/or control vehicle carries out corresponding braking maneuver, is paddled caused property loss to effectively prevent vehicle Or occupant's security risk.The embodiment of the present invention can be automatically performed vehicle front during normal vehicle operation as a result, The detection of a distance range inner product water depth, realizes hedge effectiveness.
In a specific example of the above-mentioned road water detection embodiment of the method for the present invention, operation 102 can specifically lead to Under type such as is crossed to realize:
Successively using each position point in N number of location point as current location point, sent out by the radar on vehicle to location point Radio magnetostatic wave signal, and receive respectively by the corresponding ground return of current location point return the first reflection electromagnetic wave signal and The second reflection electromagnetic wave signal that point corresponding water-reflected in current location is returned；
According between the time of reception of the first reflection electromagnetic wave signal and the time of reception of the second reflection electromagnetic wave signal Spread speed, the launch angle of radar of difference, electromagnetic wave signal in water calculate the water depth of current location point.
In concrete application, the radar of respective type can be selected according to actual pre-determined distance range M, for example, visiting land mine It reaches, millimetre-wave radar, ultrasonic radar, 64 line radars etc..In a specific example, depth of accumulated water survey is carried out for the present invention When amount, radar can be set to vehicle roof, accordingly even when vehicle collides, the impaired probability of radar is also smaller, than It is safer.
Since ground surface material is relatively more fixed, generally by up of three-layer: surface layer, base and bed course.Wherein, surface layer is located at entire The top layer of pavement structure is mainly made of bituminous concrete and cement concrete etc.；Base is located under surface layer, bed course or road On base, soil is mainly stablized by cement, lime, pitch etc. or stable granulate forms；Bed course in lower layer, mainly by coarse sand, gravel, The bulk particulate materials such as rubble, cinder, slag, or using the composition such as cement.The composition of each layer in road surface leads to the structure of its section Layer is more stable.Since each layer electromagnetic property of different materials composition is different, when Ground Penetrating Radar electromagnetic signals are given When road surface, the electromagnetic property of each layer in surface gathered water layer and road surface is different, electromagnetic wave can the interface of the water surface occurs respectively transmission with Reflection, influences the radio frequency signal propagation of electromagnetic wave；The interface of dielectric property mutation, such as road surface are encountered, electromagnetic wave will occur instead It penetrates and reflects, the back wave that the receiving antenna record of radar receives simultaneously is sent to processor, and processor is turned by sampling technique It is changed to digital signal and is handled, the time difference of receiving antenna is reached using the electromagnetic wave that road surface and water-reflected are returned, it can To know the transmission time (including round-trip two-way) of electromagnetic wave in water, in conjunction with being stored in advance, the propagation of electromagnetic wave in water is fast Degree, can calculate place of entry to ground distance can calculate Water Exit in conjunction with the launch angle of the transmitting antenna of radar The water depth of point.
In vehicle traveling, it by the transmitting antenna of radar to a certain angle electromagnetic signals of vehicle front, and connects Reflected reflection electromagnetic wave is received, through being mixed enhanced processing, the water depth of place of entry under the angle is calculated based on the above method. By adjusting the launch angle of transmitting antenna on radar, the water depth of vehicle front each position point can be measured, for example, measurement 100 points of water depth value in 100 meters of vehicle front.
In another specific example of the above-mentioned road water detection embodiment of the method for the present invention, in operation 108, to warning Point and the distance between warning point and vehicle are alerted, and can be specifically accomplished in that
According to the travel speed of the distance between warning point and vehicle and vehicle, calculates vehicle and reach warning point institute The time needed is as critical time；
The distance between vehicle is put to warning point, warning and critical time alerts.
In addition, control vehicle carries out corresponding braking maneuver in operation 108, can specifically be accomplished in that
Safe distance when according to the distance between warning point and vehicle, the travel speed of vehicle and vehicle brake, meter Calculate vehicle minimum braking deceleration needed for parking before reaching warning point；
Control vehicle is slowed down with minimum braking deceleration, alternatively, prompt user is subtracted with minimum braking deceleration Speed.
In addition, being also based on operation 104 in another embodiment in the above-mentioned road water detection method of the present invention Judging result, there are water depth be greater than preset vehicle stop working the depth of water danger position point when, obtain all danger position points In, the maximum location point of water depth is as maximum water depth location point；And to the maximum water depth location point and maximum water depth position The distance between point and vehicle are alerted, for example, can pass through sound alarm, display screen display alarm information, and/or progress Pilot set shakes mode and alerts, and warning information therein may include the maximum water depth location point and its between vehicle Distance；Or
When there is no the danger position point that water depth is greater than the flame-out depth of water of preset vehicle, obtain in N number of location point, the depth of water Maximum location point is spent as maximum water depth location point；And to the maximum water depth location point and maximum water depth location point and vehicle The distance between prompted, for example, can be by way of auditory tone cues, display screen display reminding information, to the maximum It the water depth of depth of water location point and its is prompted with the distance between vehicle.
Alternatively, in the above-mentioned road water detection method of the present invention in another embodiment, in the above-mentioned road of the present invention Before the process of water detection embodiment of the method, can also include:
Using prefixed time interval as the period, by the radar on vehicle strafe vehicle front apart from M meters of vehicle it is default away from From in range whether there is other vehicles；
Other vehicles if it exists, using the size of the distance between other vehicles and vehicle L as the value of M, according to the big of L The size of the distance between small and two neighboring location point d, determines the size of N；Then it executes and is distinguished by the radar on vehicle Measure the operation of vehicle front water depth of N number of location point within the scope of M meters of vehicle of pre-determined distance；
Otherwise, other vehicles if it does not exist, according to the distance between the size of pre-set M and two neighboring location point The size of d determines the size of N；Then execute that measure vehicle front respectively by the radar on vehicle default apart from M meters of vehicle The operation of the water depth of N number of location point in distance range.
Further, above-mentioned in the present invention the above-mentioned road water detection method of the present invention in further embodiment After the process of road water detection embodiment of the method, can also include:
Vehicle obtains ponding relevant information and reports server, so that server is believed according to the ponding correlation that each vehicle reports Breath forms ponding cartographic information or is further updated according to recently received ponding relevant information to ponding map；Its In, ponding relevant information can specifically include but be not limited to following any one or more: the water depth and ground of current location point Manage location information, the lane information where the point of current location, the ponding image of current location point.
Wherein, the geographical location information of current location point can be obtained by the global positioning system (GPS) on vehicle；When Lane information where the point of front position can specifically include the affiliated lane in current location (for example, which street, road, expressway etc.), And driving lane, with the presence or absence of opposite lane and lane in the same direction etc., the lane information specifically can by vehicle radar, GPS combination vehicular map obtains；The ponding image of current location point can specifically be obtained by the image acquisition units on vehicle, figure As acquisition unit for example, the camera of advanced driving assistance system (ADAS) camera or vehicle front, ponding image tool Body can be street view image.
After vehicle obtains above-mentioned ponding relevant information, server can be specifically reported to by mobile communication system, serviced Figure is at ponding map in combination for the ponding information of geographical location that device can report automatically according to each vehicle, each, for it His user query, obtain current passage situation.
In addition, server can also assess its lane quality according to the depth of accumulated water of each position point, and ponding is added In map.Wherein, the lane quality of assessment can specifically include following situations: 1), ponding it is few, do not influence to pass through；2), product Water influences to pass through, but vehicle can pass through；3), ponding influences to pass through, and vehicle can not pass through；4), ponding seriously affects passage It is one long-term ponding point or ponding pool.
Since each vehicle constantly reports ponding relevant information, server can be according to preset period of time, according to each The ponding relevant information that vehicle reports updates existing ponding map, so that the server end moment grasps ponding situation.If ponding It has been excluded that, then remove the ponding relevant information of the ponding point automatically in server end.
Fig. 2 is the flow chart of another embodiment of road water detection method of the present invention.As shown in Fig. 2, the embodiment Road water detection method includes:
202, using prefixed time interval as the period, it is pre- apart from M meters of vehicle that vehicle front is strafed by the radar on vehicle If whether there is other vehicles in distance range.
Other vehicles if it exists execute operation 204；Otherwise, other vehicles, execution operate 206 if it does not exist.
204, the value using the size of the distance between other vehicles and this vehicle nearest apart from this vehicle L as M, root According to the size of the distance between the size of L and two neighboring location point d, the size of N is determined.
Then operation 208 is executed.
As a specific example of various embodiments of the present invention, integer in the ratio of specific available L and d, as N Value.For example, if the size for presetting the distance between two neighboring location point d is 1 meter, it may be assumed that measure one every 1 meter The water depth of location point, if then the distance between nearest other vehicles of this vehicle front and this vehicle be 30.2 meters be Example then needs to measure the water depth of 30 points at nearest one of this vehicle front between other vehicles and this vehicle.
In various embodiments of the present invention, this vehicle front whether have other vehicles or other barriers and other vehicles or Other barriers can be obtained the distance between to this vehicle by the radar surveying on this vehicle.
206, according to the size of the distance between the size of pre-set M and two neighboring location point d, determine that N's is big It is small.
The mode of the specific size for determining N, can refer to aforesaid operations 204.
208, vehicle front N number of position within the scope of M meters of vehicle of pre-determined distance is measured by the radar on vehicle respectively Set water depth a little.
Wherein, the value of M and N is greater than 1, and N number of location point is different from the distance between vehicle.
As one of example, the value of M is not less than 20 and is not more than 300, each adjacent two position in N number of location point It sets the distance between a little not less than 0.5 meter and no more than 2 meters.For example, in a particular application, can according to road conditions and speed, if The value that the value for determining M is 200, N is 200, and the distance between each adjacent two location point is 1 meter.
210, judge in N number of location point, if there are the danger position points that water depth is greater than the flame-out depth of water of preset vehicle.
Water depth is greater than the danger position point of the flame-out depth of water of preset vehicle if it exists, executes operation 212；Otherwise, if not depositing It is greater than the danger position point of the flame-out depth of water of preset vehicle in water depth, executes operation 216.
212, it calculates in danger position point, the smallest danger position point of the distance between vehicle is as warning point；And It obtains in all danger position points, the maximum location point of water depth is as maximum water depth location point.
214, to the most flood in above-mentioned warning point and the distance between warning point and vehicle and danger position point Deep location point and the distance between the maximum water depth location point and vehicle are alerted, and/or, control vehicle carries out corresponding Braking maneuver.
Later, the follow-up process of the embodiment of the present invention is not executed.
216, it obtains in N number of location point, the maximum location point of water depth is as maximum water depth location point.
218, between the maximum water depth location point and maximum water depth location point and vehicle got to operation 216 away from From being prompted.
By the value of M be 100 meters, the value of N be between 100, two neighboring location point between be divided into 1 meter for, be based on One concrete application of the above-mentioned road water detection embodiment of the method for the present invention is as follows:
After the road water detection system starting for completing the above embodiment of the present invention, radar strafes vehicle front 100 first Other vehicles of meter You Wu.The road water detection system can be closed in fine day；
If other without vehicle, adjust launch angle so that on ground between the reception location point of electromagnetic wave between be divided into 1 meter, emits electromagnetic wave and receive reflection electromagnetic wave, recorded every the water depth that 1 meter is measured a location point, record vehicle The water depth of all 100 location points in front of in 100 meters.It specifically, can be by after the starting of road water detection system Sequence of the range from vehicle from the near to the remote, the successively water depth of all 100 location points in 100 meters of vehicle front.For the first time After the water depth for measuring all 100 location points in 100 meters of vehicle front, with the traveling of vehicle, according to speed before Into 1 meter, the water depth for the 1st point that removal vehicle reaches measures at 100 meters of measurement front, the 100th position through the above way Water depth a little and record are set, guarantees that 100 points in 100 meters of vehicle front of water depth can be measured always in this way；
In the water depth for judging 100 location points, if there are the dangerous positions that water depth is greater than the flame-out depth of water h of preset vehicle It sets a little；
Dangerous point if it exists calculates in danger position point, the smallest danger position point P1 conduct of the distance between vehicle Warning point；And obtain in all danger position points, the maximum location point of water depth is as maximum water depth location point P2；
To warning point the distance between P1, P1 and vehicle d1 and maximum water depth location point P2, P2 and vehicle between away from It is alerted from d2 to prompt user, perhaps controls vehicle deceleration until stopping or prompting user's ramp to stop.
Dangerous point if it does not exist obtains in 100 location points, and the maximum location point P3 of water depth is as maximum water depth position Point, and user is prompted, for example, there are deep water points for prompt user distance current vehicle how much rice, prompt user's slow down；
If radar, which strafes 100 meters of vehicle front, other vehicles, just for other nearest vehicles of front to this vehicle The distance between range, execute process above, when this vehicle be more than preceding vehicle, front without other vehicles when, then according to upper Process is stated to measure the location point in 100 meters and calculate water depth；If still there is vehicle in front, yet by above-mentioned workflow management with before The water depth of each position point in the distance between nearest vehicle in side range.
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above method embodiment can pass through The relevant hardware of program instruction is completed, and program above-mentioned can be stored in a computer readable storage medium, the program When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes: ROM, RAM, magnetic disk or light The various media that can store program code such as disk.
Fig. 3 is the structural schematic diagram of road water detection system one embodiment of the present invention.The road ponding of the embodiment Detection system can be used for realizing the above-mentioned each road water detection embodiment of the method for the present invention.As shown in figure 3, the device of the embodiment Road water detection includes: radar, processor, control unit, Alarm Unit.Wherein:
Radar, be arranged on vehicle, for respectively to vehicle front within the scope of M meters of vehicle of pre-determined distance N number of position It sets an electromagnetic signals and receives reflection electromagnetic wave signal；Wherein, the value of M and N is greater than 1, N number of location point and vehicle it Between distance it is different.
As one of specific example, which specifically can be set in vehicle roof, is specifically used for: successively with N number of Each position point in location point is as current location point, by the radar on vehicle to location point electromagnetic signals, and point The the first reflection electromagnetic wave signal and the corresponding water of current location point that Jie Shou not be returned by the corresponding ground return of current location point The reflected second reflection electromagnetic wave signal in face；And it is reflected according to the time of reception of the first reflection electromagnetic wave signal and second Spread speed, the launch angle of radar of difference, electromagnetic wave signal in water between the time of reception of electromagnetic wave signal calculates The water depth of current location point.
Processor calculates this vehicle for the electromagnetic wave signal by radar emission and the reflection electromagnetic wave signal received The water depth of N number of location point within the scope of the pre-determined distance of M meters of front this vehicle of distance；Judge in N number of location point, if there are water Depth is greater than the danger position point of the flame-out depth of water of preset vehicle；Water depth is greater than the dangerous position of the flame-out depth of water of preset vehicle if it exists It sets a little, calculates in danger position point, the smallest danger position point of the distance between this vehicle is as warning point；And instruction control Unit processed controls this vehicle and carries out corresponding braking maneuver；And/or control Alarm Unit is to warning point and warning point and this The distance between vehicle is alerted.
In concrete application, which be can be set in the control device of vehicle.
Control unit carries out corresponding braking maneuver for controlling vehicle.
Alarm Unit, for being alerted to warning point and the distance between warning point and vehicle.
In concrete application, control unit and Alarm Unit be can be set in the intelligent driving module of vehicle.
Based on the road water detection system that the above embodiment of the present invention provides, vehicle is measured by the radar on vehicle respectively The water depth of N number of location point, judges in N number of location point, if deposit within the scope of M meters of the vehicle of distance of the pre-determined distance in front It is greater than the danger position point of the flame-out depth of water of preset vehicle in water depth；Water depth is greater than the danger of the flame-out depth of water of preset vehicle if it exists Dangerous location point calculates in danger position point, and the smallest danger position point of the distance between the vehicle is as warning point, to the police It guards against point and the distance between the warning point and vehicle is alerted, and/or, control vehicle carries out corresponding braking maneuver.This It, can be by the water depth of each position point in radar automatic measurement vehicle front a distance, with the prior art in inventive embodiments Compare, without artificially judge road surface whether ponding, without manually go detect the depth of water, effectively preventing artificial error in judgement causes Vehicle paddle and damaged；In addition, the depth of water of the embodiment of the present invention by each position point in radar surveying vehicle front a distance Degree can complete water depth detection in vehicle travel process, compared with prior art, slower without restricted speed, Ke Yiman The normally travel demand of sufficient vehicle；It, can be to warning point and the distance between the warning point and vehicle in the embodiment of the present invention It is alerted, and/or control vehicle carries out corresponding braking maneuver, is paddled caused property loss to effectively prevent vehicle Or occupant's security risk.The embodiment of the present invention can be automatically performed vehicle front during normal vehicle operation as a result, The detection of a distance range inner product water depth, realizes hedge effectiveness.
In a specific example of the above-mentioned road water detection system embodiment of the present invention, between radar and processor, Between processor and control unit, Alarm Unit, controller local area network-brake assist system (CAN- can be specifically used BAS) network carries out wired connection.The road water detection system of the embodiment of the present invention is connected by cable network, radar and place It manages between device, pass through wire communication between processor and control unit, Alarm Unit, signal transmission quality can be effectively ensured, Since heavy rain day signal is weak when avoiding using wireless communication transmissions signal, can not be alarmed in time deep water danger or i.e. Make to brake caused danger.
In another embodiment based on the above-mentioned each road water detection system of the present invention, processor can also be used in basis The travel speed of the distance between warning point and vehicle and vehicle calculates vehicle time conduct needed for reaching warning point Critical time.Correspondingly, in the embodiment, Alarm Unit be specifically used for warning point, warning point and the distance between vehicle, with And critical time is alerted.
In another embodiment based on the above-mentioned each road water detection system of the present invention, processor can also be used in basis Safe distance when the distance between warning point and vehicle, the travel speed of vehicle and vehicle brake, calculates vehicle and reaches Minimum braking deceleration needed for parking before warning point.Correspondingly, in the embodiment, control unit controls vehicle and carries out accordingly When braking maneuver, slowed down specifically for control vehicle with minimum braking deceleration, alternatively, prompt user is subtracted with minimum braking Speed is slowed down.
In another embodiment based on the above-mentioned each road water detection system of the present invention, processor can also be used to obtain In danger position point, the maximum location point of water depth is as maximum water depth location point.Correspondingly, in the embodiment, Alarm Unit It can also be used to alert maximum water depth location point and the distance between maximum water depth location point and vehicle.
In addition, processor also can be used in another embodiment based on the above-mentioned each road water detection system of the present invention It is greater than the danger position point of the flame-out depth of water of preset vehicle in water depth if it does not exist, obtains in N number of location point, water depth is maximum Location point is as maximum water depth location point.Correspondingly, in the embodiment, Alarm Unit can also be used in maximum water depth location point, And the distance between maximum water depth location point and vehicle are prompted.
In addition, radar can also be used in another embodiment based on the above-mentioned each road water detection system of the present invention Using prefixed time interval as the period, vehicle front is strafed within the scope of M meters of vehicle of pre-determined distance by the radar on vehicle With the presence or absence of other vehicles.Correspondingly, in the embodiment, processor can also be used in: default apart from M meters of vehicle in vehicle front When other vehicles being not present in distance range, according to the distance between the size of pre-set M and two neighboring location point d's Size determines the size of N；And instruction radar respectively to vehicle front within the scope of M meters of vehicle of pre-determined distance N number of position Point electromagnetic signals simultaneously receive reflection electromagnetic wave signal；And in vehicle front apart from M meters of vehicle of pre-determined distance range It is interior there are when other vehicles, using the size of the distance between other vehicles and vehicle L as the value of M, according to the size and phase of L The size of the distance between adjacent two location points d, determines the size of N；And instruction radar is respectively to vehicle front apart from vehicle M N number of location point electromagnetic signals and reflection electromagnetic wave signal is received within the scope of the pre-determined distance of rice.
Further, it in another embodiment based on the above-mentioned each road water detection system of the present invention, can also wrap It includes: GPS, image acquisition units and communication unit.Wherein:
GPS, water depth and geographical location information and/or lane information for current location point where obtaining vehicle.
Image acquisition units, the ponding image for current location point where obtaining vehicle.
In a specific example, image acquisition units can specifically include 360 viewing systems, ADAS or night vision system. Wherein, the camera of 360 viewing systems, ADAS or night vision system is used equally for the detection or acquisition of vehicle periphery ponding. ADAS can be follow-on ADAS, including before being respectively arranged in vehicle, front left, front right, it is left and right, rear, left back, right after 8 Camera, for carrying out vehicle assistant drive processing.
Communication unit, for reporting the ponding relevant information of vehicle to server, so that server is reported according to each vehicle Ponding relevant information form ponding cartographic information or further according to recently received ponding relevant information to chaor Figure is updated；Wherein, ponding relevant information includes following any one or more: the water depth of current location point and geographical position Confidence breath, the lane information where the point of current location, the ponding image of current location point.
Illustratively, which is particularly used for carrying out the data network communications unit of mobile communication, such as can be with It is WIFI module, bluetooth module, LTE communication module etc..
In the prior art, reporting of user ponding information, it is such to report typically by mobile terminal reportings such as mobile phones Mode, user feel more troublesome, are generally unwilling to report by mobile phone etc..In the embodiment of the present invention, by road water detection Ponding relevant information on system automatic collection vehicle approach path is reported to server, and server is acquired according to multiple vehicles Ponding relevant information is handled in a manner of big data, forms a ponding location map, facilitates other users inquiry product Regimen condition, and according to the path of current ponding situation planning trip.
In addition, the vehicle specifically includes any of the above-described embodiment of the present invention the embodiment of the invention also provides a kind of vehicle Road water detection system.As shown in figure 4, for the concrete application signal of road water detection in the embodiment of the present invention Figure.
Based on the vehicle that the above embodiment of the present invention provides, it is provided with the road water detection system of above-described embodiment, it can With by the water depth of each position point in radar automatic measurement vehicle front a distance, without artificially judge road surface whether ponding, Without the detection depth of water is manually gone, effectively prevent vehicle caused by artificial error in judgement and paddle to be damaged；Furthermore it is possible in vehicle Water depth detection is completed in driving process, it is slower without restricted speed, it can satisfy the normally travel demand of vehicle；Also, it can To alert to warning point and the distance between the warning point and vehicle, and/or the corresponding braking of control vehicle progress is dynamic Make, to effectively prevent property loss caused by vehicle is paddled or occupant's security risk.The embodiment of the present invention can as a result, To be automatically performed the detection of vehicle front a distance range inner product water depth during normal vehicle operation, realize effectively Hedging.
Fig. 5 shows the structural block diagram of the vehicle in a concrete application embodiment of the invention.As shown in figure 5, the vehicle It may include: middle control module, instrument board, automobile data recorder, HUD (Head Up Display, head-up display) new line display Device, intelligent vehicle-carried information entertainment, intelligent driving module.
Instrument board has 12.3 cun of LCD display devices, which can use the J6CPU of TI；The operation system of instrument board System can be based on QNX embedded system, and instrument board is displayed for vehicle-state, map, vehicle navigation information, vehicle and plays Music etc., the car status information include speed, revolving speed, electricity, tire pressure, vehicle parking, gear etc..HUD head up display It can show GPS navigation information, navigation route information, temporal information etc..
In one embodiment, intelligent driving module can be used for handling operation relevant to intelligent driving, intelligent driving Module may include advanced DAS (Driver Assistant System) (Advanced Driver Assistance Systems, ADAS), actively pacify Total system, attention auxiliary system (Attention Assist System, AAS), tired warning system (Fatigue Warning System, FWS), Vehicular intelligent acoustical alarm system (Acoustic Vehicle Alerting System, AVAS) etc..Vehicle can carry out intelligent driving in conjunction with ADAS etc., which can be nobody driving completely, can also be with It is that driver carries out the advanced auxiliary driving function such as the auxiliary doubling of Driving control, lane shift.
Control device can be made of multiple modules, mainly may include: mainboard；SATA(Serial Advanced Technology Attachment, Serial Advanced Technology Attachment) module, it is connected to the storage equipment such as SSD, can be used to deposit Store up data information；AM (Amplitude Modulation, amplitude modulation)/FM (Frequency Modulation, frequency modulation) module is The function of vehicle offer radio；Power amplifier module is used for acoustic processing；WIFI (Wireless-Fidelity, Wireless Fidelity)/ Bluetooth module provides the service of WIFI/Bluetooth for vehicle；(Long Term Evolution, is drilled LTE for a long time Into) communication module, the communication function with telecom operators is provided for vehicle；Power module, power module are that the control device mentions Power supply source；Switch interconnecting module, the Switch interconnecting module can be used as a kind of expansible interface connection multiple sensors, For example, if needing to add night vision function sensor, PM2.5 function sensor, can be connected to by the Switch interconnecting module The mainboard of control device so that the processor of control device carries out data processing, and transfers data to middle control display.
In one embodiment, which further includes looking around camera, ADAS camera, night vision cam, millimeter wave thunder It reaches, the sensors such as ultrasonic radar, ESR radar.Vehicle hardware is the above-mentioned intelligent driving related hardware of carry, later period after manufacture It can be upgraded by OTA and improve automatic Pilot correlation function using above-mentioned hardware.
As shown in fig. 6, one that shows vehicle and server in a concrete application embodiment of the invention interacts schematic diagram, The ponding relevant information that vehicle can will acquire is uploaded to server.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with its The difference of its embodiment, the same or similar part cross-reference between each embodiment.For system embodiment For, since it is substantially corresponding with embodiment of the method, so being described relatively simple, referring to the portion of embodiment of the method in place of correlation It defends oneself bright.
Method and system of the invention may be achieved in many ways.For example, can by software, hardware, firmware or Software, hardware, firmware any combination realize method and system of the invention.The said sequence of the step of for the method Merely to be illustrated, the step of method of the invention, is not limited to sequence described in detail above, special unless otherwise It does not mentionlet alone bright.In addition, in some embodiments, also the present invention can be embodied as to record program in the recording medium, these programs Including for realizing machine readable instructions according to the method for the present invention.Thus, the present invention also covers storage for executing basis The recording medium of the program of method of the invention.
Description of the invention is given for the purpose of illustration and description, and is not exhaustively or will be of the invention It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.It selects and retouches It states embodiment and is to more preferably illustrate the principle of the present invention and practical application, and those skilled in the art is enable to manage The solution present invention is to design various embodiments suitable for specific applications with various modifications.

Claims (22)

1. a kind of road water detection method characterized by comprising
Vehicle front N number of location point within the scope of vehicle M meters of the pre-determined distance is measured respectively by the radar on vehicle Water depth, comprising: successively using each position point in N number of location point as current location point, pass through the radar on vehicle To the location point electromagnetic signals, and the first reflection returned by the corresponding ground return of current location point is received respectively The second reflection electromagnetic wave signal that electromagnetic wave signal and the corresponding water-reflected of current location point are returned；According to the first reflection electricity Difference, the electromagnetic wave signal between the time of reception of magnetostatic wave signal and the time of reception of the second reflection electromagnetic wave signal is in water In spread speed, the launch angle of the radar, calculate current location point water depth, wherein the value of M and N be greater than 1, N A location point is different from the distance between the vehicle；
Judge in N number of location point, if there are the danger position points that water depth is greater than the flame-out depth of water of preset vehicle；
Water depth is greater than the danger position point of the flame-out depth of water of preset vehicle if it exists, calculates in danger position point, with the vehicle The distance between the smallest danger position point as warning point；
The warning point and the distance between the warning point and the vehicle are alerted, and/or, control the vehicle Carry out corresponding braking maneuver.
2. the method according to claim 1, wherein the value of the M not less than 20 and be not more than 300, it is N number of The distance between each adjacent two location point not less than 0.5 meter and is not more than 2 meters in location point.
3. according to the method described in claim 1, to the warning point and the distance between the warning point and the vehicle It is alerted, comprising:
According to the travel speed of the distance between the warning point and the vehicle and the vehicle, calculates the vehicle and exist Time needed for reaching the warning point is as critical time；
The distance between the warning point, the warning point and the vehicle and the critical time are alerted.
4. according to the method described in claim 1, controlling the vehicle carries out corresponding braking maneuver, comprising:
When according to the distance between the warning point and the vehicle, the travel speed of the vehicle and the vehicle brake Safe distance, calculate the vehicle reach it is described warning point before parking needed for a minimum braking deceleration；
It controls the vehicle to slow down with the minimum braking deceleration, alternatively, prompt user is with the minimum braking deceleration Degree slows down.
5. the method according to claim 1, which is characterized in that further include:
It obtains in the danger position point, the maximum location point of water depth is as maximum water depth location point；
The maximum water depth location point and the distance between the maximum water depth location point and the vehicle are alerted；
Or
Water depth is greater than the danger position point of the flame-out depth of water of preset vehicle if it does not exist, obtains in N number of location point, water depth Maximum location point is as maximum water depth location point；
The maximum water depth location point and the distance between the maximum water depth location point and the vehicle are prompted.
6. the method according to claim 1 measures vehicle front distance by the radar on vehicle respectively Within the scope of vehicle M meters of the pre-determined distance before the water depth of N number of location point, further includes:
Using prefixed time interval as the period, by the radar on vehicle strafe vehicle front apart from described vehicle M meters it is default away from From in range whether there is other vehicles；
Other vehicles if it does not exist, according to the size of the distance between the size of pre-set M and two neighboring location point d, Determine the size of N；Then it executes and described vehicle front to be measured by the radar on vehicle respectively preset apart from described vehicle M meter The operation of the water depth of N number of location point in distance range；
Other vehicles if it exists, using the size of the distance between other described vehicles and the vehicle L as the value of the M, According to the size of the distance between the size of L and two neighboring location point d, the size of N is determined；Then pass through vehicle described in executing On radar measure the behaviour of vehicle front water depth of N number of location point within the scope of vehicle M meters of the pre-determined distance respectively Make.
7. according to the method described in claim 5, measuring vehicle front respectively apart from described vehicle M meters by the radar on vehicle Pre-determined distance within the scope of N number of location point water depth before, further includes:
Using prefixed time interval as the period, by the radar on vehicle strafe vehicle front apart from described vehicle M meters it is default away from From in range whether there is other vehicles；
Other vehicles if it does not exist, according to the size of the distance between the size of pre-set M and two neighboring location point d, Determine the size of N；Then it executes and described vehicle front to be measured by the radar on vehicle respectively preset apart from described vehicle M meter The operation of the water depth of N number of location point in distance range；
Other vehicles if it exists, using the size of the distance between other described vehicles and the vehicle L as the value of the M, According to the size of the distance between the size of L and two neighboring location point d, the size of N is determined；Then pass through vehicle described in executing On radar measure the behaviour of vehicle front water depth of N number of location point within the scope of vehicle M meters of the pre-determined distance respectively Make.
8. according to claim 1 to method described in 4,7 any one, before the radar by vehicle measures vehicle respectively After water depth of the side apart from N number of location point within the scope of vehicle M meters of the pre-determined distance, further includes:
The vehicle obtains ponding relevant information and reports server, so that server is believed according to the ponding correlation that each vehicle reports Breath forms ponding cartographic information or is further carried out more according to recently received ponding relevant information to the ponding map Newly；Wherein, the ponding relevant information includes following any one or more:
The water depth and geographical location information of current location point, the lane information where the point of current location, the product of current location point Water images.
9. according to the method described in claim 5, the radar by vehicle measures vehicle front apart from the vehicle respectively Within the scope of M meters of pre-determined distance after the water depth of N number of location point, further includes:
The vehicle obtains ponding relevant information and reports server, so that server is believed according to the ponding correlation that each vehicle reports Breath forms ponding cartographic information or is further carried out more according to recently received ponding relevant information to the ponding map Newly；Wherein, the ponding relevant information includes following any one or more:
The water depth and geographical location information of current location point, the lane information where the point of current location, the product of current location point Water images.
10. according to the method described in claim 6, the radar by vehicle measures vehicle front apart from the vehicle respectively Within the scope of M meters of pre-determined distance after the water depth of N number of location point, further includes:
The vehicle obtains ponding relevant information and reports server, so that server is believed according to the ponding correlation that each vehicle reports Breath forms ponding cartographic information or is further carried out more according to recently received ponding relevant information to the ponding map Newly；Wherein, the ponding relevant information includes following any one or more:
The water depth and geographical location information of current location point, the lane information where the point of current location, the product of current location point Water images.
11. a kind of road water detection system characterized by comprising radar, processor, control unit, Alarm Unit；Its In:
The radar, be arranged on vehicle, for respectively to vehicle front within the scope of vehicle M meters of the pre-determined distance N A location point electromagnetic signals simultaneously receive reflection electromagnetic wave signal；Wherein, the value of M and N is greater than 1, N number of location point and institute State the distance between vehicle difference；
The radar, specifically for successively using each position point in N number of location point as current location point, by vehicle Radar to the location point electromagnetic signals, and receive the to be returned by the corresponding ground return of current location point respectively The second reflection electromagnetic wave signal that one reflection electromagnetic wave signal and the corresponding water-reflected of current location point are returned；
The processor calculates vehicle for the electromagnetic wave signal by the radar emission and the reflection electromagnetic wave signal received The water depth of N number of location point, is specifically used for electric according to the first reflection within the scope of M meter of vehicle of pre-determined distance described in front distance Difference, the electromagnetic wave signal between the time of reception of magnetostatic wave signal and the time of reception of the second reflection electromagnetic wave signal is in water In spread speed, the launch angle of the radar, calculate current location point water depth；Judge be in N number of location point It is no that there are the danger position points that water depth is greater than the flame-out depth of water of preset vehicle；Water depth is greater than the flame-out depth of water of preset vehicle if it exists Danger position point, calculate in danger position point, the smallest danger position point of the distance between described vehicle is as warning point； And instruction described control unit controls the vehicle and carries out corresponding braking maneuver；And/or the Alarm Unit is controlled to institute It states warning point and the distance between the warning point and the vehicle is alerted；
Described control unit carries out corresponding braking maneuver for controlling the vehicle；
The Alarm Unit, for being alerted to the warning point and the distance between the warning point and the vehicle.
12. system according to claim 11, which is characterized in that between the radar and the processor, the processing Between device and described control unit, the Alarm Unit, using controller local area network-brake assist system CAN-BAS network Carry out wired connection.
13. system according to claim 11, which is characterized in that the radar is set to vehicle roof.
14. system according to claim 11, the processor are also used to according between the warning point and the vehicle Distance and the vehicle travel speed, calculate vehicle time needed for reaching the warning point as dangerous Time；
The Alarm Unit is specifically used for the distance between the warning point, the warning point and the vehicle and described Critical time is alerted.
15. system according to claim 11, the processor are also used to according between the warning point and the vehicle Distance, the travel speed of the vehicle and the safe distance when vehicle brake, calculate the vehicle described in the arrival Minimum braking deceleration needed for parking before warning point；
When described control unit controls the vehicle and carries out corresponding braking maneuver, be specifically used for controlling the vehicle with it is described most Small braking deceleration slows down, alternatively, prompt user is slowed down with the minimum braking deceleration.
16. system described in 1 to 15 any one according to claim 1, which is characterized in that the processor is also used to obtain In the danger position point, the maximum location point of water depth is as maximum water depth location point；
The Alarm Unit is also used to the maximum water depth location point and the maximum water depth location point and the vehicle The distance between alerted；
Or
The processor is also used to the danger position point that water depth if it does not exist is greater than the flame-out depth of water of preset vehicle, obtains the N In a location point, the maximum location point of water depth is as maximum water depth location point；
The Alarm Unit is also used to the maximum water depth location point and the maximum water depth location point and the vehicle The distance between prompted.
17. system described in 1 to 15 any one, the radar according to claim 1 were also used to prefixed time interval as week Phase strafes vehicle front within the scope of vehicle M meters of the pre-determined distance with the presence or absence of other vehicles by the radar on vehicle ?；
The processor is also used to that other vehicles are not present within the scope of vehicle M meters of the pre-determined distance in vehicle front When, according to the size of the distance between the size of pre-set M and two neighboring location point d, determine the size of N；And refer to Show that the radar respectively believe within the scope of vehicle M meters of the pre-determined distance to vehicle front by N number of location point transmitting electromagnetic wave Number and receive reflection electromagnetic wave signal；And there are other within the scope of vehicle M meters of the pre-determined distance in vehicle front When vehicle, using the size of the distance between other described vehicles and the vehicle L as the value of the M, according to the size of L and The size of the distance between two neighboring location point d, determines the size of N；And the instruction radar respectively to vehicle front away from From N number of location point electromagnetic signals within the scope of vehicle M meters of the pre-determined distance and receive reflection electromagnetic wave signal.
18. system according to claim 16, the radar are also used to pass through vehicle using prefixed time interval as the period On radar strafe vehicle front within the scope of vehicle M meters of the pre-determined distance with the presence or absence of other vehicles；
The processor is also used to that other vehicles are not present within the scope of vehicle M meters of the pre-determined distance in vehicle front When, according to the size of the distance between the size of pre-set M and two neighboring location point d, determine the size of N；And refer to Show that the radar respectively believe within the scope of vehicle M meters of the pre-determined distance to vehicle front by N number of location point transmitting electromagnetic wave Number and receive reflection electromagnetic wave signal；And there are other within the scope of vehicle M meters of the pre-determined distance in vehicle front When vehicle, using the size of the distance between other described vehicles and the vehicle L as the value of the M, according to the size of L and The size of the distance between two neighboring location point d, determines the size of N；And the instruction radar respectively to vehicle front away from From N number of location point electromagnetic signals within the scope of vehicle M meters of the pre-determined distance and receive reflection electromagnetic wave signal.
19. system described in 1 to 15,18 any one according to claim 1, further includes:
Global position system GPS, for current location point where obtaining the vehicle water depth and geographical location information and/or Lane information；
Image acquisition units, the ponding image for current location point where obtaining the vehicle；
Communication unit, for reporting the ponding relevant information of the vehicle to server, so that server is reported according to each vehicle Ponding relevant information form ponding cartographic information or further according to recently received ponding relevant information to the product Water map is updated；Wherein, the ponding relevant information includes following any one or more:
The water depth and geographical location information of current location point, the lane information where the point of current location, the product of current location point Water images.
20. system according to claim 16, further includes:
Global position system GPS, for current location point where obtaining the vehicle water depth and geographical location information and/or Lane information；
Image acquisition units, the ponding image for current location point where obtaining the vehicle；
Communication unit, for reporting the ponding relevant information of the vehicle to server, so that server is reported according to each vehicle Ponding relevant information form ponding cartographic information or further according to recently received ponding relevant information to the product Water map is updated；Wherein, the ponding relevant information includes following any one or more:
The water depth and geographical location information of current location point, the lane information where the point of current location, the product of current location point Water images.
21. system according to claim 17, further includes:
Global position system GPS, for current location point where obtaining the vehicle water depth and geographical location information and/or Lane information；
Image acquisition units, the ponding image for current location point where obtaining the vehicle；
Communication unit, for reporting the ponding relevant information of the vehicle to server, so that server is reported according to each vehicle Ponding relevant information form ponding cartographic information or further according to recently received ponding relevant information to the product Water map is updated；Wherein, the ponding relevant information includes following any one or more:
The water depth and geographical location information of current location point, the lane information where the point of current location, the product of current location point Water images.
22. a kind of vehicle, which is characterized in that including road water detection system described in claim 11 to 21 any one.
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